CN103252783B - A kind of double-core two-freedom high-speed full-automatic soldering robot servo controller - Google Patents
A kind of double-core two-freedom high-speed full-automatic soldering robot servo controller Download PDFInfo
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- CN103252783B CN103252783B CN201310165485.5A CN201310165485A CN103252783B CN 103252783 B CN103252783 B CN 103252783B CN 201310165485 A CN201310165485 A CN 201310165485A CN 103252783 B CN103252783 B CN 103252783B
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- 238000005476 soldering Methods 0.000 title claims abstract description 76
- 238000012545 processing Methods 0.000 claims abstract description 57
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 claims abstract description 23
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical group [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims abstract description 8
- 229910001416 lithium ion Inorganic materials 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 229910000679 solder Inorganic materials 0.000 claims description 21
- 230000006386 memory function Effects 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 10
- 230000006870 function Effects 0.000 claims description 10
- 230000009471 action Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 20
- 230000008569 process Effects 0.000 description 18
- 238000003466 welding Methods 0.000 description 17
- 230000033001 locomotion Effects 0.000 description 8
- 238000013461 design Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000008439 repair process Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
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Abstract
The invention discloses a kind of double-core two-freedom high-speed full-automatic soldering robot servo controller, comprise: power subsystem, main control unit, image acquisition and processing unit and soldering unit, described power subsystem comprises AC power and battery, described battery is lithium ion battery, described main control unit comprises connected digital signal processing chip and field programmable gate array chip, described soldering unit comprises two freedom mechanisms and goes out tin control, described main control unit one end is connected with described power subsystem, the other end is connected with described image acquisition and processing unit, described field programmable gate array chip is connected with described soldering unit.By the way, double-core two-freedom high-speed full-automatic soldering robot of the present invention servo controller automaticity is high, operating efficiency is high, the accuracy of action is high, available protecting big current to the impact of battery, send Xi Wendu and length to be easy to control.
Description
Technical field
The present invention relates to the control system field of soldering robot, particularly relate to a kind of double-core two-freedom high-speed full-automatic soldering robot servo controller.
Background technology
In today of high-tech fast development, traditional soldering backwardness increasingly, along with the production in enormous quantities of electronic product, the manual method adopting pin solder joint on flatiron instrument pointwise welding pcb board, again can not adapt to market demands, production efficiency and product quality.People replaces out by novel soldering robot from severe dangerous working environment, carry out production strictly in line with rules and regulations, but, existing soldering robot can only carry out simple straight line or circular arc spot welding point-blank or in a two-dimentional plane repeatedly, or according to certain rule, point-to-point spot welding is carried out to some positions, following problem is often there will be: (1) is at the soldering initial stage in the soldering process of reality, all that artificial sport shifts original position onto soldering robot, then human eye is only relied on to carry out the correction of initial position, accuracy is reduced greatly, (2) in the control model based on microprocessor+special sport control chip, a general special integrated circuit controls a motor, and take a large amount of microprocessor port address, for the system of three axle servo motions, use complicated control technology just can realize, (3) although the size of tin feeding amount can be adjusted according to the spot size of welded object when welding, but do not consider the temperature of solder joint, cause solder joint inconsistent, automatic Observation and compensation are not carried out to the result of spot welding, make soldering tin amount on whole curve inconsistent sometimes, then artificial secondary is adopted to repair.
Summary of the invention
The technical problem that the present invention mainly solves is to provide that a kind of automaticity is high, operating efficiency is high, the accuracy of action is high, send Xi Wendu and length to be easy to control, the secondary repair efficiency better double-core two-freedom high-speed full-automatic soldering robot servo controller of butt welding point.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: provide a kind of double-core two-freedom high-speed full-automatic soldering robot servo controller, comprise: power subsystem, main control unit, image acquisition and processing unit and soldering unit, described power subsystem comprises AC power and battery, described battery is lithium ion battery, described main control unit comprises connected digital signal processing chip and field programmable gate array chip, described soldering unit comprises two freedom mechanisms and goes out tin control, described main control unit one end is connected with described power subsystem, the other end is connected with described image acquisition and processing unit, described field programmable gate array chip is connected with described soldering unit.
In a preferred embodiment of the present invention, described two freedom mechanisms comprise for control two dimensional surface solder joint walking X motor and Y motor, described X motor and Y motor are all the AC permanent magnet servomotor with 1024 line photoelectric coded disks.
In a preferred embodiment of the present invention, described in go out the Z motor that tin controls to comprise for controlling tin output amount, described Z motor is the AC permanent magnet servomotor with 1024 line photoelectric coded disks.
In a preferred embodiment of the present invention, described soldering robot servo controller also comprises detecting unit, and described detecting unit comprises voltage detecting and current detecting, and described detecting unit is connected with described digital signal processing chip.
In a preferred embodiment of the present invention, described detecting unit also comprises temperature detection, and described temperature detection is temperature sensor, described temperature detection with described go out tin control to be connected.
In a preferred embodiment of the present invention, described detecting unit also comprises memory function and controls, and described memory function controls to be connected with described digital signal processing chip.
In a preferred embodiment of the present invention, described detecting unit also comprises and also comprises breakpoint set-up function control, and described breakpoint set-up function controls to be connected with described digital signal processing chip.
The invention has the beneficial effects as follows: double-core two-freedom high-speed full-automatic soldering robot of the present invention servo controller automaticity is high, operating efficiency is high, the accuracy of action is high, available protecting big current to the impact of battery, send Xi Wendu and length to be easy to control, the speed-regulating range width of motor, speed governing steadily, the secondary repair efficiency of butt welding point is better.
Accompanying drawing explanation
Fig. 1 is the control flow schematic diagram of double-core two-freedom high-speed full-automatic soldering robot of the present invention servo controller one preferred embodiment;
In accompanying drawing, the mark of each parts is as follows: 1, power subsystem; 11, AC power; 12, lithium ion battery; 2, main control unit; 21, digital signal processing chip; 22, field programmable gate array chip; 3, image acquisition and processing unit; 4, soldering unit; 41, two freedom mechanisms; 42, go out tin to control; 5, detecting unit; 51, voltage detecting; 52, current detecting; 53, temperature detection; 54, memory function controls; 55, breakpoint set-up function controls.
Detailed description of the invention
Below in conjunction with accompanying drawing, preferred embodiment of the present invention is described in detail, can be easier to make advantages and features of the invention be readily appreciated by one skilled in the art, thus more explicit defining is made to protection scope of the present invention.
Refer to Fig. 1, a kind of double-core two-freedom high-speed full-automatic soldering robot servo controller, comprise: power subsystem 1, main control unit 2, image acquisition and processing unit 3 and soldering unit 4, described power subsystem 1 comprises AC power 11 and battery, described battery is lithium ion battery 12, described main control unit 2 comprises connected digital signal processing chip 21 and field programmable gate array chip 22, described soldering unit 4 comprises two freedom mechanisms 41 and goes out tin control 42, described main control unit 2 one end is connected with described power subsystem 1, the other end is connected with described image acquisition and processing unit 3, described field programmable gate array chip 22 is connected with described soldering unit 4.
Described soldering robot servo controller also comprises detecting unit 5, and described detecting unit 5 comprises voltage detecting 51 and current detecting 52, and described detecting unit 5 is connected with described digital signal processing chip 21.
Described digital signal processing chip 21 runs clock and reaches 150MHz, and handling property can reach 150MIPS, every bar instruction cycle 6.67ns, and I/O port enriches, enough the application general concerning user, two serial ports.Have the AD conversion of the 0 ~ 3.3v of 12, have the in-chip FLASH of 128k × 16 in sheet, the SRAM of 18K × 16, general application system can not want outer extension memory.Add independently ALU, have powerful digital signal processing capability.In addition, jumbo RAM is integrated in this digital signal processing chip 21, greatly can design by peripheral circuits, reduce system cost and system complexity, substantially increase the stores processor ability of data.
Described field programmable gate array chip 22 is cell arrays of standard, there is no the function that general integrated circuit has, but user can according to the design needs of oneself, by specific placement-and-routing instrument, connection is reconfigured to its inside, required special IC is designed within the shortest time, which reduce design cost, shorten the construction cycle.Because field programmable gate array chip 22 adopts the design philosophy of software implementation to realize the design of hardware circuit, the system of field programmable gate array chip 22 is made to have good reusability and amendment property.
Described image acquisition and processing unit 3 is connected with main control unit 2, soldering can be helped to initialize location and find trouble point, greatly improve the automaticity of soldering robot, in the initial stage motion process of soldering robot, by automatics, soldering robot is shifted onto initial position, then image acquisition and processing unit 3 is opened, and helps soldering unit 4 to aim at initial position, make initial position fix extremely accurate, send Xi Wendu and send tin length to be easy to control.
Under power-on state, soldering robot is introduced into self-locking state, then automatically open flatiron power supply and some stationary temperatures are heated to it, executing agency's (solder horn and go out tin-tube) is automatically moved to recovery place of useless tin by X motor and Y motor cooperation, then automatically open Y motor and go out tin test flatiron temperature, etc. being completed rear X motor and the automatic mobile execution architecture of Y motor to starting point, now image acquisition and processing unit 3 is opened, and automatic calibration goes out the aligned position of tin-tube and starting point.Soldering robot store Actual path transformation parameter and solder joint information transmission to the digital signal processing chip 21 in controller, digital signal processing chip 21 is converted into automatic soldering device people X motor under designated movement track these ambient parameters, the distance that Y motor and Z motor will run, digital signal processing chip 21 then with field programmable gate array chip 22 communication, field programmable gate array chip 22 according to these parameters again according to current of electric and photoelectric coded disk information processing X motor, the SERVO CONTROL of Y motor and Z motor, and process data communication to digital signal processing chip 21, continued to process follow-up running status by digital signal processing chip 21.
In automatic soldering device people motion process, digital signal processing chip 21 can the moment store the distance of process or the solder joint of process, and the distance that will run next operating point automatic soldering device people X motor and Y motor is determined according to these range informations, digital signal processing chip 21 then with field programmable gate array chip 22 communication, transmission range parameter, solder joint information and need the speed of service to field programmable gate array chip 22, then generated the speed ladder diagram of control X motor and Y motor movement according to fuzzy control principle by field programmable gate array chip 22, the area that ladder diagram comprises is exactly the distance that automatic soldering device people X motor and Y motor will run, speed ladder diagram generates in conjunction with the electric current of X motor and Y motor and photoelectric coded disk information the PWM ripple controlling motor walking again.
Detect 51 at the power supply transient voltage opening soldering robot to judge the voltage source of power subsystem 1, and judged result is sent to digital signal processing chip 21, when determining that lithium ion battery 12 is powered, if lithium ion battery 12 voltage is in low pressure, the PWM ripple of the programmable gate array chip 22 that seals off the area is exported, now X motor, Y motor and Z motor can not work, voltage sensor is by work simultaneously, dual-core controller can send low pressure alarming signal, and lithium ion battery 12 is changed in man-machine interface prompting.
In addition, described two freedom mechanisms 41 comprise for control two dimensional surface solder joint walking X motor and Y motor, described X motor and Y motor are all the AC permanent magnet servomotor with 1024 line photoelectric coded disks.
In addition, described in go out tin and control 42 and comprise Z motor for controlling tin output amount, described Z motor is the AC permanent magnet servomotor with 1024 line photoelectric coded disks.X motor, Y motor and Z motor all use the AC permanent magnet servomotor with 1024 line photoelectric coded disks, make the speed adjustable range of soldering robot wider, and contrast of regulating speed is steady, and also make its operational precision greatly improve, efficiency is also relatively high.
In addition, described detecting unit 5 also comprises temperature detection 53, and described temperature detection 53 is temperature sensor, described temperature detection 53 with described go out tin control 42 and be connected.In soldering process, tin speeds control is sent automatically to regulate, temperature sensor sends digital signal processing chip 21 to after the operating temperature collection of solder horn, digital signal processing chip 21 gives field programmable gate array chip 22 the speed that temperature, current spot welding run again, then send the tin Z velocity close-loop control of motor by field programmable gate array chip 22.
In addition, described detecting unit 5 also comprises memory function and controls 54, and described memory function controls 54 and is connected with described digital signal processing chip 21.Make the power-off of soldering robot or run into after fault restarts, the servo controller system of soldering robot can transfer the routing information put and weld easily, then can easily from the task that trouble point secondary spot welding does not complete.And if in motion process soldering machine people find weld spacing from or go out tin servo-drive system and solve and occur that endless loop will send interrupt requests to digital signal processing chip 21, digital signal processing chip 21 can do very first time response to interruption, the process if the interrupt response of digital signal processing chip 21 is not able to do in time, the X motor of automatic soldering device people, Y motor and Z motor, by original place self-locking, prevent maloperation.
In pinpoint welding procedure, if the solder joint that image acquisition and processing unit 3 finds that there is any position goes wrong, memory function controls 54 can record current location information, then digital signal processing chip 21 is according to the particular location of soldering robot at welding assembly, send corresponding position data etc. to field programmable gate array chip 22, then generate automatic soldering device people in conjunction with each peripheral sensor parameter according to fuzzy control rule by field programmable gate array chip 22 and arrive the actual acceleration upgrading point and need, speed and position signalling, then control X motor and Y motor arrive assigned address, then opening image acquisition and processing unit 3 utilizes Z motor butt welding point to carry out secondary spot welding compensation, and then get back to memory function control 54 deposited originally under position, again original work is continued.
In addition, described detecting unit 5 also comprises and also comprises breakpoint set-up function control 55, and described breakpoint set-up function controls 55 and is connected with described digital signal processing chip 21.Breakpoint set-up function controls 55 and is conducive to cleaning solder horn in motion process, reduces the problem producing failure welding or solder joint filth because of the residue solder on solder horn and occurs.
If read the breakpoint that breakpoint set-up function controls 55 in soldering process, digital signal processing chip 21 can notify that the PWM ripple that field programmable gate array chip 22 generates makes robot servo X motor and Y motor stop with maximum acceleration, and the self-locking of Z motor, and store current information, until controller is read and again pressed START button information field programmable gate array chip 22 just can be made to rework, and transfer the storage information that memory function controls 54 soldering robot can be worked on from automatic pause point.
In soldering process, if image acquisition and processing unit 3 finds that solder horn has a large amount of residue solder, digital signal processing chip 21 can notify that the PWM ripple that field programmable gate array chip 22 generates makes robot servo X motor and Y motor stop, and the self-locking of Z motor, memory function controls 54 and records current location information, then digital signal processing chip 21 is according to the particular location of soldering robot at welding assembly, help X motor and the automatic mobile soldering robot of Y motor to cleaning place by image acquisition and processing unit 3, then flatiron is cleaned, after transfer corresponding positional information, come back to storage solder joint, again new work.
Therefore, in whole soldering process, if image acquisition and processing unit 3 finds that there is any position or any tin welding spot goes wrong, main control unit 2 can assign instruction to soldering unit 4, carries out secondary repairing to above-mentioned position or solder joint.When after the soldering campaign completing whole processing component, Z motor generally retracts a little distance solder stick, and memory function controls 54 and records this value, then self-locking immediately, then through a little time delay, X motor and Y motor help soldering robot to walk out movement locus, complete soldering process.
Double-core two-freedom high-speed full-automatic soldering robot of the present invention servo controller overcomes single single-chip microcomputer can not meet the stability of two-freedom automatic soldering device people walking and the requirement of rapidity, give up the single single-chip microcomputer mode of operation that automatic soldering device people adopts, under the prerequisite absorbing external Dynamic matrix control thought, autonomous invention is based on the brand-new control model of digital signal processing chip and field programmable gate array chip, control panel take field programmable gate array chip as process core, realize the real-time process of data signal, digital signal processing chip is freed in the middle of the work of complexity, the signal processing algorithm and the response that realize part are interrupted, realize data communication and store live signal, and by image acquisition and processing unit, soldering can be helped to initialize location and find trouble point, greatly improve the automaticity of soldering robot.
Be different from prior art; double-core two-freedom high-speed full-automatic soldering robot of the present invention servo controller by dual-core controller and image acquisition and processing unit, improve the automaticity of soldering robot, the accuracy of operating efficiency and action, available protecting big current to the impact of battery, send Xi Wendu and length to be easy to control, the speed-regulating range width of motor, speed governing steadily, the secondary repair efficiency of butt welding point is better.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize description of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (5)
1. a double-core two-freedom high-speed full-automatic soldering robot servo controller, it is characterized in that, comprise: power subsystem, main control unit, image acquisition and processing unit and soldering unit, described power subsystem comprises AC power and battery, described battery is lithium ion battery, described main control unit comprises connected digital signal processing chip and field programmable gate array chip, described soldering unit comprises two freedom mechanisms and goes out tin control, described main control unit one end is connected with described power subsystem, the other end is connected with described image acquisition and processing unit, described field programmable gate array chip is connected with described soldering unit, described two freedom mechanisms comprise for control two dimensional surface solder joint walking X motor and Y motor, described X motor and Y motor are all the AC permanent magnet servomotor with 1024 line photoelectric coded disks, described go out tin control the Z motor that comprises for controlling tin output amount, described Z motor is the AC permanent magnet servomotor with 1024 line photoelectric coded disks.
2. double-core two-freedom high-speed full-automatic soldering robot according to claim 1 servo controller, it is characterized in that, described soldering robot servo controller also comprises detecting unit, described detecting unit comprises voltage detecting and current detecting, and described detecting unit is connected with described digital signal processing chip.
3. double-core two-freedom high-speed full-automatic soldering robot according to claim 2 servo controller, it is characterized in that, described detecting unit also comprises temperature detection, and described temperature detection is temperature sensor, described temperature detection with described go out tin control to be connected.
4. double-core two-freedom high-speed full-automatic soldering robot according to claim 2 servo controller, is characterized in that, described detecting unit also comprises memory function and controls, and described memory function controls to be connected with described digital signal processing chip.
5. double-core two-freedom high-speed full-automatic soldering robot according to claim 2 servo controller, it is characterized in that, described detecting unit also comprises breakpoint set-up function and controls, and described breakpoint set-up function controls to be connected with described digital signal processing chip.
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| CN104889536A (en) * | 2015-05-15 | 2015-09-09 | 无锡阳工机械制造有限公司 | Argon arc welding based intelligent welding method with safety protection |
| CN104889548A (en) * | 2015-05-15 | 2015-09-09 | 无锡阳工机械制造有限公司 | Argon arc welding based welding process |
| CN104889535A (en) * | 2015-05-15 | 2015-09-09 | 无锡阳工机械制造有限公司 | Argon arc welding based intelligent welding process |
| CN104889547A (en) * | 2015-05-15 | 2015-09-09 | 无锡阳工机械制造有限公司 | Argon arc welding based welding method |
| US10782759B1 (en) | 2019-04-23 | 2020-09-22 | Arbor Company, Lllp | Systems and methods for integrating batteries with stacked integrated circuit die elements |
| EP3973528A4 (en) * | 2019-05-21 | 2022-08-03 | Arbor Company LLLP | Systems and methods for integrating batteries with stacked integrated circuit die elements |
| CN116097109B (en) | 2020-06-29 | 2023-11-24 | 乔木有限责任合伙公司 | Reconfigurable processor module using 3D die stacking and mobile IOT edge device for processor independent 5G modems |
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Effective date of registration: 20160322 Address after: 215021 Suzhou Industrial Park, Jiangsu, if waterway No. 1 Patentee after: Zhang Haoming Address before: 215123 Jiangsu Province, Suzhou City Industrial Park, Dushu Lake Higher Education area if the waterway No. 1 Patentee before: Suzhou Industrial Park Institute of Vocational Technology |
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Effective date of registration: 20160630 Address after: 211106, Jiangsu, Nanjing, Jiangning economic and Technological Development Zone, No. 19 Su source Avenue, Kowloon lake international enterprise headquarters park, block C4, first floor Patentee after: Jiangsu Robobor Bobot Technology Co., Ltd. Address before: 215021 Suzhou Industrial Park, Jiangsu, if waterway No. 1 Patentee before: Zhang Haoming |