CN110788439A - Manipulator soldering machine motion control system - Google Patents
Manipulator soldering machine motion control system Download PDFInfo
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- CN110788439A CN110788439A CN201910786987.7A CN201910786987A CN110788439A CN 110788439 A CN110788439 A CN 110788439A CN 201910786987 A CN201910786987 A CN 201910786987A CN 110788439 A CN110788439 A CN 110788439A
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- soldering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K3/00—Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
- B23K3/08—Auxiliary devices therefor
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Abstract
The invention discloses a manipulator tin soldering machine motion control system, which is characterized in that: the device comprises a central controller, a camera unit, an image acquisition device, a workpiece detection unit, a manipulator clamping unit and a soldering device; the workpiece detection unit is used for detecting whether a workpiece to be welded enters the central controller on the soldering tin operation platform or not and sending an instruction to the manipulator clamping device for taking; the image acquisition device is used for processing a workpiece to be welded; the camera shooting unit shoots the welded workpiece and sends the shot picture to the central controller. The invention can effectively ensure the soldering tin effect, has high automation degree and high soldering tin efficiency, and can automatically generate a welding motion path suitable for the welding point according to the size and the shape of the welding point, thereby completely welding the periphery of the welding point and improving the welding quality.
Description
Technical Field
The invention relates to the technical field of soldering tin, in particular to a motion control system of a manipulator soldering tin machine.
Background
The tin soldering technology is taken as the traditional technology and the technology of manufacturing, the development in the industrial application of recent years is very rapid, most of the traditional tin soldering is welded manually, because the influence of human factors is great, the controllability is poor, the tin soldering quality of the final product is low, the welding efficiency is low, in the industrial automation field, many enterprises are very urgent to the demand of advanced tin soldering equipment, the control requirement control precision of an automatic tin soldering machine is high, and a control system can continuously and stably operate.
Based on the above, the invention provides a motion control system of a manipulator tin soldering machine, which aims to solve the problems in the prior art.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a manipulator tin soldering machine motion control system, which can effectively ensure the tin soldering effect and has high automation degree and high tin soldering efficiency.
In order to solve the technical problems, the invention adopts the following technical scheme:
the manipulator tin soldering machine motion control system comprises a central controller, a camera unit, an image acquisition device, a workpiece detection unit, a manipulator clamping unit and a tin soldering device;
the workpiece detection unit is used for detecting whether a workpiece to be welded enters the soldering tin operation platform or not and sending a detected signal to the central controller;
when the workpiece detection and detection unit detects that a workpiece enters the soldering tin operation platform, the central controller sends an instruction to the manipulator clamping device, and the manipulator clamping device moves to the position of the workpiece to be welded and clamps the workpiece to be welded;
the image acquisition device processes a workpiece to be welded, obtains the number, shape, size and coordinates of points to be welded from the workpiece to be welded, and encapsulates the shape, size and coordinate information of each welding point into a welding point data packet to be sent to the central controller;
the central controller finds the shape, size and coordinates of the welding spot corresponding to the welding spot from the welding spot data packet according to the welding spot, and generates a motion path of the soldering tin device according to the shape and size of the welding spot;
the central controller finds the shape, size and coordinates of the welding spot corresponding to the welding spot from the welding spot data packet according to the welding spot, and generates a motion path of the soldering tin device according to the shape and size of the welding spot;
the camera shooting unit is used for shooting a welded workpiece, sending a shooting picture to the central controller and comparing the shooting picture with a picture prestored in the central controller to determine whether a welding point is defective;
when the difference between the shot picture and the pre-stored picture is detected to be large, the central controller controls the soldering tin device to return to the welding defect point for repair welding.
Preferably, the central controller is a central processor of the MSP430F 24716.
Preferably, the image acquisition device comprises an acquisition unit and a processing unit, the acquisition unit is electrically connected with the processing unit, and the processing unit is electrically connected with the central control unit.
Preferably, the acquisition unit is configured to acquire the image information and transmit the image information to the processing unit; the processing unit processes the image information and sends the generated image signal to the central controller.
Preferably, the camera shooting unit is provided with a brightness sensor and an infrared night vision device, and the infrared night vision device is automatically started when the brightness sensor senses that light is insufficient.
Preferably, the camera unit is a pinhole camera.
Preferably, the soldering device comprises a soldering manipulator, a soldering bit, a solder piece and a soldering driving unit.
Preferably, the soldering tin manipulator is connected with the soldering bit and the solder sending part, and the soldering tin driving unit is respectively connected with the soldering tin manipulator, the soldering bit and the solder sending part so as to drive the solder sending part, the soldering bit and the soldering tin manipulator to move.
Preferably, the workpiece detection unit comprises a signal transmitting part and a signal receiving part.
Preferably, the camera unit sends the image to a central controller, and compares the image with a picture prestored in the central controller, and the central controller determines the position area and the path of the welding problem point and controls the soldering device to perform repair welding according to the position area and the path.
The invention has the beneficial effects that:
the manipulator tin soldering machine motion control system can effectively ensure the tin soldering effect, has high automation degree and high tin soldering efficiency, and can automatically generate a welding motion path suitable for a welding point according to the size and the shape of the welding point, thereby completely welding the periphery of the welding point and improving the welding quality.
Drawings
FIG. 1 is a schematic block diagram of a robot soldering machine motion control system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the connection relationship between the central controller and the image acquisition device according to the present invention;
fig. 3 is a schematic diagram of the connection relationship between the central controller and the soldering device according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, a preferred embodiment of the motion control system of the manipulator soldering machine of the present invention includes a central controller, a camera unit, an image capturing device, a workpiece detecting unit, a manipulator clamping unit and a soldering device;
the workpiece detection unit is used for detecting whether a workpiece to be welded enters the soldering tin operation platform or not, sending a detected signal to the central controller, and after receiving the signal, the central controller performs corresponding analysis and sends a corresponding control instruction to the manipulator clamping unit;
specifically, when the workpiece detection and detection unit detects that a workpiece enters the soldering tin operation platform, the central controller sends an instruction to the manipulator clamping device, and the manipulator clamping device moves to the position of the workpiece to be welded to clamp the workpiece to be welded;
the image acquisition device processes a workpiece to be welded, obtains the number, the shape, the size and the coordinates of points to be welded from the workpiece to be welded, and encapsulates the shape, the size and the coordinate information of each welding point into a welding point data packet to be sent to the central controller;
the central controller finds the shape, size and coordinates of the welding spot corresponding to the welding spot from the welding spot data packet according to the welding spot, and generates a motion path of the soldering device according to the shape and size of the welding spot;
the central controller finds the shape, size and coordinates of the welding spot corresponding to the welding spot from the welding spot data packet according to the welding spot, and generates a motion path of the soldering device according to the shape and size of the welding spot;
the camera shooting unit is used for shooting a welded workpiece, sending a shooting picture to the central controller and comparing the shooting picture with a picture prestored in the central controller to determine whether a welding point is defective;
when the difference between the shot picture and the pre-stored picture is detected to be large, the central controller controls the soldering tin device to return to the welding defect point for repair welding.
Therefore, by adopting the technical scheme, the tin soldering effect can be effectively ensured, the automation degree is high, the tin soldering efficiency is high, and the welding motion path adaptive to the welding spot can be automatically generated according to the size and the shape of the welding spot, so that the periphery of the welding spot is completely welded, and the welding quality is improved.
Further, the central controller is a central processor of the MSP430F24716, and the control capability of the central controller is improved.
Furthermore, the image acquisition device comprises an acquisition unit and a processing unit, wherein the acquisition unit is electrically connected with the processing unit, and the processing unit is electrically connected with the central control unit.
Further, the acquisition unit is used for acquiring the image information and transmitting the image information to the processing unit; the processing unit processes the image information and sends the generated image signal to the central controller.
Furthermore, the camera shooting unit is provided with a brightness sensor and an infrared night vision device, and the infrared night vision device is automatically started when the brightness sensor senses that light is insufficient.
Further, the camera unit is a pinhole camera.
Furthermore, the welding device comprises a soldering tin manipulator, a soldering iron head, a soldering piece and a soldering tin driving unit.
Furthermore, the soldering tin manipulator is connected with the soldering bit and the solder sending piece, and the soldering tin driving unit is respectively connected with the soldering tin manipulator, the soldering bit and the solder sending piece so as to drive the solder sending piece, the soldering bit and the soldering tin manipulator to move.
Further, the workpiece detection unit comprises a signal transmitting part and a signal receiving part.
Further, the camera shooting unit sends the shot picture to a central controller, the shot picture is compared with a picture prestored in the central controller, and the central controller determines the position area and the path of the welding problem point and controls the soldering device to repair welding according to the position area and the path.
In conclusion, the manipulator tin soldering machine motion control system can effectively ensure the tin soldering effect, has high automation degree and high tin soldering efficiency, and can automatically generate a welding motion path suitable for a welding point according to the size and the shape of the welding point, so that the periphery of the welding point is completely welded, and the welding quality is improved.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (10)
1. Manipulator soldering tin machine motion control system, its characterized in that: the device comprises a central controller, a camera unit, an image acquisition device, a workpiece detection unit, a manipulator clamping unit and a soldering device;
the workpiece detection unit is used for detecting whether a workpiece to be welded enters the soldering tin operation platform or not and sending a detected signal to the central controller;
when the workpiece detection and detection unit detects that a workpiece enters the soldering tin operation platform, the central controller sends an instruction to the manipulator clamping device, and the manipulator clamping device moves to the position of the workpiece to be welded and clamps the workpiece to be welded;
the image acquisition device processes a workpiece to be welded, obtains the number, shape, size and coordinates of points to be welded from the workpiece to be welded, and encapsulates the shape, size and coordinate information of each welding point into a welding point data packet to be sent to the central controller;
the central controller finds the shape, size and coordinates of the welding spot corresponding to the welding spot from the welding spot data packet according to the welding spot, and generates a motion path of the soldering tin device according to the shape and size of the welding spot;
the central controller finds the shape, size and coordinates of the welding spot corresponding to the welding spot from the welding spot data packet according to the welding spot, and generates a motion path of the soldering tin device according to the shape and size of the welding spot;
the camera shooting unit is used for shooting a welded workpiece, sending a shooting picture to the central controller and comparing the shooting picture with a picture prestored in the central controller to determine whether a welding point is defective;
when the difference between the shot picture and the pre-stored picture is detected to be large, the central controller controls the soldering tin device to return to the welding defect point for repair welding.
2. The robot soldering machine motion control system according to claim 1, wherein: the central controller is a central processor of the MSP430F 24716.
3. The robot soldering machine motion control system according to claim 1, wherein: the image acquisition device comprises an acquisition unit and a processing unit, wherein the acquisition unit is electrically connected with the processing unit, and the processing unit is electrically connected with the central control unit.
4. The robot soldering machine motion control system according to claim 3, wherein: the acquisition unit is used for acquiring the image information and transmitting the image information to the processing unit; the processing unit processes the image information and sends the generated image signal to the central controller.
5. The robot soldering machine motion control system according to claim 1, wherein: the camera shooting unit is provided with a brightness sensor and an infrared night vision device, and the infrared night vision device is automatically started when the brightness sensor senses that light is insufficient.
6. The robot soldering machine motion control system according to claim 5, wherein: the camera shooting unit is a pinhole type camera.
7. The robot soldering machine motion control system according to claim 1, wherein: the welding device comprises a tin soldering manipulator, a soldering bit, a solder sending piece and a tin soldering driving unit.
8. The robot soldering machine motion control system according to claim 7, wherein: the soldering tin manipulator is connected with the soldering bit and the solder sending piece, and the soldering tin driving unit is respectively connected with the soldering tin manipulator, the soldering bit and the solder sending piece so as to drive the solder sending piece, the soldering bit and the soldering tin manipulator to move.
9. The robot soldering machine motion control system according to claim 1, wherein: the workpiece detection unit comprises a signal transmitting part and a signal receiving part.
10. The robot soldering machine motion control system according to claim 1, wherein: and the camera shooting unit sends the shot picture to a central controller, and compares the shot picture with a picture prestored in the central controller, and the central controller determines the position area and the path of the welding problem point and controls the soldering tin device to repair welding according to the position area and the path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910786987.7A CN110788439A (en) | 2019-08-24 | 2019-08-24 | Manipulator soldering machine motion control system |
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| CN201910786987.7A CN110788439A (en) | 2019-08-24 | 2019-08-24 | Manipulator soldering machine motion control system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112504342A (en) * | 2020-12-04 | 2021-03-16 | 长沙金威汽车电器有限公司 | Machining detection method for vehicle support |
| CN112589389A (en) * | 2020-12-04 | 2021-04-02 | 长沙金威汽车电器有限公司 | Machining method for vehicle support |
| CN112872640A (en) * | 2021-01-21 | 2021-06-01 | 日照中意华坤金属制造有限公司 | Iron art decoration frame welding manufacturing system |
| CN117399735A (en) * | 2023-10-26 | 2024-01-16 | 深圳市昊芯科技有限公司 | Automatic laser soldering method and device |
-
2019
- 2019-08-24 CN CN201910786987.7A patent/CN110788439A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112504342A (en) * | 2020-12-04 | 2021-03-16 | 长沙金威汽车电器有限公司 | Machining detection method for vehicle support |
| CN112589389A (en) * | 2020-12-04 | 2021-04-02 | 长沙金威汽车电器有限公司 | Machining method for vehicle support |
| CN112872640A (en) * | 2021-01-21 | 2021-06-01 | 日照中意华坤金属制造有限公司 | Iron art decoration frame welding manufacturing system |
| CN112872640B (en) * | 2021-01-21 | 2023-10-03 | 日照中意华坤金属制造有限公司 | Iron art decorative frame welding manufacturing system |
| CN117399735A (en) * | 2023-10-26 | 2024-01-16 | 深圳市昊芯科技有限公司 | Automatic laser soldering method and device |
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