CN103223672A - Servo control system of four-axis full-automatic tin soldering robot - Google Patents
Servo control system of four-axis full-automatic tin soldering robot Download PDFInfo
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- CN103223672A CN103223672A CN2013101831544A CN201310183154A CN103223672A CN 103223672 A CN103223672 A CN 103223672A CN 2013101831544 A CN2013101831544 A CN 2013101831544A CN 201310183154 A CN201310183154 A CN 201310183154A CN 103223672 A CN103223672 A CN 103223672A
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Abstract
The invention discloses a servo control system of a four-axis full-automatic tin soldering robot. The servo control system comprises a control module, a first motor, five motors, an action module, a tin discharging module and a temperature sensor, wherein the control module comprises a digital signal processing chip and a field programmable gate array chip, the digital signal processing chip is connected with a spot soldering position on the action module through the temperature sensor, the field programmable gate array chip generates a pulse width modulated wave signal to be transmitted to the five motors, four electrodes are respectively connected with the action module, and the fifth motor is connected with the tin discharging module. According to the servo control system of the four-axis full-automatic tin soldering robot, the processing speed of the servo control system is greatly increased through the control module based on the digital signal processing chip and the field programmable gate array chip, the rapidness requirement of the tin soldering system can be well met, the design is simple, the development period is shortened, the program runaway can be effectively prevented, and the interference resistance is greatly enhanced.
Description
Technical field
The present invention relates to soldering robot technical field, particularly relate to a kind of four full-automatic soldering robot serve control systems.
Background technology
In soldering processing industry, need the welder in time to adjust the speed of position, attitude and the walking of welding gun according to the viewed actual bond pad locations of eyes during manual welding, adapting to the variation of solder joint and welding track, so the welder will have skilled operative skill, rich practice experience and stable weld horizontal.Welding simultaneously is that a kind of working condition is poor, flue dust is many, heat radiation is big again, dangerous high work, and production is welded in therefore novel automation will be become the new century and accept the important way of market challenges.
General soldering processing needs four-degree-of-freedom soldering robot, and a complete five degree of freedom soldering robot comprises motor, algorithm and microprocessor several sections substantially, but existing automatic soldering robot long-play exists a lot of safety problems:
What (1) adopt as the automatic power supply of soldering robot 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.Because frequent brake and startup wanted in the automatically frequent spot welding of soldering robot between solder joint, 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.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.
(3) control model based on microprocessor and 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, though this type games controller exploitation is simple, the reliability height, but, the part of microprocessor software participation system servo-drive system calculates because being arranged, 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 control model based on microprocessor and special-purpose motion control chip, motor of general special integrated circuit control, and take a large amount of microprocessor port address,, use complicated control technology and just can realize for four-degree-of-freedom soldering robot kinematic system.
(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, cause system inconsistent for the solder joint tin output amount.Adopt stepper motor to make organism fever more serious, need sometimes motor body is dispelled the heat.Adopt stepper motor to make the mechanical noise of system's running increase greatly, be unfavorable for environmental protection.Owing to adopt stepper motor, its body generally all is a heterogeneous structure, control circuit need adopt a plurality of power tubes, make control circuit relatively complicated, and increased the controller price, and, be unfavorable for the raising of dynamic performance because the switching back and forth between heterogeneous makes the pulsating torque of system increase.
(6) owing to be subjected to single-chip microcomputer capacity and algorithm affects, common tin weldering robot is to the not storage of solder joint 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.For the pinpoint welding procedure of four-degree-of-freedom soldering robot, the general pwm control signal of four motors of its orbiting motion of control that requires is wanted synchronously, owing to be subjected to the restriction of single-chip microcomputer computing capability, single single-chip microcomputer servo-drive system is difficult to satisfy this condition.
(7) though in welding, can adjust the size of tin feeding amount, do not consider the temperature of solder joint, cause solder joint inconsistent according to the spot size of welded article body.In the soldering process, ignored cleaning to solder horn, the situation that often causes producing failure welding or solder joint filth because of the residual scolding tin on the solder horn takes place.Because a large amount of bigger plug-in unit components and parts of volume that adopt make that the volume of servo controller is bigger.
Summary of the invention
The technical problem that the present invention mainly solves provides a kind of four full-automatic soldering robot serve control systems, and described servo-control system simplicity of design, processing speed are fast, reliable and stable.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: a kind of four full-automatic soldering robot serve control systems are provided, comprise control module, first motor, second motor, the 3rd motor, the 4th motor, the 5th motor, action module, go out tin module and temperature sensor, described control module comprises digital signal processing chip and based on field programmable gate array chip, described digital signal processing chip is connected with spot welding position on the described action module by described temperature sensor, described based on field programmable gate array chip production burst width modulated ripple signal and send to described first motor, described second motor, described the 3rd motor, described the 4th motor and described the 5th motor, described first motor, described second motor, described the 3rd motor is connected with described action module with described the 4th motor, and described the 5th motor goes out the tin module and is connected with described.
In a preferred embodiment of the present invention, described control module adopts paster components and parts material.
In a preferred embodiment of the present invention, described digital signal processing chip is 32.
In a preferred embodiment of the present invention, described first motor, described second motor, described the 3rd motor, described the 4th motor and described the 5th motor are the DC servomotors that 512 linear lights electricity coding disk is housed.
The invention has the beneficial effects as follows: four full-automatic soldering robot serve control systems of the present invention, based on digital signal processing chip with based on the control module of field programmable gate array chip the servo-control system processing speed is increased greatly, well satisfy the requirement of soldering system rapidity, simplicity of design, it is short to shorten the construction cycle, the race that has prevented program effectively flies, and antijamming capability strengthens greatly.
Description of drawings
Fig. 1 is the schematic diagram of soldering robot serve control system in the prior art of the present invention;
Fig. 2 is the schematic diagram of four full-automatic soldering robot serve control system one preferred embodiments of the present invention;
Fig. 3 is the flow chart of four full-automatic soldering robot serve control systems described in Fig. 2;
Fig. 4 is the speed movement profiles of four full-automatic soldering robot serve control systems described in Fig. 2.
The specific embodiment
Below in conjunction with accompanying drawing preferred embodiment of the present invention is described in detail, thereby protection scope of the present invention is made more explicit defining so that advantages and features of the invention can be easier to be it will be appreciated by those skilled in the art that.
Digital signal processing chip (DSP) has computing capability fast, and wherein TMS320F2812 is the fixed point 32 bit DSP chips on the C2000 platform released of American TI company.The dsp operation clock can reach 150MHz, handling property can reach 150MIPS, every instruction cycle 6.67ns, the IO mouth is abundant, general application to the user is enough, have the SRAM of the in-chip FLASH of AD conversion, 128k * 16 of 0 ~ 3.3v of 12 and 18K * 16, general application system can not wanted outer extension memory.Have independently ALU, have powerful digital signal processing capability.In addition, jumbo RAM is integrated in this chip, can greatly simplify periphery circuit design, reduces system cost and system complexity, has also improved the stores processor ability of data greatly.
Based on field programmable gate array (FPGA) though the cell array of standard just, there is not the general function that integrated circuit had, but the user can be according to the design needs of oneself, by specific placement-and-routing's instrument its inside is reconfigured connection, in the shortest time, design the special IC of oneself, so just reduce cost, shorten the construction cycle.Because the design philosophy of software implementation that adopts FPGA realizes the design of hardware circuit, so just make to have good reusable and the property revised based on the FPGA designed system.
See also Fig. 2, the invention provides a kind of four full-automatic soldering robot serve control systems, comprise control module, motor X, motor Z, motor U, motor R, motor Y, action module, go out tin module and temperature sensor.Described control module adopts paster components and parts material, described control module comprises digital signal processing chip and based on field programmable gate array chip, described digital signal processing chip is 32, and described digital signal processing chip is connected with spot welding position on the described action module by described temperature sensor.
Described based on field programmable gate array chip production burst width modulated ripple signal and send to described motor X, described motor Z, described motor U, described motor R and described motor Y, described motor X, described motor Z, described motor U and described motor R are connected with described action module, described motor Y goes out the tin module and is connected with described, and described motor X, described motor Z, described motor U, described motor R and described motor Y are the DC servomotors that 512 linear lights electricity coding disk is housed.
See also Fig. 3 and Fig. 4, described four concrete functions of full-automatic soldering robot serve control system are embodied as:
(1) operating personnel are installed in processing component on the anchor clamps, opening power, can judge the supply voltage source at opening power moment DSP, when determining to be storage battery power supply, if cell voltage low pressure, controller will block the PWM ripple output of FPGA, motor X, motor Z, motor U, motor R and motor Y can not work at this moment, voltage sensor will be worked simultaneously, and the double-core controller sends the low pressure alarming signal, and battery information is changed in the man-machine interface prompting.
(2) the people's automatic control program that starts the machine is by the USB interface incoming task of controller.The soldering robot is moved to the starting point top, adjust pose.For the motion that can drive the automatic soldering robot motor of four-degree-of-freedom X, motor Z, motor U, motor R and go out the servomotor Y of tin system, this control system is introduced FPGA, generate the PWM ripple of five motor movements of control by it, but enter real-time communication by I/O mouth and DSP, control the output and the blockade of its PWM waveform by DSP.
(3) in automatic soldering robot motion process, DSP can constantly store the solder joint information in the space-time of the distance of process or process, and it is definite to the four spindle motor X of the four-dimensional operating point of the next one automatic soldering robot according to these range informations, motor Z, the distance that motor U and motor R will move, DSP and FPGA communication, the transmission range parameter and the current speed of service are given FPGA, generate control motor X by FPGA according to fuzzy control principle, motor Z, motor U, the speed ladder diagram of motor R motion, the area that ladder diagram comprises is exactly automatic soldering robot motor X, motor Z, the distance that motor U and motor R will move, speed ladder diagram are again in conjunction with motor X, motor Z, the electric current of motor U and motor R and photoelectric coded disk information generate control motor X, motor Z, the PWM ripple and the direction of motor U and motor R walking.
(4) as motor X, motor Z, after motor U and motor R promote the predetermined bond pad locations of soldering robot arrival jointly, flatiron begins butt welding point and heats in setting-up time, during heating, DSP meeting butt welding point information and flatiron temperature enter secondary and confirm, be converted into out the parameters such as distance that tin system motor Y need move, DSP is transferred to FPGA to these parameters, generate tin system speed motion ladder diagram by FPGA according to fuzzy control principle, this trapezoidal area that comprises is exactly that the soldering robot goes out the distance that tin system motor Y will move, and generates the PWM ripple and the direction of motion signal of control motor Y operation again according to photoelectric coded disk information.
(5) after finishing out tin system servo, in order to prevent the too high thawing once more that causes scolding tin of flatiron temperature, motor Y generally retracts a little distance to solder stick, and writes down this value, motor Y self-locking immediately.DSP accesses next four-dimensional solder joint information, flatiron and go out the tin system together under the effect of motor X, motor Z, motor U and motor R the tin welding spot in next space-time move automatically.
(6) 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 DSP, DSP can be to interrupting doing very first time response, if the interrupt response of DSP does not have enough time to handle, motor X, motor Z, motor U, the motor R of the automatic soldering of four-degree-of-freedom robot and the motor Y that goes out the tin system are with the original place self-locking, prevent maloperation, and give the alarm by DSP, manually fix a breakdown then.
(7) be contained in motor X, motor Z, motor U, photoelectric coded disk on motor R and the motor Y 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 are once, location register in the FPGA can be according to motor X, motor Z, motor U, the traffic direction of motor R and motor Y adds 1 or subtract 1, 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 the FPGA register, the absolute position of record motor is converted into the particular location of automatic soldering robot solder joint in space-time again and goes out the physical length that the tin servo-drive system goes out tin.
(8) in motion process, if DSP has received high speed spot welding order, DSP can respond the very first time, promote flatiron temperature immediately after controller calculates according to the speed of high speed spot welding and arrive some steady temperatures, the automatic soldering robot of basis is in the particular location of four-dimensional spot welding parts and the position that should exist again, send corresponding position data etc. to give FPGA, FPGA transfers its inner corresponding PID automatically according to peripheral transducing signal and regulates pattern, calculate automatic soldering robot motor X by FPGA according to fuzzy control principle, motor Z, motor U, motor R and go out the pwm control signal that tin system motor Y need upgrade, the control robot enters high speed spot welding state.
(9) if when 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, this moment, controller can block the PWM ripple output of FPGA immediately, motor X, motor Z, motor U, motor R and motor Y quit work, thereby have avoided the generation of high-rate battery discharge effectively.
(10) in order to estimate the residual scolding tin on quality of welding spot and the cleaning solder horn, system has added the automatic pause function on man-machine interface, if in the soldering process, read the automatic pause point that is provided with on the man-machine interface, FPGA can control motor X, motor Z, motor U, motor R stops with the acceleration of maximum, and motor Y self-locking immediately, and storage current information, controller blocks motor X immediately, motor Z, the PWM ripple output of motor U and motor R, read up to controller and to press START button information once more and just can make FPGA open motor X again, motor Z, the PWM of motor U and motor R output, and transfer stored information the soldering robot can be worked on from the breakpoint.
(11) in motion process, pulsation appears if detect the torque of any one motor, and FPGA can compensate torque automatically, has reduced the influence of motor torque shake to the soldering process.Automatically the soldering robot can detect cell voltage constantly at running, and when low pressure appearred in system, sensor can be notified DSP to open and send alarm, has protected lithium ion battery effectively.
(12) after the soldering campaign of finishing whole processing component, motor Y generally retracts a little distance to solder stick, and writes down this value, and self-locking immediately then through a little time-delay, is walked out movement locus then.The soldering robot resets position zero point, waits for the task of following one-period.
The beneficial effect that four full-automatic soldering robot serve control systems that the present invention discloses have is:
(1) owing to adopt high performance 32 bit DSPs, makes system handles speed increase greatly, can finely satisfy the requirement of soldering system rapidity.It is servo and go out the SERVO CONTROL of tin system to handle the four-degree-of-freedom soldering robot of soldering robot by FPGA, on the one hand DSP is freed from the servo algorithm of complexity, improved arithmetic speed greatly, made also on the one hand that in addition the controller design is fairly simple, it is short to have shortened the construction cycle.Adopt FPGA processing four-degree-of-freedom soldering robot and go out servo-controlled data of tin system and algorithm, DSP is freed from the hard work amount, prevented " race flies " of program effectively, antijamming capability strengthens greatly.
(2) in motion process; taken into full account the effect of battery in this system; constantly all the running status of soldering robot is being monitored and computing based on the DSP+FPGA controller; when running into the AC power outage; 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 of the impact of big electric current to lithium ion battery.
(3) adopt full paster components and parts material, realized veneer control, not only saved control panel and taken up room, and help alleviating of the long-pending and weight of soldering machine human body.
(4) in the soldering process, send the control of tin speed to regulate automatically, temperature sensor sends DSP to after the operating temperature collection of solder horn, and DSP gives FPGA the speed of temperature, current spot welding operation again, finishes the speed closed loop control of sending tin motor Y by FPGA then.
(5) in the soldering process, send the control of tin length to regulate automatically, finish the welding of a solder joint when the soldering robot after, controller accesses the information of next solder joint in the memory immediately, DSP gives FPGA the speed of the spot size of welded article, the operation of current scolding tin robot, finishes the servo closed-loop control of sending tin motor Y by FPGA then.
(6) 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 ℃, and satisfying runs up melts the scolding tin needs.In whole soldering process, taken into full account the speed of service of soldering robot and solder horn temperature to going out the tin influence on system parameters, guaranteed finishing of welding process.
(7) in order to improve movement velocity and precision, this soldering robot has adopted the AC permanent magnet servomotor that has 1024 linear lights electricity coding disk to substitute the stepper motor of using always in the legacy system, makes operational precision improve greatly, and efficient is also higher relatively.The AC permanent magnet servomotor makes speed adjustable range than broad, and speed ratio is more steady.
(8) positional information sent according to DSP of FPGA, electric current and photoelectric coded disk signal in conjunction with the DC servomotor generate control motor rotation PWM ripple, not only simplified interface circuit, and saved DSP and write position, speed control program, and the trouble of various pid algorithms, make that the debugging of system is simple.In control, FPGA adjusts its inner pid parameter according to the peripheral ruuning situation of robot in good time, easily realizes segmentation P, PD, PID control and nonlinear PID controller, the switching of speed when making system satisfy operation fast.
(9) owing to have a memory function, this make after the power down of soldering robot or when running into fault and restarting system can transfer the good routing information of gluing easily, also can finish uncompleted task from trouble point secondary spot welding easily.
(10) because integrated five tunnel servo-drive system PWM generative circuits in the FPGA have not only satisfied the requirement of four-degree-of-freedom servomotor Synchronization Control, and reduced the shared space of special-purpose motion chip, help the development of controller to microminiaturized direction.
(11) in whole soldering process, added the breakpoint setting, help the solder joint that range estimation has been welded in motion process like this and find Welding Problems in advance, perhaps the memory record cleans solder horn mechanism behind the current information down, and minimizing produces the failure welding or the problem of solder joint filth and takes place because of the residual scolding tin on the solder horn.
(12) in order to make motor smooth starting and parking, system has introduced fuzzy control principle when realizing its speed ladder diagram algorithm, make systematic function more excellent.
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 be done; 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 (4)
1. four full-automatic soldering robot serve control systems, it is characterized in that, comprise control module, first motor, second motor, the 3rd motor, the 4th motor, the 5th motor, action module, go out tin module and temperature sensor, described control module comprises digital signal processing chip and based on field programmable gate array chip, described digital signal processing chip is connected with spot welding position on the described action module by described temperature sensor, described based on field programmable gate array chip production burst width modulated ripple signal and send to described first motor, described second motor, described the 3rd motor, described the 4th motor and described the 5th motor, described first motor, described second motor, described the 3rd motor is connected with described action module with described the 4th motor, and described the 5th motor goes out the tin module and is connected with described.
2. four full-automatic soldering robot serve control systems according to claim 1 is characterized in that, described control module adopts paster components and parts material.
3. four full-automatic soldering robot serve control systems according to claim 1 is characterized in that, described digital signal processing chip is 32.
4. four full-automatic soldering robot serve control systems according to claim 1, it is characterized in that described first motor, described second motor, described the 3rd motor, described the 4th motor and described the 5th motor are the DC servomotors that 512 linear lights electricity coding disk is housed.
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| CN106074043A (en) * | 2016-07-28 | 2016-11-09 | 江苏若博机器人科技有限公司 | A kind of double-core Two-wheeled is freely lifted the electric hospital bed controller of high speed robot |
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| CN113433943A (en) * | 2021-07-02 | 2021-09-24 | 厦门大学 | Extreme point interpolation processing and trajectory tracking based quadruped robot control method |
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Application publication date: 20130731 |