CN103197587B - Double-core single-degree-of-freedom middling speed soldering robot serve control system - Google Patents
Double-core single-degree-of-freedom middling speed soldering robot serve control system Download PDFInfo
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- CN103197587B CN103197587B CN201310129036.5A CN201310129036A CN103197587B CN 103197587 B CN103197587 B CN 103197587B CN 201310129036 A CN201310129036 A CN 201310129036A CN 103197587 B CN103197587 B CN 103197587B
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- 238000005476 soldering Methods 0.000 title claims abstract description 48
- 230000033001 locomotion Effects 0.000 claims abstract description 43
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 claims abstract description 40
- 238000012545 processing Methods 0.000 claims abstract description 35
- 238000010438 heat treatment Methods 0.000 claims abstract description 12
- 238000012544 monitoring process Methods 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims abstract description 8
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims description 5
- 229910001416 lithium ion Inorganic materials 0.000 claims description 5
- 230000009471 action Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 13
- 230000008569 process Effects 0.000 description 12
- 238000003466 welding Methods 0.000 description 7
- 229910000679 solder Inorganic materials 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 5
- 230000011664 signaling Effects 0.000 description 4
- 238000003860 storage Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 230000006386 memory function Effects 0.000 description 1
- 230000010349 pulsation Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000010257 thawing Methods 0.000 description 1
Abstract
The invention discloses a kind of double-core single-degree-of-freedom middling speed soldering robot serve control system, it comprises control chip unit, temperature control unit, motion control unit and power supply unit, described control chip unit comprises digital signal processing chip and digital special sport control chip, temperature control unit comprises device for detecting temperature, go out tin-tube, soldered joint and heating arrangement, motion control unit comprises device for monitoring speed, motion control motor and go out tin control motor, device for detecting temperature, heating arrangement and described device for monitoring speed and described digital signal processing chip carry out data cube computation motion control motor and go out tin controlling motor and described digital special sport control chip carries out data cube computation, digital signal processing chip and described digital special sport control chip carry out information communication.By the way, double-core single-degree-of-freedom middling speed soldering robot serve control system provided by the invention, can control the action of soldering robot more accurately, makes soldering work more accurately efficient.
Description
Technical field
The present invention relates to soldering robot field, particularly relate to a kind of double-core single-degree-of-freedom middling speed soldering robot serve control system.
Background technology
In today of hi-tech fast development, people bring into use soldering robot to carry out soldering operation, but common soldering robot generally employ stepper motor to carry out servo work, but stepper motor unstable properties, easy obliterated data, and control circuit more complicated improves cost, also reduces dynamic property.In addition, the computing power of common control chip is not strong, capacity is little, the requirement that automatic soldering device people starts fast and stops cannot being met, and, in soldering process, usually have ignored the cleaning of butt joint, often cause the situation producing failure welding or solder joint filth because of residual tin to occur.
Along with the technical development of modern manufacturing technique, common soldering robot can not meet the demand of people, so people need the soldering robot control system more meeting people's requirement.
Summary of the invention
The present invention, mainly for the requirement in present market, provides a kind of double-core single-degree-of-freedom middling speed soldering robot serve control system with diverse in function, precise and high efficiency.
To achieve these goals, the invention provides following technical scheme:
The invention provides a kind of double-core single-degree-of-freedom middling speed soldering robot serve control system, it comprises control chip unit, temperature control unit, motion control unit and power supply unit, described battery unit comprises AC power, battery and power detector, described control chip unit comprises digital signal processing chip and digital special sport control chip, described temperature control unit comprises device for detecting temperature, go out tin-tube, soldered joint and heating arrangement, described motion control unit comprises device for monitoring speed, motion control motor and go out tin control motor, described power detector, described device for detecting temperature, described heating arrangement and described device for monitoring speed and described digital signal processing chip carry out data cube computation, described motion control motor and go out tin and control motor and described digital special sport control chip and carry out data cube computation, described digital signal processing chip and described digital special sport control chip carry out information communication, described go out tin-tube with described go out tin control motor and be connected, described soldered joint is connected with described motion control motor.
In a preferred embodiment of the present invention, described control chip unit comprises the digital special sport control chip of two panels.
In a preferred embodiment of the present invention, described motion control motor and described go out tin control motor and have employed permanent-magnet DC servo motor with 512 line photoelectric coded disks.
In a preferred embodiment of the present invention, described battery have employed lithium ion battery.
In a preferred embodiment of the present invention, described double-core single-degree-of-freedom middling speed soldering robot serve control system have employed SMD components and parts.
The invention has the beneficial effects as follows: double-core single-degree-of-freedom middling speed soldering robot serve control system of the present invention, can improve the precision of machine task efficiency and action, the quality for product provides certain guarantee.
Accompanying drawing explanation
Fig. 1 is the better enforcement of double-core single-degree-of-freedom middling speed soldering robot serve control system one of the present invention
The structural representation of example;
In accompanying drawing, the mark of each parts is as follows: 1, power supply, 2, battery, 3, power detector, 4, digital signal processing chip, 5, digital special sport control chip, 6, device for detecting temperature, 7, go out tin-tube, 8, soldered joint, 9, heating arrangement, 10, device for monitoring speed 10,11, motion control motor, 12, go out tin and control motor 12.
Embodiment
Below in conjunction with accompanying drawing, preferred embodiment of the present invention is described in detail, can be easier to make advantages and features of the invention be readily appreciated by one skilled in the art, thus more explicit defining is made to protection scope of the present invention.
Refer to Fig. 1, Fig. 1 is the structural representation of double-core single-degree-of-freedom middling speed soldering robot serve control system one of the present invention preferred embodiment.
The invention provides a kind of double-core single-degree-of-freedom middling speed soldering robot serve control system, it comprises control chip unit, temperature control unit, motion control unit and power supply unit, described battery unit comprises AC power 1, battery 2 and power detector 3, described control chip unit comprises digital signal processing chip 4 and digital special sport control chip 5, described temperature control unit comprises device for detecting temperature 6, go out tin-tube 7, soldered joint 8 and heating arrangement 9, described motion control unit comprises device for monitoring speed 10, motion control motor 11 and go out tin and control motor 12, described power detector 3, described device for detecting temperature 6, described heating arrangement 9 and described device for monitoring speed 10 carry out data cube computation with described digital signal processing chip 4, described motion control motor 11 and go out tin and control motor 12 and carry out data cube computation with described digital special sport control chip 5, described digital signal processing chip 4 and described digital special sport control chip 5 carry out information communication, described go out tin-tube 7 with described go out tin control motor 12 and be connected, described soldered joint 8 is connected with described motion control motor 11.
The operation clock of described digital signal processing chip 4 can reach 150MHz, and handling property can reach 150MIPS, every bar instruction cycle 6.67ns, and I/O port enriches, enough the application general concerning user, two serial ports.There is the AD conversion etc. of the 0 ~ 3.3v of 12.Have the in-chip FLASH of 128k × 16 in sheet, the SRAM of 18K × 16, general application system can not want outer extension memory.Add independently ALU, have powerful digital signal processing capability.In addition, jumbo RAM is integrated in this chip, can greatly design by peripheral circuits, reduce system cost and system complexity, also substantially increase the stores processor ability of data, in the controlling, digital signal processing chip 4 adjusts the pid parameter of digital special sport control chip 5 inside according to the peripheral ruuning situation of robot in good time, realize segmentation P, PD, PID to control and nonlinear PID controller, make system meet the switching of middling speed operation hourly velocity.
Described digital special sport control chip 5 is the special chips for precise flange, there are 24 pin and 28 pin, two kinds of surface-mount package, the repertoire that digital-type sport controls is integrated with in a chip, the task of design one kinetic control system is fast and accurately become easily, easily, it has following characteristic: frequency of operation is 6MHz and 8MHz, operating temperature range is-40 DEG C to 85 DEG C, uses 5V power supply; The position of 32, speed and acceleration storage; The PWM width modulation of 8 bit resolutions exports; 16 programmable digital PID controller; Inner trapezoidal rate generator; This chip can real time modifying speed, target location and pid control parameter; Real-time programmable interrupts; Differential term sampling interval able to programme; Quadruple is carried out to increment code wheel signal; Speed or position servo two kinds of duties can be arranged at.Such one side frees digital signal processing chip 4 from the servo algorithm of complexity, substantially increases arithmetic speed, also makes Controller gain variations fairly simple on the one hand in addition, shortens the construction cycle short.
Because control chip unit has memory function, after this makes the power down of soldering robot or run into system when fault is restarted and can transfer the routing information put and weld easily, then can easily from the task that trouble spot secondary spot welding does not complete.
Described control chip unit comprises the digital special sport control chip 5 of two panels.
Described motion control motor 11 and described go out tin control motor 12 and have employed permanent-magnet DC servo motor with 512 line photoelectric coded disks, make speed adjustable range wider, contrast of regulating speed is steady, and also make operational precision greatly improve, efficiency is also relatively high.
Described battery 2 have employed lithium ion battery; control chip unit was all monitored power supply status by power detector 3 moment; when running into AC power power-off; lithium ion battery can provide the energy immediately; avoid the failure of soldering system servo-drive system motion, and provide in the process of power supply at battery 2, the electric current of moment to battery 2 is observed and protects; avoid the generation of big current, so fundamentally solve the impact of big current to lithium ion battery.
Described double-core single-degree-of-freedom middling speed soldering robot serve control system have employed SMD components and parts, achieves veneer and controls, not only save control panel and take up room, and be conducive to alleviating of soldering machine human body sum weight.
Described device for monitoring speed 10 and device for detecting temperature 6 at any time to motion control motor 11, go out tin and control the speed of motor 12 and the temperature of soldered joint 8 and monitor, and Monitoring Data sent to digital signal processing chip 4 to process, conveniently timely next action and pad are calculated and adjusted.
In soldering process, soldered joint 8 carries out the adjustment of temperature by heating arrangement 9, can according to real work speed needs, and working temperature regulates between 200 DEG C-480 DEG C, and meeting runs up melts scolding tin needs.
When using described double-core single-degree-of-freedom middling speed soldering robot serve control system, under power-on state, automatic soldering device people is introduced into self-locking state, then Automatic-heating soldered joint 8 to steady temperature, automatic solder robot setting in motion is to starting point, automatic soldering device people store Actual path parameter and spot size information transmission to the digital signal processing chip 4 in controller, digital signal processing chip 4 is converted into automatic soldering device people motion control motor 11 and go out tin and control the distance that motor 12 will run under designated movement track these parameters, speed and acceleration and go out the parameter that tin system will go out tin, digital signal processing chip 4 then with the communication of digital special sport control chip 5, by digital special sport control chip 5 according to these parameter processing motion control motors 11 and the servocontrol going out tin control motor 12, and process data communication to digital signal processing chip 4, system time monitoring soldered joint 8 temperature and tin soldering robot travelling speed, upgrade the parameter preset of tin system.
Concrete content comprises:
1) operating personnel are arranged on processing component on fixture.
2) opening power, can judge supply voltage source at opening power moment digital signal processing chip 4, when determining to be storage battery power supply, if cell voltage low pressure, forbidden digit formula special sport control chip is worked, motor can not work, and voltage sensor is by work simultaneously, and controller can send low pressure alarming signal.
3) start the machine people's automatic control program, by controller 232 serial ports input soldering task.
4) soldering robot is moved to above starting point, adjust pose.
5) mode bit of digital special sport control chip 5 is detected, determine whether " hurrying ", if " hurrying " will carry out software reset, make system carry out data communication, after reset, check the status word of digital special sport control chip 5, if be not equal to 84H or C4H, the failure of explanation hardware reset, must again reset, otherwise digital special sport control chip 5 cannot normally work.
6) in automatic soldering device people motion process, digital signal processing chip 4 can the moment store the distance of process or the solder joint of process, and calculate by digital signal processing chip 4 distance that relatively next solder joint automatic soldering device people motion control motor will run according to these range informations, speed and acceleration, digital signal processing chip 4 then with the communication of digital special sport control chip 5, transmit these parameters to digital special sport control chip 5, then by digital special sport control chip 5 formation speed motion ladder diagram, this trapezoidal area comprised is exactly the distance that soldering motion planning and robot control motor 11 will run, and then generate according to photoelectric coded disk information PWM ripple and the direction of motion signal that controlled motion controls motor operation.
7) when after the predetermined bond pad locations of arrival, soldered joint 8 starts butt welding point and heats in setting-up time, during heating, digital signal processing chip 4 meeting butt welding point information and soldered joint 8 temperature enter secondary-confirmation, then the distance that tin controls the operation of motor needs is converted into out, speed and the parameter preset such as acceleration and PID, digital signal processing chip 4 provides the digital special sport control chip 5 of tin system these parameter transmission, then tin speed motion ladder diagram is generated by digital special sport control chip 5, this trapezoidal area comprised is exactly that soldering robot goes out tin and controls the distance that will run of motor 12, and then generate according to photoelectric coded disk information PWM ripple and the direction of motion signal that tin controls motor operation.
Be contained in motion control motor 11 and can export its position signalling A and position signalling B with the photoelectric coded disk gone out on tin control motor 12, position signalling A pulse and the B pulsed logic state of photoelectric coded disk often change once, and the location register in digital special sport control chip 5 and can go out traffic direction that tin controls motor 12 and adds 1 or subtract 1 according to motion control motor 11;
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 to digital special sport control chip register, the absolute position of record motor, is then converted into the particular location of automatic soldering device people in solder joint and the physical length going out tin.
Which not only simplifies interface circuit, and eliminate digital signal processing chip and write position, speeds control program, and the trouble of various pid algorithm, make the debugging of system simple.
When after the servo completing out tin system, in order to prevent the too high thawing again causing scolding tin of soldered joint 8 temperature, go out tin control motor 12 general under the control of digital special sport control chip 5 counter motion solder head 8 is retracted a little distance, and record this value, then self-locking immediately.Then soldered joint 8 moves to next tin welding spot with going out together with tin system under the effect of motion control motor 11.
In motion process, if detect that pulsation appears in the torque of motor, controller meeting auto-compensation, decrease the impact of motor torque on soldering process, if and automatic soldering device people find weld spacing from or go out tin servo-drive system and solve and occur that endless loop will send interrupt request to digital signal processing chip, digital signal processing chip 4 can do very first time response to interruption, the process if the interrupt response of digital signal processing chip 4 is not able to do in time, the motion control motor of automatic soldering device people and go out tin and control motor by original place self-locking, prevents maloperation.
In order to the residual tin on quality of welding spot and cleaning welding head can be estimated, automatic pause function can be added on manually-operated interface, if startup breakpoint, digital signal processing chip 4 can stop with maximum acceleration and stores current information by control figure formula special sport control chip 5, until controller is read and again pressed START button information digital special sport control chip just can be made to rework, and transfer storage information soldering robot can be worked on from breakpoint.
Double-core single-degree-of-freedom middling speed soldering robot serve control system of the present invention, can improve the precision of machine task efficiency and action, the quality for product provides certain guarantee.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (3)
1. a double-core single-degree-of-freedom middling speed soldering robot serve control system, it is characterized in that: comprise control chip unit, temperature control unit, motion control unit and power supply unit, described power supply unit comprises AC power, battery and power detector, described control chip unit comprises digital signal processing chip and digital special sport control chip, described temperature control unit comprises device for detecting temperature, go out tin-tube, soldered joint and heating arrangement, described motion control unit comprises device for monitoring speed, motion control motor and go out tin control motor, described power detector, described device for detecting temperature, described heating arrangement and described device for monitoring speed and described digital signal processing chip carry out data cube computation, described motion control motor and go out tin and control motor and described digital special sport control chip and carry out data cube computation, described digital signal processing chip and described digital special sport control chip carry out information communication, described go out tin-tube with described go out tin control motor and be connected, described soldered joint is connected with described motion control motor, described control chip unit comprises the digital special sport control chip of two panels, described double-core single-degree-of-freedom middling speed soldering robot serve control system have employed SMD components and parts.
2. double-core single-degree-of-freedom middling speed soldering robot serve control system according to claim 1, is characterized in that, described motion control motor and described go out tin control motor and have employed permanent-magnet DC servo motor with 512 line photoelectric coded disks.
3. double-core single-degree-of-freedom middling speed soldering robot serve control system according to claim 1, it is characterized in that, described battery have employed lithium ion battery.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310129036.5A CN103197587B (en) | 2013-04-15 | 2013-04-15 | Double-core single-degree-of-freedom middling speed soldering robot serve control system |
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| CN201310129036.5A CN103197587B (en) | 2013-04-15 | 2013-04-15 | Double-core single-degree-of-freedom middling speed soldering robot serve control system |
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| CN103197587A CN103197587A (en) | 2013-07-10 |
| CN103197587B true CN103197587B (en) | 2015-11-04 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2761335Y (en) * | 2005-01-25 | 2006-03-01 | 刘南平 | Intelligent electric iron |
| CN201841333U (en) * | 2010-07-21 | 2011-05-25 | 丁茂宏 | Intelligent welding table |
| CN102837311A (en) * | 2012-09-26 | 2012-12-26 | 苏州工业园区职业技术学院 | Five-axis medium-low speed full-automatic dispensing robot servo controller |
| CN203221503U (en) * | 2013-04-15 | 2013-10-02 | 苏州工业园区职业技术学院 | Double-core single-degree-of-freedom intermediate-speed tin soldering robot servo control system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101028328B1 (en) * | 2008-08-26 | 2011-04-12 | 현대자동차주식회사 | System for evaluating point of interest and method thereof |
| CN101841333B (en) * | 2009-03-18 | 2012-06-06 | 复旦大学 | Low-jitter clock buffer for analogue-digital/digital-analogue converter |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2761335Y (en) * | 2005-01-25 | 2006-03-01 | 刘南平 | Intelligent electric iron |
| CN201841333U (en) * | 2010-07-21 | 2011-05-25 | 丁茂宏 | Intelligent welding table |
| CN102837311A (en) * | 2012-09-26 | 2012-12-26 | 苏州工业园区职业技术学院 | Five-axis medium-low speed full-automatic dispensing robot servo controller |
| CN203221503U (en) * | 2013-04-15 | 2013-10-02 | 苏州工业园区职业技术学院 | Double-core single-degree-of-freedom intermediate-speed tin soldering robot servo control system |
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Effective date of registration: 20160223 Address after: 215021 Suzhou Industrial Park, Jiangsu, if waterway No. 1 Patentee after: Zhang Haoming Address before: 215123 Jiangsu Province, Suzhou City Industrial Park, Dushu Lake Higher Education area if the waterway No. 1 Patentee before: Suzhou Industrial Park Institute of Vocational Technology |
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Effective date of registration: 20160630 Address after: 211106, Jiangsu, Nanjing, Jiangning economic and Technological Development Zone, No. 19 Su source Avenue, Kowloon lake international enterprise headquarters park, block C4, first floor Patentee after: Jiangsu Robobor Bobot Technology Co., Ltd. Address before: 215021 Suzhou Industrial Park, Jiangsu, if waterway No. 1 Patentee before: Zhang Haoming |