CN114348615A - Blue-pressing glue, edge covering machine and pretreatment connection method, connection system and application - Google Patents
Blue-pressing glue, edge covering machine and pretreatment connection method, connection system and application Download PDFInfo
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- 239000003292 glue Substances 0.000 title claims abstract description 59
- 238000003825 pressing Methods 0.000 title claims abstract description 57
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- 239000000853 adhesive Substances 0.000 claims description 3
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Abstract
The invention belongs to the technical field of PCB manufacturing, and discloses a blue-pressing glue, a taping machine, a pretreatment wiring method, a wiring system and application. The automatic Board collecting machine is changed into a three-dimensional bin type temporary storage machine, one steering machine is connected with the three-dimensional bin type temporary storage machine, the two steering machines are horizontally connected in the transverse direction by utilizing a conveyor, the covering machine and the blue glue pressing machine are respectively and horizontally connected with the steering machine in the longitudinal direction, and the covering machine and the blue glue pressing machine are horizontally arranged. The invention realizes the automatic production of the off-line taping machine and the blue glue pressing machine by using the three-dimensional bin type temporary storage machine, the two steering machines and the connecting conveyor. The invention realizes the three-machine connection automatic production and effectively reduces the manual operation cost. And defective products caused by manual operation action errors are avoided.
Description
Technical Field
The invention belongs to the technical field of Printed Circuit Board (PCB) manufacturing, and discloses a blue-pressing adhesive, a taping machine, a pretreatment wiring method, a pretreatment wiring system and application.
Background
At present, a pretreatment line is adopted in the industry for automatic plate collection and then production by a rotary pressing blue glue machine or a taping machine, and most of the production modes are manual plate placing production modes.
The original method cannot realize the reason of automatic production of three-machine connection: the PCB after the production of the pretreatment line is manually transferred to a designated area for temporary storage. And when the edge is covered or the blue glue is pressed, the PCB is transferred to a wrapping machine or a covering machine for production from a designated temporary storage area by personnel. The automatic operation of the edge covering or blue glue pressing can not be carried out after the pretreatment is finished, but the manual operation is carried out.
Through the above analysis, the problems and defects of the prior art are as follows: the existing operation mode is that the pretreatment and the edge covering and blue glue pressing machine can not be used for on-line production, but manual operation is adopted, and automatic on-line production can not be realized, and the method mainly comprises the following steps: the edge covering machine and the blue glue pressing machine need 1 respective manual fixing operation for production, and the labor cost is high; the manual operation action has inconsistency, which easily causes the wiping product to generate defective products.
Disclosure of Invention
In order to overcome the problems in the related art, the disclosed embodiment of the invention provides a blue glue pressing and edge covering machine and a pretreatment connection method.
The technical scheme is as follows: the blue glue pressing and covering machine and pretreatment connecting line method utilizes a three-dimensional bin type temporary storage machine, two steering machines and a connecting line conveyor to automatically produce the connecting lines of the covering machine, the blue glue pressing machine and a pretreatment production line machine;
the method specifically comprises the following steps:
step one, changing an automatic plate collecting machine into a three-dimensional bin type temporary storage machine;
connecting a steering machine with the three-dimensional bin type temporary storage machine, receiving the PCB conveyed by the three-dimensional bin type temporary storage machine, and selecting longitudinal conveying or transverse conveying through parameter setting;
thirdly, horizontally connecting the two steering machines transversely by using a conveyor; the two horizontally arranged steering machines are in transmission connection by utilizing conveying equipment;
and step four, the covering machine and the blue glue pressing machine are respectively and horizontally connected with a steering machine in the longitudinal direction.
In one embodiment, in step one, the three-dimensional bin type temporary storage machine connects the front processing line with the steering machine in a left-in and right-out operation mode.
In one embodiment, in the second step, the mixture is conveyed to a covering machine or a bluing machine through longitudinal conveying or transverse conveying;
the method for selecting longitudinal conveying or transverse conveying through parameter setting comprises the following steps:
step 1, collecting a high-precision PCB conveying route as a longitudinal or transverse conveying route of a reference PCB according to a GPS/INS system, and determining the current position point of a three-dimensional warehouse type temporary storage machine according to a sensor of the three-dimensional warehouse type temporary storage machine when the three-dimensional warehouse type temporary storage machine moves on the longitudinal or transverse conveying route of the reference PCB in a tracking manner;
step 2, in the tracking motion process of the three-dimensional bin type temporary storage machine, searching out a matching point closest to the current position point of the three-dimensional bin type temporary storage machine according to the longitudinal or transverse conveying route of the reference PCB collected in the step 1, selecting a forward point at a certain distance from the closest matching point, and obtaining the curvature of the conveying table at the closest matching point according to a two-point curvature solving method;
step 3, calculating to obtain the tracking deviation of the longitudinal or transverse conveying route of the PCB, including transverse deviation and longitudinal error, according to the current position of the three-dimensional bin type temporary storage machine determined in the step 1 and the nearest matching point determined in the step 2; finding the conveying deviation position of the three-dimensional bin type temporary storage machine, and calculating the tracking deviation of the longitudinal or transverse conveying route of the PCB at the conveying deviation position; calculating according to a three-dimensional bin type temporary storage machine dynamic model, a tracking state variable and a conveying table curvature to obtain a relation between a transverse deviation acceleration at a conveying deviation position and a PCB plate lateral deviation force and a conveying table curvature, and calculating the transverse deviation acceleration to be zero to obtain a current PCB plate feedforward lateral deviation force, wherein the relation is used for eliminating the influence of the transverse deviation acceleration and the conveying table curvature and improving the conveying stability of the three-dimensional bin type temporary storage machine;
step 4, establishing a dynamic model based on the current PCB feedback yawing force, obtaining an optimal feedback control rate by adopting an LQR control algorithm, and constructing a full-state linear feedback controller by combining the tracking state variables obtained in the step 3, wherein the obtained feedback control quantity is the current PCB feedback yawing force and is used for eliminating conveying errors caused by external environment interference and model inaccuracy;
and step 5, determining the current PCB side offset force according to the current PCB feedforward side offset force obtained in the step 3 and the current PCB feedback side offset force obtained in the step 4, obtaining a current PCB side offset angle based on a reverse PCB model, finally obtaining a PCB longitudinal or transverse conveying route tracking corner control quantity according to the current PCB corner input, and sending the PCB longitudinal or transverse conveying route tracking corner control quantity to a PLC central line control steering system to realize PCB longitudinal or transverse conveying route tracking control.
In one embodiment, in step 2, the specific steps of calculating the curvature of the conveying table by the two-point curvature calculating method are as follows:
extracting a nearest matching point on a longitudinal or transverse conveying route of the reference PCB, selecting a forward point which is a certain distance away from the nearest matching point, finding out the difference value of the transverse coordinates and the longitudinal coordinates of the two points, and solving the curvature of the nearest matching point according to the geometrical relationship.
5. The blue stamping glue, edge covering machine and pretreatment connecting line method according to claim 3, characterized in that in step 3, the conveying deviation position of the three-dimensional bin type temporary storage machine is required to satisfy:
in the formula xlaIs the forward point distance, x, of the center of mass of the PCB along the longitudinal axis of the three-dimensional bin type temporary storage machinecopIs the distance from the center of mass of the PCB to the point of delivery deviation, IzzIs the moment of inertia; due to IzzIs approximately equal to mab, then there is xcopA is approximately equal to m, wherein m is the mass of the three-dimensional bin type temporary storage machine, and a and b are the front part of the PCB and the three-dimensional space respectivelyThe distance between the bin type temporary storage machine and the distance between the rear part of the PCB and the three-dimensional bin type temporary storage machine.
In one embodiment, in step 3, the calculation steps of the PCB board longitudinal or lateral conveying route tracking deviation and lateral deviation acceleration at the conveying deviation position are as follows:
assuming only a small deflection angle and neglecting longitudinal forces, the PCB board longitudinal or lateral transport path tracking deviation is calculated as follows:
Δψ＝ψ-ψr
ecop＝e+xp sinΔψ
wherein: psi is longitudinal direction of PCB board, psirIs the direction of the table, Δ ψ is the longitudinal error, xpIs the distance of the three-dimensional bin type temporary storage machine at the front part of the PCB, e is the transverse deviation from the mass center to the nearest matching point, ecopThe transverse deviation at the position of the conveying deviation is obtained; the differential of the above equation yields:
the established three-dimensional bin type temporary storage machine dynamic model is as follows:
wherein: a isyAnd UyRespectively lateral acceleration and lateral velocity, UxIs the longitudinal velocity, FyfAnd FyrRespectively the front PCB side bias and the rear wheel side bias, IzzThe moment of inertia of the three-dimensional bin type temporary storage machine is shown, S is a movement distance, r is a yaw velocity, and a and b are a distance between the three-dimensional bin type temporary storage machine at the front part of the PCB and a distance between the three-dimensional bin type temporary storage machine at the rear part of the PCB respectively; dynamic state variable U of three-dimensional bin type temporary storage machine with PCB longitudinal or transverse conveying line tracking capability as purposeyAnd r needs to be converted into a state variable related to the expected path, wherein the relation between the lateral deviation acceleration and the longitudinal deviation acceleration and the current PCB side deviation force is as follows:
in one embodiment, the third step is to utilize the conveying device to perform transmission connection on two horizontally placed steering machines.
Another objective of the present invention is to provide a pre-processing line system for implementing the blue-pressing glue, the taping machine and the pre-processing line method, the pre-processing line system comprising:
the three-dimensional bin type temporary storage machine is used for automatically collecting and temporarily storing the plates and automatically outputting the plates;
the steering machine is respectively connected with the three-dimensional bin type temporary storage machine, and is longitudinally and horizontally connected with the taping machine and the blue glue pressing machine; selecting a taping or blue glue pressing working module and confirming the taping or blue glue pressing working module on a parameter setting page of a steering machine connected with the three-dimensional bin type temporary storage machine, and conveying the PCB into the taping machine or the blue glue pressing machine by the equipment through longitudinal or transverse translation;
the conveyor is used for horizontally connecting the two steering machines transversely and conveying the PCB;
the edge covering machine and the blue glue pressing machine are horizontally arranged in parallel.
The invention also aims to provide a PCB edge covering and blue glue pressing production line which carries the pretreatment connecting line system.
The invention also aims to provide a blue glue pressing and covering machine and a pretreatment connecting line device for carrying the PCB board edge covering and blue glue pressing production line, wherein the blue glue pressing and covering machine and the pretreatment connecting line device comprise a pretreatment connecting line system;
the two steering machines of the pretreatment connecting line system are respectively and longitudinally and horizontally connected with the covering machine and the blue glue pressing machine, and the covering machine and the blue glue pressing machine are horizontally and parallelly arranged.
By combining all the technical schemes, the invention has the advantages and positive effects that:
(1) the invention innovatively solves the problem of connecting a Printed Circuit Board (PCB) with a pre-processor by blue glue pressing/edge covering. The automatic production of the off-line taping machine and the blue glue pressing machine in a connecting line mode is realized by utilizing the three-dimensional bin type temporary storage machine, the two steering machines and the connecting line conveyor.
(2) The invention realizes the automatic production of the three-machine connection, effectively reduces the manual operation cost, and reduces the manual operation from 3 persons to 1 person after the three-machine connection. Meanwhile, defective products caused by manual operation action errors are reduced.
(3) The method for selecting longitudinal conveying or transverse conveying through parameter setting comprises the following steps: acquiring a high-precision PCB conveying route as a longitudinal or transverse conveying route of a reference PCB according to a GPS/INS system, and determining the current position point of the three-dimensional warehouse type temporary storage machine according to a sensor of the three-dimensional warehouse type temporary storage machine when the three-dimensional warehouse type temporary storage machine moves on the longitudinal or transverse conveying route of the reference PCB in a tracking manner; in the tracking motion process of the three-dimensional warehouse type temporary storage machine, searching out a matching point closest to the current position point of the three-dimensional warehouse type temporary storage machine according to the longitudinal or transverse conveying route of the reference PCB collected in the step 1, selecting a forward point with a certain distance from the closest matching point, and obtaining the curvature of the conveying table at the closest matching point according to a two-point curvature solving method.
(3) According to the method, the tracking deviation of the longitudinal or transverse conveying route of the PCB, including transverse deviation and longitudinal error, is calculated by the determined current position point of the three-dimensional bin type temporary storage machine and the determined nearest matching point; finding the conveying deviation position of the three-dimensional bin type temporary storage machine, and calculating the tracking deviation of the longitudinal or transverse conveying route of the PCB at the conveying deviation position; calculating according to a three-dimensional bin type temporary storage machine dynamic model, a tracking state variable and a conveying table curvature to obtain a relation between a transverse deviation acceleration at a conveying deviation position and a PCB plate lateral deviation force and a conveying table curvature, and calculating the transverse deviation acceleration to be zero to obtain a current PCB plate feedforward lateral deviation force, wherein the relation is used for eliminating the influence of the transverse deviation acceleration and the conveying table curvature and improving the conveying stability of the three-dimensional bin type temporary storage machine; establishing a dynamic model based on the current PCB feedback lateral deviation force, obtaining an optimal feedback control rate by adopting an LQR control algorithm, and constructing a full-state linear feedback controller by combining the obtained tracking state variables, wherein the obtained feedback control quantity is the current PCB feedback lateral deviation force and is used for eliminating the conveying error generated by external environment interference and model inaccuracy;
(4) the method comprises the steps of determining the current PCB side deflection force according to the obtained current PCB feedforward side deflection force and the obtained current PCB feedback side deflection force, obtaining a current PCB side deflection angle based on a reverse PCB model, obtaining a PCB longitudinal or transverse conveying route tracking rotation angle control quantity according to the current PCB rotation angle input, and sending the PCB longitudinal or transverse conveying route tracking rotation angle control quantity to a PLC central line control steering system to realize PCB longitudinal or transverse conveying route tracking control; the intelligent control of transverse and longitudinal conveying and the monitoring of conveying abnormity can be realized.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a flowchart of a blue glue pressing, edge covering machine and pretreatment connection method provided by the embodiment of the invention.
Fig. 2 is a flowchart of a method for selecting longitudinal conveyance or lateral conveyance through parameter setting according to an embodiment of the present invention.
Fig. 3 is a diagram of the connection effect of the three machines of the taping machine, the bluing machine and the pretreatment line provided by the embodiment of the invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
The blue glue pressing and covering machine and the pretreatment connecting line method provided by the invention utilize the three-dimensional bin type temporary storage machine, the two steering machines and the connecting line conveyor to realize the automatic connecting line production of the off-line covering machine and the blue glue pressing machine.
Specifically, as shown in fig. 1, the method for connecting the blue color press, the taping machine and the pretreatment includes:
s101, the automatic plate collecting machine is changed into a three-dimensional bin type temporary storage machine.
S102, connecting a steering machine with the three-dimensional bin type temporary storage machine.
And S103, horizontally connecting the two steering machines by using a conveyor.
And S104, respectively connecting the covering machine and the blue glue pressing machine with a steering machine in a longitudinal and horizontal mode, and keeping the covering machine and the blue glue pressing machine in a horizontal and parallel mode.
And S101, replacing an automatic plate collecting machine with a three-dimensional bin type temporary storage machine, and connecting the pre-processing line with a steering machine in a left-in and right-out operation mode.
And S102, receiving the PCB conveyed by the three-dimensional bin type temporary storage machine, and selecting longitudinal conveying or transverse conveying through parameter setting, namely selecting to convey the PCB to a covering machine or a blue glue pressing machine.
As shown in fig. 2, the method for selecting the longitudinal conveying or the transverse conveying through parameter setting includes:
s201, collecting a high-precision PCB conveying route as a longitudinal or transverse conveying route of a reference PCB according to a GPS/INS system, and determining the current position point of the three-dimensional warehouse type temporary storage machine according to a sensor of the three-dimensional warehouse type temporary storage machine when the three-dimensional warehouse type temporary storage machine moves on the longitudinal or transverse conveying route of the reference PCB in a tracking manner;
s202, in the tracking motion process of the three-dimensional bin type temporary storage machine, searching out a matching point closest to the current position point of the three-dimensional bin type temporary storage machine according to the longitudinal or transverse conveying route of the reference PCB collected in the step S201, selecting a forward point at a certain distance from the closest matching point, and obtaining the curvature of the conveying platform at the closest matching point according to a two-point curvature solving method;
s203, calculating to obtain the tracking deviation of the longitudinal or transverse conveying route of the PCB, including the transverse deviation and the longitudinal error, according to the current position point of the three-dimensional bin type temporary storage machine determined in the step S201 and the nearest matching point determined in the step S202; finding the conveying deviation position of the three-dimensional bin type temporary storage machine, and calculating the tracking deviation of the longitudinal or transverse conveying route of the PCB at the conveying deviation position; calculating according to a three-dimensional bin type temporary storage machine dynamic model, a tracking state variable and a conveying table curvature to obtain a relation between a transverse deviation acceleration at a conveying deviation position and a PCB plate lateral deviation force and a conveying table curvature, and calculating the transverse deviation acceleration to be zero to obtain a current PCB plate feedforward lateral deviation force, wherein the relation is used for eliminating the influence of the transverse deviation acceleration and the conveying table curvature and improving the conveying stability of the three-dimensional bin type temporary storage machine;
s204, establishing a dynamic model based on the current PCB feedback yawing force, obtaining an optimal feedback control rate by adopting an LQR control algorithm, and constructing a full-state linear feedback controller by combining the tracking state variables obtained in the step S203, wherein the obtained feedback control quantity is the current PCB feedback yawing force and is used for eliminating conveying errors caused by external environment interference and model inaccuracy;
and S205, determining the current PCB side offset force according to the current PCB feedforward side offset force obtained in the step S203 and the current PCB feedback side offset force obtained in the step S204, obtaining a current PCB side offset angle based on an inverse PCB model, finally obtaining a PCB longitudinal or transverse conveying route tracking and turning angle control quantity according to the current PCB turning angle input, and sending the PCB longitudinal or transverse conveying route tracking and turning angle control quantity to a PLC central line control steering system to realize PCB longitudinal or transverse conveying route tracking and turning control.
The specific steps of calculating the curvature of the conveying table by the two-point curvature calculating method in the step S202 are as follows:
extracting a nearest matching point on a longitudinal or transverse conveying route of a reference PCB (printed circuit board), selecting a forward point which is a certain distance away from the nearest matching point, finding out a difference value between a transverse coordinate and a longitudinal coordinate of the two points, and solving the curvature of the nearest matching point according to a geometrical relationship;
in step S203, the conveying deviation position of the three-dimensional bin type temporary storage machine needs to satisfy:
in the formula xlaIs the forward point distance, x, of the center of mass of the PCB along the longitudinal axis of the three-dimensional bin type temporary storage machinecopIs the distance from the center of mass of the PCB to the point of delivery deviation, IzzIs the moment of inertia; due to IzzIs approximately equal to mab, then there is xcopA is approximately distributed, wherein m is the mass of the three-dimensional bin type temporary storage machine, and a and b are the distance between the front part of the PCB and the three-dimensional bin type temporary storage machine and the distance between the rear part of the PCB and the three-dimensional bin type temporary storage machine respectively;
the calculation steps of the longitudinal or transverse conveying route tracking deviation and the transverse deviation acceleration of the PCB board at the conveying deviation position in the step S203 are as follows:
assuming only a small deflection angle and neglecting longitudinal forces, the PCB board longitudinal or lateral transport path tracking deviation is calculated as follows:
Δψ＝ψ-ψr
ecop＝e+xp sinΔψ
wherein: psi is longitudinal direction of PCB board, psirIs the direction of the table, Δ ψ is the longitudinal error, xpIs the distance of the three-dimensional bin type temporary storage machine at the front part of the PCB, and e is the distance from the mass center to the nearest matching pointLateral deviation, ecopThe transverse deviation at the position of the conveying deviation is obtained; the differential of the above equation yields:
the established three-dimensional bin type temporary storage machine dynamic model is as follows:
wherein: a isyAnd UyRespectively lateral acceleration and lateral velocity, UxIs the longitudinal velocity, FyfAnd FyrRespectively the front PCB side bias and the rear wheel side bias, IzzThe moment of inertia of the three-dimensional bin type temporary storage machine is shown, S is a movement distance, r is a yaw velocity, and a and b are a distance between the three-dimensional bin type temporary storage machine at the front part of the PCB and a distance between the three-dimensional bin type temporary storage machine at the rear part of the PCB respectively; dynamic state variable U of three-dimensional bin type temporary storage machine with PCB longitudinal or transverse conveying line tracking capability as purposeyAnd r needs to be converted into a state variable related to the expected path, wherein the relation between the lateral deviation acceleration and the longitudinal deviation acceleration and the current PCB side deviation force is as follows:
step S103 is to transmit and connect two horizontally arranged steering gears by using a conveying device.
And S104, horizontally placing the edge covering machine and the blue glue pressing machine in parallel.
The invention also provides a pretreatment wiring system, comprising:
the three-dimensional bin type temporary storage machine is used for automatically collecting and temporarily storing the plates and automatically outputting the plates;
the steering machine is respectively connected with the three-dimensional bin type temporary storage machine, and is longitudinally and horizontally connected with the taping machine and the blue glue pressing machine; and selecting a taping or blue glue pressing working module and confirming the taping or blue glue pressing working module on a parameter setting page of a steering machine connected with the three-dimensional bin type temporary storage machine, and conveying the PCB into the taping machine or the blue glue pressing machine by the equipment through longitudinal or transverse translation.
The edge covering machine and the blue glue pressing machine are horizontally arranged in parallel.
The three machines of the covering machine, the blue glue pressing machine and the pretreatment line are connected (as shown in an effect diagram in figure 3), and can be switched between the covering and the rubber coating functions, so that the problems of manual transfer and manual plate release in the prior art are effectively solved.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure should be limited only by the attached claims.
Claims (10)
1. A blue gum pressing and covering machine and a pretreatment connecting line method are characterized in that the blue gum pressing and covering machine and the pretreatment connecting line method utilize a three-dimensional bin type temporary storage machine, two steering machines and a connecting line conveyor to automatically produce the connecting line of the covering machine, the blue gum pressing machine and the pretreatment production line machine;
the method specifically comprises the following steps:
step one, changing an automatic plate collecting machine into a three-dimensional bin type temporary storage machine;
connecting a steering machine with the three-dimensional bin type temporary storage machine, receiving the PCB conveyed by the three-dimensional bin type temporary storage machine, and selecting longitudinal conveying or transverse conveying through parameter setting;
thirdly, horizontally connecting the two steering machines transversely by using a conveyor; the two horizontally arranged steering machines are in transmission connection by utilizing conveying equipment;
and step four, the covering machine and the blue glue pressing machine are respectively and horizontally connected with a steering machine in the longitudinal direction.
2. The method of claim 1, wherein in step one, the vertical silo type temporary storage machine connects the pre-processing line to the turning machine by a left-in-right-out operation.
3. The bluing adhesive, a taping machine, and a pretreatment line method according to claim 1, wherein in the second step, the bluing adhesive or the taping machine is conveyed longitudinally or transversely, and the method of selecting the longitudinal conveyance or the transverse conveyance by parameter setting comprises:
step 1, collecting a high-precision PCB conveying route as a longitudinal or transverse conveying route of a reference PCB according to a GPS/INS system, and determining the current position point of a three-dimensional warehouse type temporary storage machine according to a sensor of the three-dimensional warehouse type temporary storage machine when the three-dimensional warehouse type temporary storage machine moves on the longitudinal or transverse conveying route of the reference PCB in a tracking manner;
step 2, in the tracking motion process of the three-dimensional bin type temporary storage machine, searching out a matching point closest to the current position point of the three-dimensional bin type temporary storage machine according to the longitudinal or transverse conveying route of the reference PCB collected in the step 1, selecting a forward point at a certain distance from the closest matching point, and obtaining the curvature of the conveying table at the closest matching point according to a two-point curvature solving method;
step 3, calculating to obtain the tracking deviation of the longitudinal or transverse conveying route of the PCB, including transverse deviation and longitudinal error, according to the current position of the three-dimensional bin type temporary storage machine determined in the step 1 and the nearest matching point determined in the step 2; finding the conveying deviation position of the three-dimensional bin type temporary storage machine, and calculating the tracking deviation of the longitudinal or transverse conveying route of the PCB at the conveying deviation position; calculating according to a three-dimensional bin type temporary storage machine dynamic model, a tracking state variable and a conveying table curvature to obtain a relation between a transverse deviation acceleration at a conveying deviation position and a PCB plate lateral deviation force and a conveying table curvature, and calculating the transverse deviation acceleration to be zero to obtain a current PCB plate feedforward lateral deviation force, wherein the relation is used for eliminating the influence of the transverse deviation acceleration and the conveying table curvature and improving the conveying stability of the three-dimensional bin type temporary storage machine;
step 4, establishing a dynamic model based on the current PCB feedback yawing force, obtaining an optimal feedback control rate by adopting an LQR control algorithm, and constructing a full-state linear feedback controller by combining the tracking state variables obtained in the step 3, wherein the obtained feedback control quantity is the current PCB feedback yawing force and is used for eliminating conveying errors caused by external environment interference and model inaccuracy;
and step 5, determining the current PCB side offset force according to the current PCB feedforward side offset force obtained in the step 3 and the current PCB feedback side offset force obtained in the step 4, obtaining a current PCB side offset angle based on a reverse PCB model, finally obtaining a PCB longitudinal or transverse conveying route tracking corner control quantity according to the current PCB corner input, and sending the PCB longitudinal or transverse conveying route tracking corner control quantity to a PLC central line control steering system to realize PCB longitudinal or transverse conveying route tracking control.
4. The blue stamping glue, hemming machine and pretreatment connecting line method according to claim 3, wherein in step 2, the specific steps of calculating the curvature of the conveying table by the two-point curvature calculating method are as follows:
extracting a nearest matching point on a longitudinal or transverse conveying route of the reference PCB, selecting a forward point which is a certain distance away from the nearest matching point, finding out the difference value of the transverse coordinates and the longitudinal coordinates of the two points, and solving the curvature of the nearest matching point according to the geometrical relationship.
5. The blue stamping glue, edge covering machine and pretreatment connecting line method according to claim 3, characterized in that in step 3, the conveying deviation position of the three-dimensional bin type temporary storage machine is required to satisfy:
in the formula xlaIs the forward point distance, x, of the center of mass of the PCB along the longitudinal axis of the three-dimensional bin type temporary storage machinecopIs the distance from the center of mass of the PCB to the point of delivery deviation, IzzIs the moment of inertia; due to IzzIs approximately equal to mab, then there is xcopAnd d, keeping the distance a approximately, wherein m is the mass of the three-dimensional bin type temporary storage machine, and a and b are the distance between the front part of the PCB and the three-dimensional bin type temporary storage machine and the distance between the rear part of the PCB and the three-dimensional bin type temporary storage machine respectively.
6. The blue stamping glue, edge covering machine and pretreatment connecting line method according to claim 3, wherein in step 3, the calculation steps of the PCB longitudinal or transverse conveying route tracking deviation and the transverse deviation acceleration at the conveying deviation position are as follows:
assuming only a small deflection angle and neglecting longitudinal forces, the PCB board longitudinal or lateral transport path tracking deviation is calculated as follows:
Δψ＝ψ-ψr
ecop＝e+xp sinΔψ
wherein: psi is longitudinal direction of PCB board, psirIs the direction of the table, Δ ψ is the longitudinal error, xpIs a space between the three-dimensional bin type temporary storage machines at the front part of the PCBDistance, e is the lateral deviation of the centroid to the nearest match point, ecopThe transverse deviation at the position of the conveying deviation is obtained; the differential of the above equation yields:
the established three-dimensional bin type temporary storage machine dynamic model is as follows:
wherein: a isyAnd UyRespectively lateral acceleration and lateral velocity, UxIs the longitudinal velocity, FyfAnd FyrRespectively the front PCB side bias and the rear wheel side bias, IzzThe moment of inertia of the three-dimensional bin type temporary storage machine is shown, S is a movement distance, r is a yaw velocity, and a and b are a distance between the three-dimensional bin type temporary storage machine at the front part of the PCB and a distance between the three-dimensional bin type temporary storage machine at the rear part of the PCB respectively; dynamic state variable U of three-dimensional bin type temporary storage machine with PCB longitudinal or transverse conveying line tracking capability as purposeyAssociated with the need for r to transition to a desired pathThe relation between the state variable, the transverse deviation acceleration and the longitudinal deviation acceleration and the current PCB side deviation force is as follows:
7. the blue stamping glue, edge covering machine and pretreatment connecting line method according to claim 1, wherein in the third step, two horizontally arranged steering machines are connected in a transmission mode through a conveying device.
8. A pre-processing line system for implementing the blue stamping glue, the taping machine and the pre-processing line method of any one of claims 1 to 7, wherein the pre-processing line system comprises:
the three-dimensional bin type temporary storage machine is used for automatically collecting and temporarily storing the plates and automatically outputting the plates;
the steering machine is respectively connected with the three-dimensional bin type temporary storage machine, and is longitudinally and horizontally connected with the taping machine and the blue glue pressing machine; selecting a taping or blue glue pressing working module and confirming the taping or blue glue pressing working module on a parameter setting page of a steering machine connected with the three-dimensional bin type temporary storage machine, and conveying the PCB into the taping machine or the blue glue pressing machine by the equipment through longitudinal or transverse translation;
the conveyor is used for horizontally connecting the two steering machines transversely and conveying the PCB;
the edge covering machine and the blue glue pressing machine are horizontally arranged in parallel.
9. A PCB board bordure, blue gum line of pressing, characterized by, PCB board bordure, blue gum line carry on claim 8 the line system of preliminary treatment line.
10. A blue pressing glue, a taping machine and a pretreatment line device for carrying the PCB board taping and blue pressing glue production line of claim 9, wherein the blue pressing glue, taping machine and pretreatment line device comprises a pretreatment line system;
the two steering machines of the pretreatment connecting line system are respectively and longitudinally and horizontally connected with the covering machine and the blue glue pressing machine, and the covering machine and the blue glue pressing machine are horizontally and parallelly arranged.
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