CN103192392A - Dual-core control based single-degree-of-freedom high-speed tin soldering robot servo control system - Google Patents
Dual-core control based single-degree-of-freedom high-speed tin soldering robot servo control system Download PDFInfo
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- CN103192392A CN103192392A CN2013101290793A CN201310129079A CN103192392A CN 103192392 A CN103192392 A CN 103192392A CN 2013101290793 A CN2013101290793 A CN 2013101290793A CN 201310129079 A CN201310129079 A CN 201310129079A CN 103192392 A CN103192392 A CN 103192392A
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Abstract
The invention discloses a dual-core control based single-degree-of-freedom high-speed tin soldering robot servo control system. The servo control system comprises a manual manipulator, a central controller, a power supply device, a speed controller, a tin feed quantity controller, a temperature controller and a servo motor device, the central controller comprises a digital signal processing chip and a field programmable gate array chip, the power supply device comprises an alternating-current power supply and a battery, a servo system generation circuit is arranged on the field programmable gate array chip, the servo motor device comprises a robot servo motor and a tin feed quantity servo motor, the manual manipulator is connected with the central controller, the servo system generation circuit is connected with the servo motor device, the digital signal processing chip receives information transmitted by the tin feed quantity controller, the speed controller and the temperature controller, and the field programmable gate array chip receives information of the digital signal processing chip. The dual-core control based single-degree-of-freedom high-speed tin soldering robot servo control system is high-speed and efficient.
Description
Technical field
The present invention relates to a kind of servo-control system, particularly related to a kind of single-degree-of-freedom high speed soldering robot serve control system based on double-core control.
Background technology
In today of high-tech fast development, traditional mode of production falls behind day by day, along with the production in enormous quantities of electronic product, the manual method that adopts pin solder joint on the flatiron instrument pointwise welding pcb board again can not adapt to market demands, production efficiency and product quality.Novel automation welding is produced and will be become the new century and accept the important way of market challenges.Because the soldering robot is the main tool of novel automation, directly robot is become immediate productivity, it is changing traditional production model, boosts productivity and the adaptive capacity aspect in market is demonstrated great superiority.It replaces the people to come out from the working environment of abominable danger simultaneously, carries out production strictly in line with rules and regulations, and this all is significant with social progress to promoting economic development.In some simple PCB solderings actions, only require that robot does a kind of action, the straight reciprocating motion on direction, perhaps rotatablely moving of a direction do not have aggregate motion, and single-degree-of-freedom soldering robot generally can finish above-mentioned action.A complete single-degree-of-freedom soldering machine National People's Congress causes and is divided into following components:
But because the unit of this robot of domestic research and development is less, the research and development level is relatively backward relatively, the automatic soldering robot long-play of research and development finds to exist a lot of safety problems, that is: what adopted as the automatic power supply of soldering robot (1) is dc source after the general AC power rectification, and whole soldering campaign is failed.(2) as the main control chip of soldering robot, employing be mostly 8 single-chip microcomputer, computing capability is not enough, causes the welding system speed of service slower.(3) control model based on microprocessor+special-purpose motion control chip generally has microprocessor to calculate the various default of motor needs according to predeterminated position earlier, give special chip then and carry out the PWM ripple signal that secondary calculating generates the control motor, make that system-computed speed generally neither be very high, and owing to adopted special-purpose motion control chip, can't expand design, also can't realize various advanced motion control arithmetics.(4) in the control model based on microprocessor+special-purpose motion control chip, motor of general special integrated circuit control, and take a large amount of microprocessor port address, system for multiaxial motion, use complicated control technology and just can realize, and the synchronism of multiaxis is difficult to guarantee.(5) be mostly stepper motor as what the automatic executing agency of soldering robot adopted, run into pulse-losing through regular meeting and cause the motor desynchronizing phenomenon to take place that it is inconsistent to cause system to go out tin for solder joint.(6) because actuating motor adopts stepper motor, make organism fever more serious, need sometimes motor body is dispelled the heat.(7) owing to adopt stepper motor, make the mechanical noise of system's running increase greatly, be unfavorable for environmental protection.(8) owing to adopt stepper motor, its body generally all is heterogeneous structure, control circuit need adopt a plurality of power tubes, make control circuit relatively complicated, and increased the controller price, and because the switching back and forth between heterogeneous makes the pulsating torque of system increase, be unfavorable for the raising of dynamic performance.(9) because the automatically frequent spot welding of soldering robot between solder joint will brake and start frequently, increased the weight of the workload of single-chip microcomputer, single single-chip microcomputer can't satisfy the requirement that automatic soldering robot starts fast and stops.(10) owing to disturbed by the surrounding environment destabilizing factor, singlechip controller occurs unusual through regular meeting, cause that the soldering robot is out of control, and antijamming capability is relatively poor.(11) owing to be subjected to single-chip microcomputer capacity and algorithm affects, common tin weldering robot is to the not storage of pad information of process, all information will disappear when running into power-down conditions or fault and restart, and this makes whole soldering process will restart or the artificial regeneration routing information.(12) though in welding, can adjust the size of tin feeding amount according to the spot size of welded article body, do not consider the temperature of solder joint, cause solder joint inconsistent.(13) in the soldering process, ignored the cleaning to solder horn, the situation that often causes producing failure welding or solder joint filth because of residual scolding tin takes place.
In order to satisfy the needs of high speed, High-efficient Production, must redesign based on the automatic soldering robot controller of monolithic processor controlled single-degree-of-freedom existing, seek a kind of high speed based on digital signal processor, efficient soldering servo-drive system.
Summary of the invention
The present invention mainly is the requirement at present market, and a kind of single-degree-of-freedom high speed soldering robot serve control system based on double-core control with diverse in function, efficient high-speed is provided.
To achieve these goals, the invention provides following technical scheme:
The invention provides a kind of single-degree-of-freedom high speed soldering robot serve control system based on double-core control, it comprises the manually-operated device, central controller, supply unit, speed control, the tin feeding amount controller, temperature controller and servomotor device, described central controller comprises digital signal processing chip and field programmable gate array chip, described supply unit comprises AC power and battery, described field programmable gate array chip is provided with the servo-drive system generative circuit, described servomotor device comprises robot servomotor and tin feeding amount servomotor, described manually-operated device is connected with described central controller, described servo-drive system generative circuit is connected with described servomotor device, described digital signal processing chip receives described tin feeding amount controller, the information that described speed control and temperature controller transmit, described field programmable gate array chip receives the information of described digital signal processing chip.
In a preferred embodiment of the present invention, described single-degree-of-freedom high speed soldering robot serve control system based on double-core control has adopted SMD components and parts material.
In a preferred embodiment of the present invention, described servomotor device has adopted AC permanent magnet servomotor device.
In a preferred embodiment of the present invention, described servomotor device comprises 1024 linear lights electricity coding disk.
In a preferred embodiment of the present invention, be integrated with two-way servo-drive system generative circuit on the described field programmable gate array chip.
In a preferred embodiment of the present invention, described battery has adopted lithium ion battery.
In a preferred embodiment of the present invention, comprise based on the single-degree-of-freedom high speed soldering robot serve control system's of double-core control implementation step: opening power, and judge supply voltage; Set the steady temperature of flatiron, and heat; Start control program, incoming task, and position and the posture of adjustment soldering robot; The toggle speed controller, record and transmission speed information; Described field programmable gate array chip generates the pulse width modulation ripple of control servomotor device motion; Described digital signal processing chip receives the pulse width modulation ripple that described field programmable gate array chip produces, and it is exported and blocks; Obtain pulse width modulation ripple and direction of motion signal with calculating robot's servomotor and tin feeding amount servomotor; The soldering robot moves according to pulse width modulation ripple and direction of motion signal and welds.
In a preferred embodiment of the present invention, described obtaining with the pulse width modulation ripple of calculating robot's servomotor and tin feeding amount servomotor and the concrete steps of direction of motion signal comprises: described digital signal processing chip stores range information or the positional information of described robot servomotor process; According to range information or positional information, the transmission range of calculating robot's servomotor and speed of service information, and information is sent to described to field programmable gate array chip; Described field programmable gate array chip generates speed ladder diagram and the pulse width modulation ripple of robot servomotor motion according to fuzzy control principle; After arriving predetermined bond pad locations, flatiron is heated, and confirm its temperature; Described digital signal processing chip calculates the range information of tin feeding amount servomotor operation according to temperature information; Described field programmable gate array chip generates pulse width modulation ripple and the moving direction signal of tin feeding amount servomotor operation according to range information.
In a preferred embodiment of the present invention, described opening power, and judge that the concrete steps of supply voltage comprise: opening power, the source of judgement supply voltage; When being storage battery power supply, judge the voltage of battery; If cell voltage is low-voltage, block the pulse width modulation ripple output of described field programmable gate array chip, described central controller sends the low pressure alarming signal, and battery is changed in described manually-operated device prompting.
The invention has the beneficial effects as follows: the single-degree-of-freedom high speed soldering robot serve control system based on double-core control of the present invention, improved the degree of accuracy of soldering robot, finishing of the assurance welding job of high-speed and high-efficiency can also be controlled and reduce production costs more.
Description of drawings
Fig. 1 is the single-degree-of-freedom high speed soldering robot serve control system unification that the present invention is based on double-core control
The structural representation of preferred embodiment;
Fig. 2 is the single-degree-of-freedom high speed soldering robot serve control system unification that the present invention is based on double-core control
The schematic flow sheet of preferred embodiment;
The mark of each parts is as follows in the accompanying drawing: 1, manually-operated device, 2, speed control, 3, tin feeding amount controller, 4, temperature controller, 5, the servomotor device, 6, digital signal processing chip, 7, field programmable gate array chip, 8, AC power, 9, battery, 10, the servo-drive system generative circuit.
The specific embodiment
Below in conjunction with accompanying drawing preferred embodiment of the present invention is described in detail, thereby so that advantages and features of the invention can be easier to be it will be appreciated by those skilled in the art that protection scope of the present invention is made more explicit defining.
See also Fig. 1 and Fig. 2, Fig. 1 is the structural representation that the present invention is based on single-degree-of-freedom high speed soldering robot serve control system one preferred embodiment of double-core control; Fig. 2 is that the single-degree-of-freedom high speed soldering robot serve control system who the present invention is based on double-core control unifies the schematic flow sheet of preferred embodiment.
The invention provides a kind of single-degree-of-freedom high speed soldering robot serve control system based on double-core control, it comprises manually-operated device 1, central controller, supply unit, speed control 2, tin feeding amount controller 3, temperature controller 4 and servomotor device 5, described central controller comprises digital signal processing chip 6 and field programmable gate array chip 7, described supply unit comprises AC power 8 and battery 9, be integrated with servo-drive system generative circuit 10 on the described field programmable gate array chip, described servomotor device comprises robot servomotor (not sign) and tin feeding amount servomotor (not sign), described manually-operated device 1 is connected with described central controller, described servo-drive system generative circuit 10 is connected with described servomotor device 5, described digital signal processing chip 6 receives described tin feeding amount controller 3, the information that described speed control 2 and temperature controller 4 transmit, described field programmable gate array chip 7 receives the information of described digital signal processing chip 6.
Described single-degree-of-freedom high speed soldering robot serve control system based on double-core control has adopted SMD components and parts material, can realize veneer control like this, has not only saved control panel and has taken up room, and be conducive to alleviating of the long-pending and weight of soldering machine human body.
High performance 32-bit number signal processing chip, can be so that system handles speed increases greatly, can finely satisfy the requirement of soldering system rapidity, but the fastest 150MHz of its operation clock, handling property can reach 150MIPS, every instruction cycle 6.67ns, the IO mouth is abundant, AD conversion etc. with 0-3.3v of 12, it has the in-chip FLASH of 128k*16 position in the sheet, and the SRAM that 18K * is 16, digital signal processing chip have independently arithmetical logic device, have powerful digital signal processing capability, in addition, jumbo RAM is integrated in this chip, can greatly simplify periphery circuit design, reduce system cost and system complexity, also improved the stores processor ability of data greatly.
Described field programmable gate array chip 7, allow the user can be according to the design needs of oneself, by specific placement-and-routing instrument described field programmable gate array chip inside is reconfigured connection, in the shortest time, design the special IC of oneself, so just reduce cost, shorten the construction cycle, because field programmable gate array chip adopts the design philosophy of software implementation to realize the design of hardware circuit, so just make and have good reusable and the property revised based on described field programmable gate array chip 7 designed systems, in addition, handled the SERVO CONTROL of single-degree-of-freedom soldering robot servo-drive system and tin feeding amount controller 3 by described field programmable gate array chip 7, on the one hand digital signal processing chip 6 is freed from the servo algorithm of complexity, improved arithmetic speed greatly, make also on the one hand that in addition the controller design is fairly simple, it is short to have shortened the construction cycle.
The positional information that described field programmable gate array chip 7 sends according to described digital signal processing chip 6, electric current and photoelectric coded disk signal in conjunction with DC servomotor device 5 generate control motor rotation PWM ripple, not only simplified interface circuit, and saved digital signal processing chip 6 and write position, speed control program, and the trouble of various pid algorithms, make that the debugging of system is simple.
Described battery 9 has adopted lithium ion battery; in motion process; described central controller is all being monitored and computing the running status of soldering robot constantly; when running into 8 outages of described AC power; lithium ion battery can provide the energy immediately; avoided the failure of soldering system servo-drive system motion; and provide in the process of power supply at battery; the moment is observed the electric current of battery and protects; avoided the generation of big electric current, so fundamentally solved big electric current to the impact of lithium ion battery.
In the soldering process, solder horn constant temperature is adjustable, can be according to real work speed needs, and operating temperature is regulated between 200 ℃-480 ℃, satisfying runs up melts the scolding tin needs, sends digital signal processing chip to after the operating temperature of the temperature sensor collection solder horn of described temperature controller 4.
Described speed control 2 can be gathered the velocity information of robot at that time, and velocity information is sent to described digital signal processing chip 6, makes things convenient for robot to carry out calculating and the judgement of next step action according to present speed.
Described servomotor device 5 has adopted AC permanent magnet servomotor device, described servomotor device comprises 1024 linear lights electricity coding disk, make that like this speed adjustable range is wideer, speed ratio is more steady, and make operational precision improve greatly, efficient is also higher relatively, and noise is little, prevents from causing environmental pollution.
Be integrated with two-way servo-drive system generative circuit 10 on the described field programmable gate array chip 7, so not only satisfied the requirement of two spindle motor servo motions controls, and reduced the shared space of special-purpose motion chip, be conducive to develop in the microminiaturized direction of controller.
A kind of single-degree-of-freedom high speed soldering robot serve control system based on double-core control, implementation step comprises: opening power, and judge supply voltage; Set the steady temperature of flatiron, and heat; Start control program, incoming task, and position and the posture of adjustment soldering robot; The toggle speed controller, record and transmission speed information; Described field programmable gate array chip 7 generates the pulse width modulation ripple of control servomotor device motion; Described digital signal processing chip 6 receives the pulse width modulation ripple that described field programmable gate array chip 7 produces, and it is exported and blocks; Obtain pulse width modulation ripple and direction of motion signal with calculating robot's servomotor and tin feeding amount servomotor; The soldering robot moves according to pulse width modulation ripple and direction of motion signal and welds.
Described obtaining with the pulse width modulation ripple of calculating robot's servomotor and tin feeding amount servomotor and the concrete steps of direction of motion signal comprises: described digital signal processing chip 6 stores range information or the positional information of described robot servomotor process; According to range information or positional information, the transmission range of calculating robot's servomotor and speed of service information, and information is sent to described to field programmable gate array chip 7; Described field programmable gate array chip 7 generates speed ladder diagram and the pulse width modulation ripple of robot servomotor motion according to fuzzy control principle; After arriving predetermined bond pad locations, flatiron is heated, and confirm its temperature; Described digital signal processing chip 6 calculates the range information of tin feeding amount servomotor operation according to temperature information; Described field programmable gate array chip 7 generates pulse width modulation ripple and the moving direction signal of tin feeding amount servomotor operation according to range information.Described field programmable gate array chip 7 generates the speed ladder diagram of robot servomotor and tin feeding amount servomotor according to fuzzy control principle, the area that ladder diagram comprises is exactly the distance that robot servomotor and tin feeding amount servomotor will move, and the speed ladder diagram generates the PWM ripple that the control motor is walked in conjunction with electric current and the photoelectric coded disk information of robot servomotor and tin feeding amount servomotor.
Described opening power, and judge that the concrete steps of supply voltage comprise: opening power, the source of judgement supply voltage; When being storage battery power supply, judge the voltage of battery; If cell voltage is low-voltage, block the pulse width modulation ripple output of described field programmable gate array chip, described central controller sends the low pressure alarming signal, and battery is changed in described manually-operated device prompting.
After finishing out tin system servo, in order to prevent the too high thawing again that causes scolding tin of flatiron temperature, the tin feeding amount servomotor generally retracts a little distance to solder stick, and records this value, self-locking immediately then..Flatiron and go out the tin system and under the effect of robot servomotor, move to next tin welding spot together then.
If in motion process automatically the soldering robot find weld spacing from or go out the tin servo-drive system and find the solution and endless loop occurs and will send interrupt requests to digital signal processing chip 6, digital signal processing chip 6 can be to interrupting doing very first time response, if the interrupt response of digital signal processing chip 6 does not have enough time to handle, robot servomotor and the tin feeding amount servomotor that goes out the tin system prevent maloperation with the original place self-locking.
The photoelectric coded disk that is contained on robot servomotor and the tin feeding amount servomotor can be exported its position signalling A and position signalling B, the position signalling A pulse of photoelectric coded disk and the every variation of B pulse logic state once, the location registers in the field programmable gate array chip 7 can add 1 or subtract 1 according to the traffic direction of robot servomotor and tin feeding amount servomotor;
When the position signalling A pulse of photoelectric coded disk and B pulse and Z pulse are low level simultaneously, just produce an INDEX signal and give field programmable gate array chip 7 registers, the absolute position of record motor is converted into the particular location of automatic soldering robot in solder joint and the physical length that goes out tin then.
In motion process, if digital signal processing chip 6 has been received high speed spot welding order, digital signal processing chip 6 can respond the very first time, promote flatiron temperature immediately after controller calculates according to the speed of high speed spot welding then and arrive some steady temperatures, and then according to automatic soldering robot in the particular location of spot welding parts and the position that should exist, send corresponding position data etc. to give field programmable gate array chip 7, field programmable gate array chip 7 is transferred its inner corresponding PID automatically according to peripheral transducing signal and is regulated pattern, calculate automatic soldering machine robot people servomotor according to fuzzy control principle and go out the pwm control signal that tin system tin feeding amount servomotor needs upgrade by field programmable gate array chip 7, the high speed spot welding of control robot.
When if automatically the soldering robot runs into unexpected outage in running, battery can be opened automatically and immediately the soldering robot be powered, when the flow currents of motor surpasses setting value, the controller PWM ripple output of programmable gate array chip 7 that can seal off the area immediately this moment, robot servomotor and tin feeding amount servomotor quit work, thereby have avoided the generation of high-rate battery discharge effectively.
In order to estimate the residual tin on quality of welding spot and the cleaning solder horn, system has added the automatic pause function at the manually-operated device, if in the soldering process, read the automatic pause point that man-machine interface arranges, field programmable gate array chip 7 can be controlled the robot servomotor with acceleration parking and the storage current information of maximum, controller blocks the output of PWM ripple then, read up to controller and to press START button information again field programmable gate array chip 7 is reworked, and transfer storage information the soldering robot can be worked on from the breakpoint.
In motion process, pulsation appears if detect the torque of motor, and the automatic compensating torque of field programmable gate array chip 7 meetings has reduced the influence of motor torque to the soldering process.
Single-degree-of-freedom high speed soldering robot serve control system based on double-core control of the present invention, the degree of accuracy that has improved the soldering robot, finishing of the assurance welding job of high-speed and high-efficiency can also be controlled and reduce production costs more.
The above only is embodiments of the invention; be not so limit claim of the present invention; every equivalent structure or equivalent flow process conversion that utilizes specification of the present invention and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (9)
1. single-degree-of-freedom high speed soldering robot serve control system based on double-core control, it is characterized in that: comprise the manually-operated device, central controller, supply unit, speed control, the tin feeding amount controller, temperature controller and servomotor device, described central controller comprises digital signal processing chip and field programmable gate array chip, described supply unit comprises AC power and battery, described field programmable gate array chip is provided with the servo-drive system generative circuit, described servomotor device comprises robot servomotor and tin feeding amount servomotor, described manually-operated device is connected with described central controller, described servo-drive system generative circuit is connected with described servomotor device, described digital signal processing chip receives described tin feeding amount controller, the information that described speed control and temperature controller transmit, described field programmable gate array chip receives the information of described digital signal processing chip.
2. the single-degree-of-freedom high speed soldering robot serve control system based on double-core control according to claim 1 is characterized in that, described single-degree-of-freedom high speed soldering robot serve control system based on double-core control has adopted SMD components and parts material.
3. the single-degree-of-freedom high speed soldering robot serve control system based on double-core control according to claim 1 is characterized in that described servomotor device has adopted AC permanent magnet servomotor device.
4. the single-degree-of-freedom high speed soldering robot serve control system based on double-core control according to claim 1 is characterized in that, described servomotor device comprises 1024 linear lights electricity coding disk.
5. the single-degree-of-freedom high speed soldering robot serve control system based on double-core control according to claim 1 is characterized in that, is integrated with two-way servo-drive system generative circuit on the described field programmable gate array chip.
6. the single-degree-of-freedom high speed soldering robot serve control system based on double-core control according to claim 1 is characterized in that described battery has adopted lithium ion battery.
7. the single-degree-of-freedom high speed soldering robot serve control system based on double-core control according to claim 1 is characterized in that implementation step comprises:
Opening power, and judge supply voltage;
Set the steady temperature of flatiron, and heat;
Start control program, incoming task, and position and the posture of adjustment soldering robot;
The toggle speed controller, record and transmission speed information;
Described field programmable gate array chip generates the pulse width modulation ripple of control servomotor device motion;
Described digital signal processing chip receives the pulse width modulation ripple that described field programmable gate array chip produces, and it is exported and blocks;
Obtain pulse width modulation ripple and direction of motion signal with calculating robot's servomotor and tin feeding amount servomotor;
The soldering robot moves according to pulse width modulation ripple and direction of motion signal and welds.
8. the single-degree-of-freedom high speed soldering robot serve control system based on double-core control according to claim 7, it is characterized in that described obtaining with the pulse width modulation ripple of calculating robot's servomotor and tin feeding amount servomotor and the concrete steps of direction of motion signal comprises:
Described digital signal processing chip stores range information or the positional information of described robot servomotor process;
According to range information or positional information, the transmission range of calculating robot's servomotor and speed of service information, and information is sent to described to field programmable gate array chip;
Described field programmable gate array chip generates speed ladder diagram and the pulse width modulation ripple of robot servomotor motion according to fuzzy control principle;
After arriving predetermined bond pad locations, flatiron is heated, and confirm its temperature;
Described digital signal processing chip calculates the range information of tin feeding amount servomotor operation according to temperature information;
Described field programmable gate array chip generates pulse width modulation ripple and the moving direction signal of tin feeding amount servomotor operation according to range information.
9. the single-degree-of-freedom high speed soldering robot serve control system based on double-core control according to claim 7 is characterized in that, described opening power, and judge that the concrete steps of supply voltage comprise:
Opening power, the source of judgement supply voltage;
When being storage battery power supply, judge the voltage of battery;
If cell voltage is low-voltage, block the pulse width modulation ripple output of described field programmable gate array chip, described central controller sends the low pressure alarming signal, and battery is changed in described manually-operated device prompting.
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| CN113236329B (en) * | 2021-05-20 | 2024-02-20 | 三一智矿科技有限公司 | Electrohydraulic bracket controller and fault recovery method thereof |
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Application publication date: 20130710 |