CN103231382A - Image processing based servo control system for single-degree-of-freedom (SDOF) medium-speed full-automatic soldering robot - Google Patents
Image processing based servo control system for single-degree-of-freedom (SDOF) medium-speed full-automatic soldering robot Download PDFInfo
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- CN103231382A CN103231382A CN2013101291279A CN201310129127A CN103231382A CN 103231382 A CN103231382 A CN 103231382A CN 2013101291279 A CN2013101291279 A CN 2013101291279A CN 201310129127 A CN201310129127 A CN 201310129127A CN 103231382 A CN103231382 A CN 103231382A
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- 238000005476 soldering Methods 0.000 title claims abstract description 51
- 238000012545 processing Methods 0.000 title claims abstract description 49
- 230000033001 locomotion Effects 0.000 claims abstract description 78
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 claims abstract description 45
- 238000003466 welding Methods 0.000 claims abstract description 32
- 238000000034 method Methods 0.000 claims description 15
- 229910000679 solder Inorganic materials 0.000 claims description 13
- 230000001133 acceleration Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 6
- 238000013461 design Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 claims description 5
- 230000001915 proofreading effect Effects 0.000 claims description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 abstract 4
- 229910052742 iron Inorganic materials 0.000 abstract 2
- 238000001514 detection method Methods 0.000 abstract 1
- 238000010438 heat treatment Methods 0.000 abstract 1
- 230000011664 signaling Effects 0.000 description 5
- 238000003860 storage Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 239000003500 flue dust Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
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Abstract
The invention discloses an image processing based servo control system for an SDOF medium-speed full-automatic soldering robot. The servo control system comprises a welding unit, a tin discharge unit, a manual operation unit, a control unit, a servo motor, a correction unit and a battery unit. The welding unit comprises a soldering iron, a heating device and a detection device. The control unit comprises a digital signal processing chip and two digital dedicated motion control chips. The servo motor comprises a welding servo motor and a tin discharge servo motor. The digital dedicated motion control chips are connected with the servo motor; digital signals are connected with a chip processing and correction unit, the welding unit, the tin discharge unit and the manual operation unit; the digital dedicated motion control chips are connected with the digital signal processing chip; and the soldering iron is connected with the tin discharge unit and the servo motor. The image processing based servo control system for the SDOF medium-speed full-automatic soldering robot has the advantages of high stability and high calculation power.
Description
Technical field
The present invention relates to a kind of servo controller, particularly related to a kind of full-automatic soldering robot serve control system of single-degree-of-freedom middling speed who handles based on image.
Background technology
As everyone knows, soldering processing requires the welder that skilled operative skill, rich practice experience, stable weld horizontal will be arranged on the one hand; On the other hand, the work that welding is that a kind of working condition is poor, flue dust is many, heat radiation is big again, danger is high is so along with the progress of science and technology, people begin to research and develop and use full-automatic soldering robot to replace people to carry out soldering work.
But because the unit of this robot of domestic research and development is less, it is relatively backward to research and develop level relatively, and present automatic soldering robot exists a lot of safety problems: bonding accuracy is low; Computing capability is not enough, and the welding system speed of service is slower; 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 that the raising mistake pulse of dynamic performance causes the motor desynchronizing phenomenon to take place; It is unfixing, inconsistent that solder joint goes out position and the amount of tin, so people need to satisfy the soldering robot servo controller that people require more.
Summary of the invention
The present invention mainly is the requirement at present market, and a kind of high full-automatic soldering robot serve control system of single-degree-of-freedom middling speed who handles based on image of diverse in function, computing power that has is provided.
To achieve these goals, the invention provides following technical scheme:
The invention provides a kind of full-automatic soldering robot serve control system of single-degree-of-freedom middling speed who handles based on image, it comprises welding unit, go out the tin unit, the manually-operated unit, control module, servomotor, correcting unit and battery unit, described welding unit comprises flatiron, heater and checkout gear, described control module comprises digital signal processing chip and two digital special-purpose motion control chips, described servomotor comprises the welding servomotor and goes out the tin servomotor, described correcting unit comprises image acquisition units and graphics processing unit, described digital special-purpose motion control chip is connected with described servomotor, described graphics processing unit receives the information of described image acquisition units, and information transferred to described digital signal processing chip, described digital signal processing chip and described welding unit, describedly go out the tin unit and be connected with described manually-operated unit, described digital special-purpose motion control chip is connected with described digital signal processing chip, and described flatiron goes out the tin unit and is connected with described servomotor with described.
In a preferred embodiment of the present invention, described battery unit comprises AC power and battery.
In a preferred embodiment of the present invention, described digital special-purpose motion control chip is connected with described servomotor by servo circuit.
In a preferred embodiment of the present invention, the described full-automatic soldering robot serve control system of single-degree-of-freedom middling speed who handles based on image has adopted SMD components and parts.
In a preferred embodiment of the present invention, described servomotor has adopted the AC permanent magnet servomotor.
In a preferred embodiment of the present invention, the full-automatic soldering robot serve control system's of single-degree-of-freedom middling speed who handles based on image implementation step comprises: opening power is heated to design temperature and is that robot enters self-locking state flatiron; Start control program, load task by serial ports or hard disk; Servomotor is with flatiron and go out the tin cell moving to initialization points; Correcting unit is judged flatiron and the position that goes out the tin unit and is proofreaied and correct; Digital signal processing chip receives and handles path transmission parameter and solder joint information; Digital signal processing chip calculate and the transferring robot servomechanism installation with go out distance, speed and the acceleration information that the tin servomechanism installation will move; Digital special-purpose motion control chip is judged current servo condition; The information of digital special-purpose motion control chip receiving digital signals process chip, and the motion control information of generation robot; Digital signal processing chip is new route transmission parameter and solder joint information more; Recall welding unit and go out the tin unit, record its current position information and enter self-locking state.
In a preferred embodiment of the present invention, the information of described digital special-purpose motion control chip receiving digital signals process chip, and the concrete steps of the motion control information of generation robot comprise: digital signal processing chip butt welding point information and flatiron temperature are confirmed; The information of digital special-purpose motion control chip receiving digital signals process chip, and according to the speed motion ladder diagram that generates servomotor; Digital special-purpose motion control chip calculates the distance of servomotor motion; Digital special-purpose motion control chip generates pulse width modulation ripple and the direction of motion signal of servomotor motion according to photoelectric coded disk information.
In a preferred embodiment of the present invention, described correcting unit is judged flatiron and the position that goes out the tin unit and the concrete steps of proofreading and correct comprise: obtain starting point and go out the location drawing picture of tin unit; Obtain the positional information in the location drawing picture; Judge whether starting point is identical with the positional information that goes out the tin unit, and judgement information is transferred to servomotor; If the positional information difference, servomotor is adjusted the position that goes out the tin unit according to judgement information.
In a preferred embodiment of the present invention, the concrete steps that described digital special-purpose motion control chip is judged current servo condition comprise: digital special-purpose motion control chip detects the mode bit of servomotor; If mode bit shows busy, then digital special-purpose motion control chip is resetted.
The invention has the beneficial effects as follows: the full-automatic soldering robot serve control system of single-degree-of-freedom middling speed who handles based on image of the present invention, can effectively improve precision and the stability of soldering robot motion, can also guarantee speed and quality and the control of welding job and reduce production costs handled easily.
Description of drawings
Fig. 1 is that to the present invention is based on the full-automatic soldering of the single-degree-of-freedom middling speed robot of double-core controller servo
The structural representation of controller one preferred embodiment;
Fig. 2 is the schematic flow sheet that the present invention is based on full-automatic soldering robot serve control system one preferred embodiment of single-degree-of-freedom middling speed of image processing
The mark of each parts is as follows in the accompanying drawing: 1, welding unit, and, 2, go out the tin unit, 3, the manually-operated unit, 4, servomotor, 5, correcting unit, 6, battery unit, 7, digital signal processing chip, 8, digital special-purpose motion control chip.
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 full-automatic soldering robot serve control system one preferred embodiment of single-degree-of-freedom middling speed of image processing; Fig. 2 is the schematic flow sheet that the present invention is based on full-automatic soldering robot serve control system one preferred embodiment of single-degree-of-freedom middling speed of image processing.
The invention provides a kind of full-automatic soldering robot serve control system of single-degree-of-freedom middling speed who handles based on image, it comprises welding unit 1, go out tin unit 2, manually-operated unit 3, control module, servomotor 4, correcting unit 5 and battery unit 6, described welding unit comprises flatiron, heater and checkout gear, described control module comprises digital signal processing chip 7 and two digital special-purpose motion control chips 8, described servomotor 4 comprises the welding servomotor and goes out the tin servomotor, described correcting unit 5 comprises image acquisition units and graphics processing unit, described digital special-purpose motion control chip 8 is connected with described servomotor 4, described graphics processing unit receives the information of described image acquisition units, and information transferred to described digital signal processing chip 7, described data signal and chip 7 are handled described welding unit 1, describedly go out tin unit 2 and be connected with described manually-operated unit 3, described digital special-purpose motion control chip 8 is connected with described digital signal processing chip 7, and described flatiron goes out the tin unit and is connected with described servomotor 4 with described.
Employing has independently ALU, the 32-bit number signal processing chip 7 that has powerful digital signal processing capability, its operation clock can reach 150MHz, handling property can reach 150MIPS, every instruction cycle 6.67ns, the IO mouth is abundant, two serial ports also have the AD conversion of 0 ~ 3.3v of 12, the in-chip FLASH of 128k in the sheet * 16, the SRAM of 18K * 16, 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 digital special-purpose motion control chip 8 is used for the special chip of precise motion control, 24 pin and two kinds of surface-mounted encapsulation of 28 pin are arranged, the integrated repertoire of digital motion control in a chip, make one of design fast and accurately the task of kinetic control system become easily, easy, it has following characteristic: operating frequency is 6MHz and 8MHz, operating temperature range is-40 ℃ ~+85 ℃, uses the 5V power supply; 32 bit positions, speed and acceleration storage; The PWM pulsewidth modulation output of 8 bit resolutions; 16 programmable digital PID controllers; Inner trapezoidal rate generator; But this chip real time modifying speed, target location and pid control parameter; Real-time programmable Interrupt; The differential term sampling interval able to programme; The increment code wheel signal is carried out quadruple; Can be arranged at two kinds of duties of speed or position servo, DSP is freed from the hard work amount, prevent " race flies " of program effectively, antijamming capability strengthens greatly.
Described battery unit 6 comprises AC power and battery; when running into the AC power outage; battery can provide the energy immediately; avoided the failure of soldering servo motion; and provide in the process of power supply at battery; the moment is observed the electric current of battery and protects, and has avoided the generation of big electric current, has fundamentally solved big electric current to the impact of lithium ion battery.
Described digital special-purpose motion control chip 8 is connected with described servomotor 4 by servo circuit.
The described full-automatic soldering robot serve control system of single-degree-of-freedom middling speed who handles based on image has adopted SMD components and parts, 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.
Described servomotor 4 has adopted the AC permanent magnet servomotor, and described AC permanent magnet servomotor comprises 512 linear lights electricity coding disk, makes operational precision improve greatly, and efficient is also higher relatively.
A kind of full-automatic soldering robot serve control system of single-degree-of-freedom middling speed who handles based on image, its step comprises: opening power is heated to design temperature and is that robot enters self-locking state flatiron; Start control program, load task by serial ports or hard disk; Servomotor 4 is with flatiron and go out the tin cell moving to initialization points; 5 pairs of flatirons of correcting unit are judged with the position that goes out the tin unit and are proofreaied and correct; Digital signal processing chip 7 receives and handles path transmission parameter and solder joint information; Digital signal processing chip 7 calculate and the transferring robot servomechanism installation with go out distance, speed and the acceleration information that the tin servomechanism installation will move; 8 pairs of current servo conditions of digital special-purpose motion control chip are judged; The information of digital special-purpose motion control chip 8 receiving digital signals process chip 7, and the motion control information of generation robot; Digital signal processing chip 7 is new route transmission parameter and solder joint information more; Recall welding unit and go out the tin unit, record its current position information and enter self-locking state.
The information of described digital special-purpose motion control chip 8 receiving digital signals process chip, and the concrete steps of the motion control information of generation robot comprise: digital signal processing chip 7 butt welding point information and flatiron temperature are confirmed; The information of digital special-purpose motion control chip 8 receiving digital signals process chip 7, and according to the speed motion ladder diagram that generates servomotor 4; Digital special-purpose motion control chip 8 calculates the distance of servomotor motion; Digital special-purpose motion control chip 8 generates pulse width modulation ripple and the direction of motion signal of servomotor 4 motions according to photoelectric coded disk information, 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.
The photoelectric coded disk that is contained in the welding servomotor and goes out on the tin 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 register in the digital special-purpose motion control chip can add 1 or subtract 1 according to the traffic direction of motor and motor;
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 digital special-purpose motion control chip register, 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.
5 pairs of flatirons of described correcting unit and the position that goes out the tin unit are judged and the concrete steps of proofreading and correct comprise: obtain starting point and go out the location drawing picture of tin unit; Obtain the positional information in the location drawing picture; Judge whether starting point is identical with the positional information that goes out the tin unit, and judgement information is transferred to servomotor; If the positional information difference, servomotor 4 is adjusted the position that goes out the tin unit according to judgement information.
The concrete steps that 8 pairs of current servo conditions of described digital special-purpose motion control chip are judged comprise: digital special-purpose motion control chip 8 detects the mode bit of servomotor; If mode bit shows busy, then digital special-purpose motion control chip 8 is resetted, for the system based on digital special-purpose motion control chip 8, resetting also is important in digital special-purpose motion control chip 8 servos manipulate link, after resetting, checks the status word of digital special-purpose motion control chip 8, if be not equal to 84H or C4H, the hardware reset failure is described, must reset again, otherwise digital special-purpose motion control chip 8 cannot operate as normal.
In the soldering process, if image capturing system finds have the solder joint of any position quality problems to occur, the memory record is current location information down, digital signal processing chip 7 is according to the particular location of automatic soldering robot at welding assembly then, calculate and send corresponding acceleration, speed and position data etc. give the ladder diagram generator of digital special-purpose motion control chip 8 as the reference value, calculating automatic soldering robot by ladder diagram arrives and upgrades the actual acceleration that point needs, speed and position signalling, control welding servomotor arrives assigned address then, then digital signal processing chip 7 according to IMAQ as a result butt welding point repair, return the position of memory under depositing originally after reparation is finished, continue original work again.
In the soldering process, if correcting unit 5 finds that solder horn has a large amount of residual scolding tin, the memory record is current location information down, digital signal processing chip 7 is according to the particular location of automatic soldering robot at welding assembly then, help the soldering robot to move to by correcting unit 5 and clean out, clean flatiron then, transfer corresponding positional information after finishing, come back to the storage solder joint, again new work.
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 interruptive command LPES of digital special-purpose motion control chip 8 will send interrupt requests to digital signal processing chip 7, this moment digital signal processing chip 7 immediately the special-purpose motion control chips 8 of control figure formula quit work and access under current solder joint information, not only avoided the generation of high-rate battery discharge effectively, and preserved the solder joint data, make controller fix a breakdown to receive and can continue to move its remaining work after restarting order.
The soldering work system has added the automatic pause point that arranges from man-machine interface for convenience, if in the soldering process, read the automatic pause point, digital signal processing chip 7 can the special-purpose motion control chips 8 of control figure formulas stops with the acceleration of maximum and makes process automatic pause occur and store current information, read up to controller and to press START button information again digital special-purpose motion control chip 8 is reworked, and transfer storage information the soldering robot can be worked on from the automatic pause point.
The full-automatic soldering robot serve control system of single-degree-of-freedom middling speed who handles based on image of the present invention, can effectively improve precision and the stability of soldering robot motion, can also guarantee speed and quality and the control of welding job and reduce production costs handled easily.
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. full-automatic soldering robot serve control system of single-degree-of-freedom middling speed who handles based on image, it is characterized in that: comprise welding unit, go out the tin unit, the manually-operated unit, control module, servomotor, correcting unit and battery unit, described welding unit comprises flatiron, heater and checkout gear, described control module comprises digital signal processing chip and two digital special-purpose motion control chips, described servomotor comprises the welding servomotor and goes out the tin servomotor, described correcting unit comprises image acquisition units and graphics processing unit, described digital special-purpose motion control chip is connected with described servomotor, described graphics processing unit receives the information of described image acquisition units, and information transferred to described digital signal processing chip, described digital signal processing chip and described welding unit, describedly go out the tin unit and be connected with described manually-operated unit, described digital special-purpose motion control chip is connected with described digital signal processing chip, and described flatiron goes out the tin unit and is connected with described servomotor with described.
2. the full-automatic soldering robot serve control system of single-degree-of-freedom middling speed who handles based on image according to claim 1 is characterized in that described battery unit comprises AC power and battery.
3. the full-automatic soldering robot serve control system of single-degree-of-freedom middling speed who handles based on image according to claim 1 is characterized in that described digital special-purpose motion control chip is connected with described servomotor by servo circuit.
4. the full-automatic soldering robot serve control system of single-degree-of-freedom middling speed who handles based on image according to claim 1, it is characterized in that the described full-automatic soldering robot serve control system of single-degree-of-freedom middling speed who handles based on image has adopted SMD components and parts.
5. the full-automatic soldering robot serve control system of single-degree-of-freedom middling speed who handles based on image according to claim 1 is characterized in that described servomotor has adopted the AC permanent magnet servomotor.
6. the full-automatic soldering robot serve control system of single-degree-of-freedom middling speed who handles based on image according to claim 1 is characterized in that implementation step comprises:
Opening power is heated to design temperature and is that robot enters self-locking state flatiron;
Start control program, load task by serial ports or hard disk;
Servomotor is with flatiron and go out the tin cell moving to initialization points;
Correcting unit is judged flatiron and the position that goes out the tin unit and is proofreaied and correct;
Digital signal processing chip receives and handles path transmission parameter and solder joint information;
Digital signal processing chip calculate and the transferring robot servomechanism installation with go out distance, speed and the acceleration information that the tin servomechanism installation will move;
Digital special-purpose motion control chip is judged current servo condition;
The information of digital special-purpose motion control chip receiving digital signals process chip, and the motion control information of generation robot;
Digital signal processing chip is new route transmission parameter and solder joint information more;
Recall welding unit and go out the tin unit, record its current position information and enter self-locking state.
7. the full-automatic soldering robot serve control system of single-degree-of-freedom middling speed who handles based on image according to claim 6, it is characterized in that, the information of described digital special-purpose motion control chip receiving digital signals process chip, and the concrete steps of the motion control information of generation robot comprise:
Digital signal processing chip butt welding point information and flatiron temperature are confirmed;
The information of digital special-purpose motion control chip receiving digital signals process chip, and according to the speed motion ladder diagram that generates servomotor;
Digital special-purpose motion control chip calculates the distance of servomotor motion;
Digital special-purpose motion control chip generates pulse width modulation ripple and the direction of motion signal of servomotor motion according to photoelectric coded disk information.
8. the full-automatic soldering robot serve control system of single-degree-of-freedom middling speed who handles based on image according to claim 6 is characterized in that, described correcting unit is judged flatiron and the position that goes out the tin unit and the concrete steps of proofreading and correct comprise:
Obtain starting point and the location drawing picture that goes out the tin unit;
Obtain the positional information in the location drawing picture;
Judge whether starting point is identical with the positional information that goes out the tin unit, and judgement information is transferred to servomotor;
If the positional information difference, servomotor is adjusted the position that goes out the tin unit according to judgement information.
9. the full-automatic soldering robot serve control system of single-degree-of-freedom middling speed who handles based on image according to claim 6 is characterized in that the concrete steps that described digital special-purpose motion control chip is judged current servo condition comprise:
Digital special-purpose motion control chip detects the mode bit of servomotor;
If mode bit shows busy, then digital special-purpose motion control chip is resetted.
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| CN201310129127.9A CN103231382B (en) | 2013-04-15 | 2013-04-15 | The full-automatic soldering robot serve control system of single-degree-of-freedom middling speed based on image procossing |
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| CN103231382B (en) | 2015-10-14 |
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