CN103188881A - Control method for hybrid robot device facing high-speed and accurate work - Google Patents
Control method for hybrid robot device facing high-speed and accurate work Download PDFInfo
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- CN103188881A CN103188881A CN2011104572330A CN201110457233A CN103188881A CN 103188881 A CN103188881 A CN 103188881A CN 2011104572330 A CN2011104572330 A CN 2011104572330A CN 201110457233 A CN201110457233 A CN 201110457233A CN 103188881 A CN103188881 A CN 103188881A
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Abstract
The invention relates to a control method for a hybrid robot device facing high-speed and accurate work. The hybrid robot device facing the high-speed and accurate work adopts series-parallel connection mixed mode for direct drive and only has four-degrees-of-freedom motion, so that the structure is simple, and the control of the hybrid robot is relatively easy. The hybrid robot is capable of meeting the requirements of sorting and plug-in mounting of light emitting diode (LED) components, reliable, durable, high in working performance, obvious in cost advantage and capable of meeting economical and practical requirement of users.
Description
Technical field
The present invention relates to a kind of control method towards the series-parallel robot device of high speed and precision operation that can satisfy LED components and parts letter sortings, plug-in mounting requirement.
Background technology
At present, the letter sorting of LED components and parts, plug-in mounting generally all use robot to carry out, more universal five, six degree of freedom multi-joint type or Cartesian robot, robot as Sweden ABB, German KUKA and Japanese FUNUC etc., it is because the degree of freedom and joint are many, so complex structure, cost height, operating efficiency are also low, and its control is also complicated.
Summary of the invention
It is simple to the purpose of this invention is to provide a kind of control, can satisfy the control method towards the series-parallel robot device of high speed and precision operation of the letter sorting of LED components and parts, plug-in mounting requirement.
The technical scheme that realizes the object of the invention is: a kind of control method of the series-parallel robot device towards the high speed and precision operation has following step:
The first step: drive the series-parallel robot device, make paster apparatus move to the hopper top, the suction nozzle of paster apparatus is drawn element to be pasted from hopper then;
Second step: the element to be pasted that paster apparatus carries absorption is driven to the position of the ccd video camera of a side, the angle of waiting to paste element by the ccd video camera monitoring, and the element to be pasted that angular error is arranged proofreaied and correct;
The 3rd step: drive paster apparatus element to be pasted is transported to the position to be pasted of substrate, the suction nozzle of paster apparatus is attached to the relevant position of substrate with element, namely finishes a process that mounts of waiting to paste element.
According to the information of waiting to mount the position of substrate in the database, paster apparatus is back to hopper, begins the component mounter of next circulation, until finishing mounting of substrate.
Wherein, the suction nozzle of described paster apparatus is drawn from hopper and is waited to paste the element process, and the suction nozzle of paster apparatus drops to and waits to paste element place absorption element to be pasted, and then go up to original height under the promotion of cylinder.
The element to be pasted that angular error is arranged is being carried out timing, according to the error angle that ccd video camera records, by the Electric Machine Control anglec of rotation of paster apparatus, treating surface mount elements and proofread and correct.
The suction nozzle of paster apparatus is attached to element in the process of relevant position of substrate, and the suction nozzle of paster apparatus drops to the relevant position of substrate under the promotion of cylinder, decontrols to wait to paste element and make and waits to paste component mounter on substrate, and then go up to original height.
Finish one wait to paste element mount process after, according to the information of waiting to mount the position of substrate in the database, paster apparatus moves to hopper, begins the component mounter of next circulation, until finishing mounting of substrate.
The present invention has positive effect: the control method of the series-parallel robot device towards the high speed and precision operation of the present invention is compared with existing universal five, six degree of freedom multi-joint type or Cartesian robot, it adopts the connection in series-parallel hybrid mode directly to drive, and has only the four-degree-of-freedom motion, so simple in structure, control easily, can satisfy the requirement of the letter sorting of LED components and parts, plug-in mounting, and reliability and durability, operating efficiency is high, has tangible cost advantage, can satisfy the economical and practical requirement of user.
Description of drawings
Content of the present invention is easier to be expressly understood in order to make, and according to specific embodiment also by reference to the accompanying drawings, the present invention is further detailed explanation, wherein below
Fig. 1 is the control flow chart of the present invention towards the control method of the series-parallel robot device of high speed and precision operation.
Fig. 2 is the structural representation of the present invention towards the series-parallel robot device of high speed and precision operation.
Fig. 3 is the control coordinate schematic diagram of the present invention towards the series-parallel robot device of high speed and precision operation.
Embodiment
See Fig. 2, the series-parallel robot device towards the high speed and precision operation of the present invention has frame 15, and frame 15 is provided with a pair of slide rail 12, slide rail 12 in perpendicular for be arrangeding in parallel one on the other.Be mounted slidably top shoe 4 and the sliding block 5 of mutual correspondence on the opposite face of slide rail 12 respectively, one end of first connecting rod 6 is rotatably connected on the top shoe 4, be connected with second connecting rod 7 and third connecting rod 8 on the sliding block 5 rotationally, the other end of first connecting rod 6 is connected rotationally by the middle part of coupling spindle with second connecting rod 7, the other end of second connecting rod 7 and third connecting rod 8 is connected with the two ends of the 4th connecting rod 9 respectively rotationally, on the 4th connecting rod 9 paster apparatus 13 is arranged fixedly, wherein, paster apparatus 13 comprises suction nozzle 13-1, drives suction nozzle 13-1 motor rotating 13-3 and promote the cylinder 13-2 that suction nozzle 13-1 moves up and down in the horizontal direction.The below of paster apparatus 13 is provided with hopper 1 and LED substrate 3, and a side in material chamber 1 is provided with ccd video camera 2.Also fixedly install on the 4th connecting rod 9 and be useful on the industry high speed camera 14 of taking LED substrate 3, in order to have monitored on each the position plug-in mounting on the LED substrate 3 the LED element.Top shoe 4 and sliding block 5 are respectively by two driven by servomotor.
Series-parallel robot device of the present invention adopts the connection in series-parallel hybrid mode directly to drive, and realizes the letter sorting of LED element and plug-in mounting are reached the high speed and precision equalization based on PMAC.
PMAC, English is programmable multi-axes controller, i.e. open multi-axis motion controller.
The hybrid mechanism that above-mentioned four connecting rods of the present invention are formed is as workbench, in the operation under the environment that mounts of hybrid mechanism workbench.By two servomotors that drive upper and lower slide block, promote the four-degree-of-freedom motion that the suction nozzle cylinder that moves up and down and the stepping motor of proofreading and correct the LED element are finished system.
See Fig. 3, from mechanical mechanism, the series-parallel robot device comprises the motion of three aspects, and the one, X, Y-axis move horizontally paster apparatus; Mounting highly of the 2nd, Z axle control paster apparatus vertical direction; The 3rd, T axle rotation paster apparatus.Wherein, X-axis, Y-axis are finished the accurate location of paster apparatus; The Z axle is realized moving up and down of suction nozzle; The T axle connects suction nozzle, by rotatablely moving, adjusts LED component level orientation angle.
The process that mounts of whole LED substrate is made up of a plurality of circulations, and a basic circulation comprises that mainly getting material, correction and subsides puts 3 actions:
The first step: drive the series-parallel robot device, make paster apparatus move to the hopper top, the suction nozzle of paster apparatus is drawn element to be pasted from hopper then;
Second step: the element to be pasted that paster apparatus carries absorption is driven to the position of the ccd video camera of a side, the angle of waiting to paste element by the ccd video camera monitoring, and the element to be pasted that angular error is arranged proofreaied and correct;
The 3rd step: drive paster apparatus element to be pasted is transported to the position to be pasted of substrate, the suction nozzle of paster apparatus is attached to the relevant position of substrate with element, namely finishes a process that mounts of waiting to paste element.
According to the information of waiting to mount the position of substrate in the database, paster apparatus is back to hopper, begins the component mounter of next circulation, until finishing mounting of substrate.
Wherein, the suction nozzle of described paster apparatus is drawn from hopper and is waited to paste the element process, and the suction nozzle of paster apparatus drops to and waits to paste element place absorption element to be pasted, and then go up to original height under the promotion of cylinder.
The element to be pasted that angular error is arranged is being carried out timing, according to the error angle that ccd video camera records, by the Electric Machine Control anglec of rotation of paster apparatus, treating surface mount elements and proofread and correct.
The suction nozzle of paster apparatus is attached to element in the process of relevant position of substrate, and the suction nozzle of paster apparatus drops to the relevant position of substrate under the promotion of cylinder, decontrols to wait to paste element and make and waits to paste component mounter on substrate, and then go up to original height.
According to the information of waiting to mount the position of substrate in the database, paster apparatus moved to again and gets place, material district after once circulation was finished, and entered the next round circulation, constantly back and forth just can finally finish mounting of monoblock LED substrate.
See Fig. 1, the idiographic flow of LED component mounter is specific as follows:
1. carry out system initialization and make zero.
2. paster apparatus X-Y main shaft plane moving interpolation to hopper (Xf, Yf);
3. its signal triggering level that puts in place enables the Z axle and drives suction nozzle falling head h
1, after the motion of Z axle put in place, triggering level enabled the electromagnetically operated valve of paster apparatus and opens;
4. electromagnetically operated valve is opened the formation negative pressure and then is finished and get the material action, time-delay t
0Back Z axle is carried out flyback action, suction nozzle rise height h
1
5. the signal triggering that puts in place level enables T axle anglec of rotation θ p, and θ p value is confirmed according to the image information that the CCD camera obtains;
6. after the T axle is rotated in place, triggering level enable paster apparatus along X-Y main shaft plane moving interpolation to the element target location (Xp, Yp);
7. the signal triggering that puts in place level enables the Z axle and drives suction nozzle falling head h
2, after motion put in place, triggering level enabled closed electromagnetic valve, and this moment, vacuum was destroyed, and element falls under the gravity effect, finishes film releasing, time-delay t
0Back Z axle is carried out flyback action, suction nozzle rise height h
2
8. the signal that puts in place enables the T axle and carries out flyback action, reverse angle θ p;
9. the T axle signal triggering level that puts in place that makes zero, enable paster apparatus according to information in the database along X-Y main shaft plane moving interpolation to next target hopper, the component mounter that begins next circulation.
Series-parallel robot control based on PMAC of the present invention, be workbench with the hybrid mechanism, avoided that sealed in unit exists that inertia is big, also deficiency such as long of mechanical response time, control method is simple, the operating efficiency height can be widely used in fields such as the letter sorting of LED components and parts, plug-in mounting.
Obviously, above-mentioned embodiment of the present invention only is for example of the present invention clearly is described, and is not to be restriction to embodiment of the present invention.For those of ordinary skill in the field, can also be easy to make other pro forma variation on the basis of the above description or substitute, and these changes or substitute also will be included within the protection range that the present invention determines.
Claims (5)
1. control method towards the series-parallel robot device of high speed and precision operation is characterized in that: have following step:
The first step: drive the series-parallel robot device, make paster apparatus move to the hopper top, the suction nozzle of paster apparatus is drawn element to be pasted from hopper then;
Second step: the element to be pasted that paster apparatus carries absorption is driven to the position of the ccd video camera of a side, the angle of waiting to paste element by the ccd video camera monitoring, and the element to be pasted that angular error is arranged proofreaied and correct;
The 3rd step: drive paster apparatus element to be pasted is transported to the position to be pasted of substrate, the suction nozzle of paster apparatus is attached to the relevant position of substrate with element, namely finishes a process that mounts of waiting to paste element.
According to the information of waiting to mount the position of substrate in the database, paster apparatus is back to hopper, begins the component mounter of next circulation, until finishing mounting of substrate.
2. the control method of the series-parallel robot device towards the high speed and precision operation according to claim 1, the suction nozzle that it is characterized in that described paster apparatus is waited to paste the element process from the hopper absorption, the suction nozzle of paster apparatus is under the promotion of cylinder, drop to and wait to paste element place absorption element to be pasted, and then go up to original height.
3. according to the control method of arbitrary series-parallel robot device towards the high speed and precision operation in the claim 1 to 2, it is characterized in that the element to be pasted that angular error is arranged is being carried out timing, the error angle that records according to ccd video camera, by the Electric Machine Control anglec of rotation of paster apparatus, treat surface mount elements and proofread and correct.
4. according to the control method of arbitrary series-parallel robot device towards the high speed and precision operation in the claim 1 to 3, the suction nozzle that it is characterized in that paster apparatus is attached to element in the process of relevant position of substrate, the suction nozzle of paster apparatus is under the promotion of cylinder, drop to the relevant position of substrate, relieving is waited to paste element and is made and waits to paste component mounter on substrate, and then gos up to original height.
5. according to the control method of arbitrary series-parallel robot device towards the high speed and precision operation in the claim 1 to 4, it is characterized in that finishing one wait to paste element mount process after, the information of waiting to mount the position according to substrate in the database, paster apparatus moves to hopper, begin the component mounter of next circulation, until finishing mounting of substrate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104572330A CN103188881A (en) | 2011-12-30 | 2011-12-30 | Control method for hybrid robot device facing high-speed and accurate work |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104572330A CN103188881A (en) | 2011-12-30 | 2011-12-30 | Control method for hybrid robot device facing high-speed and accurate work |
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| CN103188881A true CN103188881A (en) | 2013-07-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011104572330A Pending CN103188881A (en) | 2011-12-30 | 2011-12-30 | Control method for hybrid robot device facing high-speed and accurate work |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105353721A (en) * | 2015-11-10 | 2016-02-24 | 中国科学院合肥物质科学研究院 | Fully automatic LED mounting machine control system |
| CN106671111A (en) * | 2015-11-11 | 2017-05-17 | 叡博自动化有限公司 | Automatic manufacturing equipment, error eliminating method of automatic manufacturing equipment and visualization taking device |
| CN113547509A (en) * | 2021-08-10 | 2021-10-26 | 中国科学院宁波材料技术与工程研究所 | Four-degree-of-freedom parallel mechanism |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007200914A (en) * | 2005-12-26 | 2007-08-09 | Murata Mfg Co Ltd | Head and apparatus for packaging component |
| CN201773860U (en) * | 2010-08-09 | 2011-03-23 | 温云龙 | LED luminous module chip mounter |
| CN102065674A (en) * | 2010-05-28 | 2011-05-18 | 华南理工大学 | Full-automatic LED (Light Emitting Diode) and components mounting and inserting all-in-one machine and running method thereof |
-
2011
- 2011-12-30 CN CN2011104572330A patent/CN103188881A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007200914A (en) * | 2005-12-26 | 2007-08-09 | Murata Mfg Co Ltd | Head and apparatus for packaging component |
| CN102065674A (en) * | 2010-05-28 | 2011-05-18 | 华南理工大学 | Full-automatic LED (Light Emitting Diode) and components mounting and inserting all-in-one machine and running method thereof |
| CN201773860U (en) * | 2010-08-09 | 2011-03-23 | 温云龙 | LED luminous module chip mounter |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105353721A (en) * | 2015-11-10 | 2016-02-24 | 中国科学院合肥物质科学研究院 | Fully automatic LED mounting machine control system |
| CN106671111A (en) * | 2015-11-11 | 2017-05-17 | 叡博自动化有限公司 | Automatic manufacturing equipment, error eliminating method of automatic manufacturing equipment and visualization taking device |
| CN113547509A (en) * | 2021-08-10 | 2021-10-26 | 中国科学院宁波材料技术与工程研究所 | Four-degree-of-freedom parallel mechanism |
| CN113547509B (en) * | 2021-08-10 | 2022-11-15 | 中国科学院宁波材料技术与工程研究所 | Four-degree-of-freedom parallel mechanism |
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Application publication date: 20130703 |