CN103252783A - Dual-core two-freedom-degree high-speed full-automatic tin soldering robot servo controller - Google Patents

Dual-core two-freedom-degree high-speed full-automatic tin soldering robot servo controller Download PDF

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Publication number
CN103252783A
CN103252783A CN2013101654855A CN201310165485A CN103252783A CN 103252783 A CN103252783 A CN 103252783A CN 2013101654855 A CN2013101654855 A CN 2013101654855A CN 201310165485 A CN201310165485 A CN 201310165485A CN 103252783 A CN103252783 A CN 103252783A
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unit
freedom
control
motor
core
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CN2013101654855A
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CN103252783B (en
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张好明
王应海
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Jiangsu Robobor Bobot Technology Co., Ltd.
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Suzhou Industrial Park Institute of Vocational Technology
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Abstract

The invention discloses a dual-core two-freedom-degree high-speed full-automatic tin soldering robot servo controller which comprises a power source unit, a main control unit, an image capturing and processing unit and a tin soldering unit. The power source unit comprises an alternating current power source and a battery, the battery is a lithium ion battery, the main control unit comprises a digital signal processing chip and a field-programmable gate array chip which are connected, and the tin soldering unit comprises two-freedom-degree control and tin-discharging control. One end of the main control unit is connected with the power source unit, the other end of the main control unit is connected with the image capturing and processing unit, and the field-programmable gate array chip is connected with the tin soldering unit. According to the method, the dual-core two-freedom-degree high-speed full-automatic tin soldering robot servo controller is high in automation degree, working efficiency and motion accuracy and effectively protects the battery from impact of a large current, and the temperature and the length of tin-feeding are easy to control.

Description

The at a high speed full-automatic soldering robot of a kind of double-core two-freedom servo controller
Technical field
The present invention relates to the control system field of soldering robot, particularly relate to the at a high speed full-automatic soldering robot of a kind of double-core two-freedom servo controller.
Background technology
In today of high-tech fast development, traditional soldering falls behind day by day, and 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 soldering robot replaces the people to come out from the working environment of abominable danger; carry out production strictly in line with rules and regulations; but; existing soldering robot can only carry out simple straight line or circular arc spot welding point-blank or on a two-dimensional plane repeatedly; perhaps according to certain rules point-to-point spot welding is carried out in some positions; following problem occurs through regular meeting in the soldering process of reality: (1) is at the soldering initial stage; all be that artificial sport is shifted the soldering robot onto original position; only rely on human eye to carry out the correction of initial position then; make accuracy reduce greatly; (2) 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 three servo motions; using complicated control technology just can realize; (3) though in welding, can adjust the size of tin feeding amount according to the spot size of welded article body; but do not consider the temperature of solder joint; cause solder joint inconsistent; the result of spot welding is not observed automatically and compensate; make that sometimes soldering tin amount is inconsistent on the entire curve, adopt artificial secondary to repair then.
Summary of the invention
The technical problem that the present invention mainly solves provide a kind of automaticity height, high efficiency, action the accuracy height, send that Xi Wendu and length are easy to control, the at a high speed full-automatic soldering robot of the better double-core two-freedom of the secondary repair efficiency of butt welding point servo controller.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: the at a high speed full-automatic soldering robot of a kind of double-core two-freedom servo controller is provided, comprise: power subsystem, main control unit, image acquisition and processing unit and soldering unit, described power subsystem comprises AC power and battery, described battery is lithium ion battery, described main control unit comprises continuous digital signal processing chip and field programmable gate array chip, described soldering unit comprises two-freedom control and goes out tin control, described main control unit one end links to each other with described power subsystem, the other end links to each other with described image acquisition and processing unit, and described field programmable gate array chip links to each other with described soldering unit.
In a preferred embodiment of the present invention, described two-freedom control comprises that described X motor and Y motor are all the AC permanent magnet servomotor that has 1024 linear lights electricity coding disk for X motor and the Y motor of the walking of control two dimensional surface solder joint.
In a preferred embodiment of the present invention, describedly go out tin control and comprise Z motor for the control tin output amount, described Z motor is the AC permanent magnet servomotor that has 1024 linear lights electricity coding disk.
In a preferred embodiment of the present invention, described soldering robot servo controller also comprises detecting unit, and described detecting unit comprises voltage detecting and current detecting, and described detecting unit links to each other with described digital signal processing chip.
In a preferred embodiment of the present invention, described detecting unit also comprises temperature detection, and described temperature detection is temperature sensor, and described temperature detection goes out tin control and links to each other with described.
In a preferred embodiment of the present invention, described detecting unit also comprises memory function control, and described memory function control links to each other with described digital signal processing chip.
In a preferred embodiment of the present invention, described detecting unit comprises also and also comprises the control of breakpoint set-up function that set-up function control in described breakpoint links to each other with described digital signal processing chip.
The invention has the beneficial effects as follows: the accuracy height of the at a high speed full-automatic soldering robot of double-core two-freedom of the present invention servo controller automaticity height, high efficiency, action, effectively protected big electric current to the impact of battery, send that Xi Wendu and length are easy to control, the speed-regulating range width of motor, speed governing steadily, the secondary repair efficiency of butt welding point is better.
Description of drawings
Fig. 1 is the control flow schematic diagram of the at a high speed full-automatic soldering robot of double-core two-freedom of the present invention servo controller one preferred embodiment;
The mark of each parts is as follows in the accompanying drawing: 1, power subsystem; 11, AC power; 12, lithium ion battery; 2, main control unit; 21, digital signal processing chip; 22, field programmable gate array chip; 3, image acquisition and processing unit; 4, soldering unit; 41, two-freedom control; 42, go out tin control; 5, detecting unit; 51, voltage detecting; 52, current detecting; 53, temperature detection; 54, memory function control; 55, breakpoint set-up function control.
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, the at a high speed full-automatic soldering robot of a kind of double-core two-freedom servo controller, comprise: power subsystem 1, main control unit 2, image acquisition and processing unit 3 and soldering unit 4, described power subsystem 1 comprises AC power 11 and battery, described battery is lithium ion battery 12, described main control unit 2 comprises continuous digital signal processing chip 21 and field programmable gate array chip 22, described soldering unit 4 comprises two-freedom control 41 and goes out tin control 42, described main control unit 2 one ends link to each other with described power subsystem 1, the other end links to each other with described image acquisition and processing unit 3, and described field programmable gate array chip 22 links to each other with described soldering unit 4.
Described soldering robot servo controller also comprises detecting unit 5, and described detecting unit 5 comprises voltage detecting 51 and current detecting 52, and described detecting unit 5 links to each other with described digital signal processing chip 21.
Described digital signal processing chip 21 operation clocks reach 150MHz, and handling property can reach 150MIPS, every instruction cycle 6.67ns, and the IO mouth is abundant, and is enough concerning the general application of user, two serial ports.AD conversion with 0~3.3v of 12 has the in-chip FLASH of 128k in the sheet * 16, the SRAM of 18K * 16, and general application system can not wanted outer extension memory.Add independently ALU, have powerful digital signal processing capability.In addition, jumbo RAM is integrated in this digital signal processing chip 21, can greatly simplify periphery circuit design, reduces system cost and system complexity, has improved the stores processor ability of data greatly.
Described field programmable gate array chip 22 is cell arrays of standard, the function that does not have general integrated circuit to have, but the user can be according to the design needs of oneself, by specific placement-and-routing instrument its inside is reconfigured connection, in the shortest time, design required special IC, reduce design cost like this, shortened the construction cycle.Because the design philosophy of software implementation that adopts field programmable gate array chip 22 realizes the design of hardware circuit, make the system of field programmable gate array chip 22 have good reusability and the property revised.
Described image acquisition and processing unit 3 links to each other with main control unit 2, can help soldering initialization location and find the trouble point, improve the automaticity of soldering robot greatly, in the initial stage of soldering robot motion process, by automatics the soldering robot is shifted onto initial position, image acquisition and processing unit 3 is opened then, helps soldering unit 4 to aim at initial position, make initial position fix extremely accurate, send Xi Wendu and send tin length to be easy to control.
Under the power supply opening state, the soldering robot is introduced into self-locking state, automatically open the flatiron power supply then it is heated to some stationary temperatures, the common work of X motor and Y motor is automatically moved to useless tin recovery place with executing agency's (solder horn and go out tin-tube), automatically open the Y motor then and go out tin test flatiron temperature, finish back X motor and the automatic mobile execution architecture of Y motor to starting point Deng test, image acquisition and processing unit 3 is opened at this moment, goes out the aligned position of tin-tube and starting point from dynamic(al) correction.The Actual path transmission parameter that soldering robot handle stores and solder joint information are transferred to the digital signal processing chip 21 in the controller, digital signal processing chip 21 is converted into automatic soldering robot X motor under the designated movement track to these ambient parameters, the distance that Y motor and Z motor will move, digital signal processing chip 21 then with field programmable gate array chip 22 communications, field programmable gate array chip 22 according to these parameters again according to current of electric and photoelectric coded disk information processing X motor, the SERVO CONTROL of Y motor and Z motor, and give digital signal processing chip 21 the deal with data communication, continue to handle follow-up running status by digital signal processing chip 21.
In automatic soldering robot motion process, digital signal processing chip 21 can store constantly the distance of process or the solder joint of process, and determine the distance that to move the automatic soldering in the next operating point X of robot motor and Y motor according to these range informations, digital signal processing chip 21 then with field programmable gate array chip 22 communications, the transmission range parameter, solder joint information and need the speed of service to give field programmable gate array chip 22, generated the speed ladder diagram of control X motor and Y motor movement then according to fuzzy control principle by field programmable gate array chip 22, the area that ladder diagram comprises is exactly the distance that the automatic soldering X of robot motor and Y motor 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 X motor and Y motor again.
Detecting 51 at the power supply transient voltage of opening the soldering robot can judge the voltage source of power subsystem 1, and judged result sent to digital signal processing chip 21, when determining to be lithium ion battery 12 power supplies, if lithium ion battery 12 voltages are in low pressure, PWM ripple output with the programmable gate array chip 22 that seals off the area, X motor, Y motor and Z motor can not be worked at this moment, voltage sensor will be worked simultaneously, the double-core controller can send the low pressure alarming signal, and lithium ion battery 12 is changed in the man-machine interface prompting.
In addition, described two-freedom control 41 comprises that described X motor and Y motor are all the AC permanent magnet servomotor that has 1024 linear lights electricity coding disk for X motor and the Y motor of the walking of control two dimensional surface solder joint.
In addition, describedly go out the Z motors that tin control 42 comprises for the control tin output amount, described Z motor is the AC permanent magnet servomotor that has 1024 linear lights electricity coding disk.X motor, Y motor and Z motor all use the AC permanent magnet servomotor that has 1024 linear lights electricity coding disk, make that the speed adjustable range of soldering robot is wideer, and speed ratio is more steady, also makes its operational precision improve greatly, and efficient is also higher relatively.
In addition, described detecting unit 5 also comprises temperature detection 53, and described temperature detection 53 is temperature sensor, and described temperature detection 53 goes out tin control 42 and links to each other with described.In the soldering process, send the control of tin speed to regulate automatically, temperature sensor sends digital signal processing chip 21 to after the operating temperature collection of solder horn, digital signal processing chip 21 is given field programmable gate array chip 22 speed of temperature, current spot welding operation again, finishes the speed closed loop control of sending tin Z motor by field programmable gate array chip 22 then.
In addition, described detecting unit 5 also comprises memory function control 54, and described memory function control 54 links to each other with described digital signal processing chip 21.Make soldering robot outage or run into fault and restart after, the servo controller system of soldering robot can be transferred easily and put the routing information that welds, and can finish uncompleted task from trouble point secondary spot welding easily then.And if in motion process 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 21, digital signal processing chip 21 can be to interrupting doing very first time response, if the interrupt response of digital signal processing chip 21 does not have enough time to handle, automatically X motor, Y motor and the Z motor of soldering robot prevent maloperation with the original place self-locking.
In pinpoint welding procedure, if image acquisition and processing unit 3 finds have the solder joint of any position to go wrong, memory function control 54 can be noted current location information, digital signal processing chip 21 is according to the particular location of soldering robot at welding assembly then, send corresponding position data etc. to give field programmable gate array chip 22, generate automatic soldering robot in conjunction with each peripheral sensor parameter according to fuzzy control rule by field programmable gate array chip 22 then and arrive the actual acceleration that upgrades the some needs, speed and position signalling, control X motor and Y motor then and arrive assigned address, opening image acquisition and processing unit 3 then utilizes Z motor butt welding point to carry out secondary spot welding compensation, and then get back to the position of memory function control 54 under depositing originally, continue original work again.
In addition, described detecting unit 5 also comprises and also comprises breakpoint set-up function control 55, and described breakpoint set-up function control 55 links to each other with described digital signal processing chip 21.Breakpoint set-up function control 55 is conducive to clean solder horn in motion process, minimizing produces failure welding or the problem of solder joint filth and takes place because of the residual scolding tin on the solder horn.
If in the soldering process, read the breakpoint of breakpoint set-up function control 55, the PWM ripple that digital signal processing chip 21 can notice field programmable gate array chips 22 generates makes the servo X motor of robot and Y motor stop with the acceleration of maximum, and the self-locking of Z motor, and storage current information, read up to controller and to press START button information again field programmable gate array chip 22 is reworked, and the storage information of transferring memory function control 54 makes the soldering robot can work on from the automatic pause point.
In the soldering process, if image acquisition and processing unit 3 finds that solder horn has a large amount of residual scolding tin, the PWM ripple that digital signal processing chip 21 can notify field programmable gate array chip 22 to generate stops the servo X motor of robot and Y motor, and the self-locking of Z motor, current location information is noted in memory function control 54, digital signal processing chip 21 is according to the particular location of soldering robot at welding assembly then, help the automatic mobile soldering of X motors and Y motor robot to cleaning place by image acquisition and processing unit 3, clean flatiron then, transfer corresponding positional information after finishing, come back to the storage solder joint, again new work.
Therefore, in whole soldering process, if image acquisition and processing unit 3 finds have any position or any tin welding spot to go wrong, main control unit 2 assigns instruction can for soldering unit 4, and the secondary repairing is carried out in above-mentioned position or solder joint.After the soldering campaign of finishing whole processing component, the Z motor generally retracts a little distance to solder stick, memory function control 54 these values of record, self-locking immediately then, through a little time-delay, X motor and Y motor help the soldering robot to walk out movement locus, finish the soldering process then.
The at a high speed full-automatic soldering robot of double-core two-freedom of the present invention servo controller has overcome single single-chip microcomputer and can not satisfy the stability of the automatic soldering robot ambulation of two-freedom and the requirement of rapidity, given up the single single-chip microcomputer mode of operation that automatic soldering robot adopts, under the prerequisite that absorbs external advanced control thought, independently invented the brand-new control model based on digital signal processing chip and field programmable gate array chip, control panel is to handle core with the field programmable gate array chip, realize the real-time processing of data signal, digital signal processing chip is freed in the middle of the work of complexity, the signal processing algorithm and the response that realize part are interrupted, realize data communication and storage live signal, and by the image acquisition and processing unit, can help soldering initialization location and find the trouble point, improve the automaticity of soldering robot greatly.
Be different from prior art; the at a high speed full-automatic soldering robot of double-core two-freedom of the present invention servo controller is by double-core controller and image acquisition and processing unit, improved the accuracy of automaticity, operating efficiency and the action of soldering robot, effectively protected big electric current to the impact of battery, send that Xi Wendu and length are easy to control, the speed-regulating range width of motor, speed governing steadily, the secondary repair efficiency of butt welding point is better.
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 (7)

1. the at a high speed full-automatic soldering robot of double-core two-freedom servo controller, it is characterized in that, comprise: power subsystem, main control unit, image acquisition and processing unit and soldering unit, described power subsystem comprises AC power and battery, described battery is lithium ion battery, described main control unit comprises continuous digital signal processing chip and field programmable gate array chip, described soldering unit comprises two-freedom control and goes out tin control, described main control unit one end links to each other with described power subsystem, the other end links to each other with described image acquisition and processing unit, and described field programmable gate array chip links to each other with described soldering unit.
2. the at a high speed full-automatic soldering robot of double-core two-freedom according to claim 1 servo controller, it is characterized in that, described two-freedom control comprises that described X motor and Y motor are all the AC permanent magnet servomotor that has 1024 linear lights electricity coding disk for X motor and the Y motor of the walking of control two dimensional surface solder joint.
3. the at a high speed full-automatic soldering robot of double-core two-freedom according to claim 1 servo controller, it is characterized in that, describedly go out tin control and comprise Z motor for the control tin output amount, described Z motor is the AC permanent magnet servomotor that has 1024 linear lights electricity coding disk.
4. the at a high speed full-automatic soldering robot of double-core two-freedom according to claim 1 servo controller, it is characterized in that, described soldering robot servo controller also comprises detecting unit, described detecting unit comprises voltage detecting and current detecting, and described detecting unit links to each other with described digital signal processing chip.
5. the at a high speed full-automatic soldering robot of double-core two-freedom according to claim 4 servo controller is characterized in that described detecting unit also comprises temperature detection, and described temperature detection is temperature sensor, and described temperature detection goes out tin control and links to each other with described.
6. the at a high speed full-automatic soldering robot of double-core two-freedom according to claim 4 servo controller is characterized in that, described detecting unit also comprises memory function control, and described memory function control links to each other with described digital signal processing chip.
7. the at a high speed full-automatic soldering robot of double-core two-freedom according to claim 4 servo controller, it is characterized in that, described detecting unit comprises also and also comprises the control of breakpoint set-up function that set-up function control in described breakpoint links to each other with described digital signal processing chip.
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CN104889548A (en) * 2015-05-15 2015-09-09 无锡阳工机械制造有限公司 Argon arc welding based welding process
CN104889535A (en) * 2015-05-15 2015-09-09 无锡阳工机械制造有限公司 Argon arc welding based intelligent welding process
CN104889536A (en) * 2015-05-15 2015-09-09 无锡阳工机械制造有限公司 Argon arc welding based intelligent welding method with safety protection
CN104889547A (en) * 2015-05-15 2015-09-09 无锡阳工机械制造有限公司 Argon arc welding based welding method

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