CN103264392B - A kind of four-degree-of-freedom middling speed soldering robot serve control system - Google Patents

A kind of four-degree-of-freedom middling speed soldering robot serve control system Download PDF

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CN103264392B
CN103264392B CN201310183227.XA CN201310183227A CN103264392B CN 103264392 B CN103264392 B CN 103264392B CN 201310183227 A CN201310183227 A CN 201310183227A CN 103264392 B CN103264392 B CN 103264392B
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motor
module
control
soldering
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CN103264392A (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 kind of four-degree-of-freedom middling speed soldering robot serve control system, comprise power module, control module, 5 motors, go out tin module, action module and temperature sensor, power module is connected with control module, control module comprises LM629 motion control chip and digital signal processing chip, LM629 motion control chip formation speed ladder diagram, the electric current produced with power module is again in conjunction with production burst width modulated ripple signal and send to 4 motors and the 5th motor, 4 motors are connected with action module, 5th motor with go out tin model calling, digital signal processing chip is connected with the spot welding position in action module by temperature sensor.By the way, a kind of four-degree-of-freedom middling speed soldering robot serve control system provided by the invention, control module makes processing speed greatly increase, the requirement of soldering system rapidity can be met, simplicity of design, the construction cycle is short, and the race that effectively prevent program flies.

Description

A kind of four-degree-of-freedom middling speed soldering robot serve control system
Technical field
The present invention relates to soldering robotics, particularly relate to a kind of four-degree-of-freedom middling speed soldering robot serve control system.
Background technology
As everyone knows, soldering processing is that a kind of working condition is poor, flue dust is many, heat radiation is large, dangerous high work, also requires that welder will have skilled operative skill, abundant practical experience, stable weld horizontal.Simultaneously the welding technical ability of Welder, speed of welding and anxious state of mind welding quality have certain influence, also cannot quantize to use welding auxiliary material every day, therefore concerning manually greatly improving production cost factory and extending weld interval, this makes novel automatic welding produce will 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 four-degree-of-freedom soldering robot comprises the several part of motor, algorithm and microprocessor substantially, but existing automatic soldering device people long-play also exists a lot of safety problem:
(1) dc source that what the power supply of automatic soldering device people generally adopted is after AC power rectification, can make whole soldering campaign unsuccessfully when having a power failure suddenly.
(2) single-chip microcomputer being mostly 8 of the main control chip employing of soldering robot, computing capability is inadequate, causes the welding system speed of service slower.
(3) mostly what adopt as the executing agency of automatic soldering device people is stepper motor, often can run into pulse-losing and cause motor desynchronizing phenomenon to occur, cause system to go out tin for solder joint inconsistent.Stepper motor makes organism fever relatively more serious, and need sometimes to dispel the heat to motor body, the mechanical noise that also system can be made to operate increases greatly, is unfavorable for environmental protection.
(4) body of stepper motor is heterogeneous structure, and control circuit needs to adopt multiple power tube, makes control circuit relatively complicated, and add controller price, and due to the switching back and forth between heterogeneous, the pulsating torque of system is increased, is unfavorable for the raising of dynamic performance.
(5) due to the frequent spot welding of automatic soldering device people between solder joint, brake frequently and start, increased the weight of the workload of single-chip microcomputer, single single-chip microcomputer cannot meet the requirement that automatic soldering device people starts fast and stops.Owing to disturbing by surrounding environment destabilizing factor, singlechip controller often there will be exception, and cause soldering robot out of control, antijamming capability is poor.
(6) owing to affecting by single-chip microcomputer capacity and algorithm, the pad information of common tin weldering robot to process does not store, the information all when running into power-down conditions or fault is restarted will disappear, and this makes whole soldering process will restart or artificial regeneration routing information.
(7) although the size of tin feeding amount can be adjusted according to the spot size of welded object when welding, do not consider the temperature of solder joint, cause solder joint inconsistent.In soldering process, have ignored the cleaning to solder horn, often cause the situation producing failure welding or solder joint filth because of residue solder to occur.
(8) for the pinpoint welding procedure of four-degree-of-freedom soldering robot, in order to meet requirement fast, minimum requirements is that the pwm control signal of three motors controlling its orbiting motion wants synchronous, and due to the restriction by single-chip microcomputer computing capability, single single-chip microcomputer servo-drive system is difficult to meet this condition.
(9) plug-in components owing to adopting volume larger in a large number, makes the volume of servo controller larger.
Summary of the invention
The technical problem that the present invention mainly solves is to provide a kind of four-degree-of-freedom middling speed soldering robot serve control system, and described Servo Control System Design is simple, processing speed is fast, reliable and stable.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: provide a kind of four-degree-of-freedom middling speed soldering robot serve control system, comprise power module, control module, 4 motors, 5th motor, go out tin module, action module and temperature sensor, described power module is connected with described control module, described control module comprises LM629 motion control chip and digital signal processing chip, described LM629 motion control chip formation speed ladder diagram, the electric current produced with described power module is again in conjunction with production burst width modulated ripple signal and send to described 4 motors and described 5th motor, described 4 motors are connected with described action module, described 5th motor and described go out tin model calling, described digital signal processing chip is connected with the spot welding position in described action module by described temperature sensor.
In a preferred embodiment of the present invention, described power module is battery or AC power.
In a preferred embodiment of the present invention, described 4 motors and described 5th motor are the permanent-magnet DC servo motors that 512 line photoelectric coded disks are housed.
In a preferred embodiment of the present invention, described control module adopts SMD components material.
The invention has the beneficial effects as follows: four-degree-of-freedom middling speed soldering robot serve control system of the present invention, based on digital signal processing chip with based on the control module of field programmable gate array chip, servo-control system processing speed is increased greatly, well meet the requirement of soldering system rapidity, simplicity of design, construction cycle can be shortened short, the race that effectively prevent program flies, and antijamming capability strengthens greatly.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of soldering robot serve control system in prior art of the present invention;
Fig. 2 is the schematic diagram of four-degree-of-freedom middling speed soldering robot serve control system one of the present invention preferred embodiment;
Fig. 3 is the flow chart of the middling speed of four-degree-of-freedom described in Fig. 2 soldering robot serve control system;
Fig. 4 is the system block diagram of the middling speed of four-degree-of-freedom described in Fig. 2 soldering robot serve control system.
Detailed description of the invention
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.
Digital signal processing chip (DSP) has computing capability fast, and wherein TMS320F2812 is the fixed point 32 bit DSP chip on the C2000 platform of American TI Company release.Dsp operation clock can reach 150MHz, handling property can reach 150MIPS, every bar instruction cycle 6.67ns, I/O port enriches, enough to the general application of user, have the SRAM of the AD conversion of the 0 ~ 3.3v of 12, the in-chip FLASH of 128k × 16 and 18K × 16, general application system can not want outer extension memory.There is independently ALU, have powerful digital signal processing capability.In addition, jumbo RAM is integrated in this chip, greatly can design by peripheral circuits, reduce system cost and system complexity, also substantially increase the stores processor ability of data.
LM629 is a special chip for precise flange that Nationalsemiconductor produces, 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, make design one quick, the task of kinetic control system becomes light accurately, easily, its operating frequency is 6MHz and 8MHz, operating temperature range is-40 DEG C ~ 85 DEG C, use 5V power supply, there is the position of 32, speed and acceleration storage, the PWM pulsewidth modulation of 8 bit resolutions exports, 16 programmable digital PID controller and inner trapezoidal rate generator.LM629 motion control chip can real time modifying speed, target location and pid control parameter, can real-time programmable interrupt, differential term sampling interval able to programme and quadruple is carried out to increment code wheel signal, speed or position servo two kinds of duties can be arranged at.
Refer to Fig. 2, the invention provides a kind of four-degree-of-freedom middling speed soldering robot serve control system, comprise power module, control module, motor X, motor Z, motor U, motor R, motor Y, go out tin module, action module and temperature sensor.Described power module is battery or AC power, and described power module is connected with described control module.
Described control module comprises LM629 motion control chip and digital signal processing chip, described control module adopts SMD components material, described LM629 motion control chip formation speed ladder diagram, then the electric current that produces with described power module sends to described motor X, described motor Z, described motor U, described motor R and described motor Y in conjunction with production burst width modulated ripple signal.
Described motor X, described motor Z, described motor U, described motor R and described motor Y are the permanent-magnet DC servo motors that 512 line photoelectric coded disks are housed.Described motor X, described motor Z, described motor U are connected with described action module with described motor R, described motor Y and described go out tin model calling, described digital signal processing chip is connected with the spot welding position in described action module by described temperature sensor.
Refer to Fig. 3 and Fig. 4, the concrete functional realiey of described four-degree-of-freedom middling speed soldering robot serve control system is:
(1) operating personnel are arranged on processing component on fixture, opening power, can judge supply voltage source at opening power moment DSP, when determining to be storage battery power supply, if cell voltage low pressure, will forbid that all LM629 work, motor X, motor Z, motor U, motor R and motor Y can not work, voltage sensor is by work simultaneously, and controller can send low pressure alarming signal.
(2) start the machine people's automatic control program, by controller 232 serial ports input soldering task, moves to above starting point, adjust pose by soldering robot.
(3) in order to drive four-degree-of-freedom soldering robot and go out the motion of tin servo-drive system, this control system introduces five LM629, but enters real-time communication by I/O mouth and DSP, controls it turn on and off by DSP.
(4) for the system based on LM629, the detection of state of " hurrying " is the primary part of whole Servo System Design, first detected this mode bit, determined whether " hurrying " before each motion, if " hurrying " will carry out software reset, system is made to carry out data communication.
(5) for the system based on LM629, resetting also is a link important in LM629 servos manipulate, after reset, check the status word of LM629, if be not equal to 84H or C4H, hardware reset failure is described, must again reset, otherwise LM629 cannot normally work.
(6) in automatic soldering device people motion process, DSP can the moment store the distance of process or the solder joint of process, and calculate relatively next solder joint automatic soldering device people motor X according to these range informations by DSP, motor Z, the distance that motor U and motor R will run, speed and acceleration, DSP and LM629 communication, transmit these parameters to LM629, motor X is generated by LM629, motor Z, motor U and motor R speed motion ladder diagram, this trapezoidal area comprised is exactly soldering robot motor X, motor Z, motor U and motor R be the relative distance will run with previous space-time solder joint in space-time, and then according to motor X, motor Z, the electric current of motor U and motor R and photoelectric coded disk information, generate and control motor X, motor Z, the PWM ripple that motor U and motor R runs and direction of motion signal.
(7) as motor X, motor Z, motor U, after motor R helps soldering robot to arrive predetermined space-time bond pad locations, flatiron starts butt welding point and heats in setting-up time, during heating, DSP meeting butt welding point information and flatiron temperature enter secondary-confirmation, be converted into out the distance that tin system motor Y needs to run, speed and the parameter preset such as acceleration and PID, DSP provides the LM629 of tin system these parameter transmission, the speed motion ladder diagram of tin system motor Y is generated by LM629, this trapezoidal area comprised is exactly the distance that soldering robot goes out that tin system motor Y will run, and then the PWM ripple and direction of motion signal that control motor Y operation is generated according to photoelectric coded disk information and current of electric information.
(8) when after the servo completing out tin system, in order to prevent the too high thawing again causing scolding tin of flatiron temperature, motor Y generally under the control of LM629 counter motion solder stick is retracted a little distance, and record this value, self-locking immediately, flatiron moves to the tin welding spot in next space-time with going out together with tin system under the effect of motor X, motor Z, motor U and motor R.
(9) if in motion process 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 requests to DSP, DSP can do very first time response to interruption, the process if the interrupt response of DSP is not able to do in time, motor X, the motor Z of automatic soldering device people, motor U, motor R and go out tin system motor Y by original place self-locking, prevent maloperation, sent a warning by DSP, artificial detection failure.
(10) photoelectric coded disk be contained on motor X, motor Z, motor U, motor R and motor Y can export its position signalling A and position signalling B, position signalling A pulse and the B pulsed logic state of photoelectric coded disk often change once, and the location register in LM629 can add 1 or subtract 1 according to the traffic direction of motor X, motor Z, motor U, motor R and motor Y; 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 LM629 register, the absolute position of record motor, is converted into the particular location of automatic soldering device people in solder joint space-time and the physical length going out tin.
(11) DSP is according to the particular location of automatic soldering device people in space-time solder joint and the contrast of desired location, after DSP calculates, send corresponding acceleration, speed and position data etc. to the ladder diagram generator of LM629 as with reference to value, calculating automatic soldering device people by ladder diagram needs the actual acceleration of renewal, speed and position signalling.
(12) in the whole process of soldering, the pid parameter that DSP can be upgraded by data bus transmission is to LM629 ladder diagram generator, ladder diagram can upgrade PWM ripple signal in conjunction with motor position decoding, is used for realizing automatic soldering device people four-degree-of-freedom servo-drive system motor X, motor Z, motor U, motor R and the precision servo that goes out tin system motor Y controls.
(13) if when automatic soldering device people runs into unexpected power-off in running, battery automatically can be opened and power to soldering robot immediately, when the flow currents of motor exceedes setting value, the interruptive command LPES of LM629 will send interrupt requests to controller, this Time Controller can quit work by control LM629 immediately, thus efficiently avoid the generation of high-rate battery discharge.
(14) in order to the residual tin on quality of welding spot and cleaning solder horn can be estimated, system adds automatic pause function in man-machine interface, if read the automatic pause point that man-machine interface is arranged in soldering process, DSP can make motor X, motor Z, motor U and motor R stop with maximum acceleration by control LM629, flatiron enters resting state, motor Y self-locking, and store current information, then artificially clean residue solder.Until controller is read and again pressed START button information LM629 just can be made to rework, and transfer storage information and open flatiron soldering robot can be worked on from breakpoint.
(15) in motion process, if detect that pulsation appears in the torque of motor, controller meeting auto-compensation, decreases the impact of motor torque on soldering process.Automatic soldering device people can detect cell voltage at running in the moment, and when low pressure appears in system, sensor can be opened and send alarm by notification controller, effectively protects lithium ion battery.
(16) when after the soldering campaign completing whole processing component, motor Y generally under the control of LM629 counter motion solder stick is retracted a little distance, and record this value, self-locking immediately, through a time delay, walk out movement locus.Soldering robot resets position zero point, waits for the task in next cycle.
The beneficial effect that the four-degree-of-freedom middling speed soldering robot serve control system that the present invention discloses has is:
(1) introducing of high speed processing chip DSP makes the computing capability of soldering robot system greatly improve, battery effect is in this system taken into full account in motion process, all the running status of soldering robot is being monitored and computing based on the DSP+LM629 controller 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 in the process of cell powers, the electric current of moment to battery is observed and protects, avoid the generation of big current, so fundamentally solve the impact of big current to lithium ion battery.
(2) by four-degree-of-freedom soldering robot and a large amount of servo control datas and the algorithm that go out tin system of LM629 process soldering robot, on the one hand DSP is freed from the servo algorithm of complexity, substantially increase arithmetic speed, also make Controller gain variations fairly simple on the one hand in addition, shorten the construction cycle short, effectively prevent " race flies " of program, antijamming capability strengthens greatly.
(3) realize full SMD components material, achieve veneer and control, not only save control panel and take up room, and be conducive to alleviating of soldering machine human body sum weight.
(4) in soldering process, send tin speeds control automatically to regulate, the speed that after temperature sensor gathers the operating temperature of solder horn height, transmission DSP, DSP run in conjunction with current spot welding according to this temperature again adjusts the velocity magnitude sending tin motor Y to run.In soldering process, solder horn constant temperature is adjustable, can according to real work speed needs, and operating temperature regulates between 200 DEG C-480 DEG C, and meeting runs up melts scolding tin needs.
(5) in soldering process, tin cut to lengthen is sent automatically to regulate, after soldering completes the welding of a solder joint, controller recalls the information of next solder joint in memory immediately, the speed that DSP can run according to the spot size of welded article and current tin soldering robot, adjusts the velocity and distance sending tin motor Y to run.
(6) in order to improve movement velocity and precision, the permanent-magnet DC servo motor that this soldering robot have employed with 512 line photoelectric coded disks instead of stepper motor conventional in legacy system, and operational precision is improved greatly, and efficiency is also relatively high.Permanent-magnet DC servo motor makes speed adjustable range wider, and contrast of regulating speed is steady.
(7) to control the PWM ripple of motor rotation be LM629 obtains according to the predeterminated position of DSP, speed and acceleration parameter and photoelectric coded disk information, not only simplify interface circuit, and eliminate DSP and write position, speeds control program, and the trouble of various pid algorithm, make the debugging of system simple.In the controlling, DSP adjusts the pid parameter of LM629 inside according to the peripheral ruuning situation of soldering robot in good time, realizes segmentation P, PD, PID and controls and nonlinear PID controller, makes system meet the switching of middling speed operation hourly velocity.The PID of LM629 controls and the instruction of motion control class adopts double-damping structure, first data write master register by DSP, only after write related command, the data of master register could load work register further, be easy to any control realizing Three Degree Of Freedom servo motion like this, also make the Synchronization Control of Three Degree Of Freedom become possibility.
(8) owing to having 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, from the task that trouble point secondary spot welding does not complete.
(9) in whole soldering process, add breakpoint setting, be conducive in motion process, estimate the solder joint welded like this and find Welding Problems in advance, or memory cleans solder horn mechanism after recording current information, reduce the problem producing failure welding or solder joint filth because of the residue solder on solder horn and occur.
(10) in whole soldering process, taken into full account that the speed of service of soldering robot and solder horn temperature are on the impact going out tin systematic parameter, ensure that completing of welding process.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize description 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 four-degree-of-freedom middling speed soldering robot serve control system, it is characterized in that, comprise power module, control module, 4 motors, 5th motor, go out tin module, action module and temperature sensor, described power module is connected with described control module, described control module comprises LM629 motion control chip and digital signal processing chip, described LM629 motion control chip formation speed ladder diagram, the electric current produced with described power module is again in conjunction with production burst width modulated ripple signal and send to described 4 motors and described 5th motor, described 4 motors are connected with described action module, described 5th motor and described go out tin model calling, described digital signal processing chip is connected with the spot welding position in described action module by described temperature sensor, described 4 motors and described 5th motor are the permanent-magnet DC servo motors that 512 line photoelectric coded disks are housed.
2. four-degree-of-freedom middling speed soldering robot serve control system according to claim 1, it is characterized in that, described power module is battery or AC power.
3. four-degree-of-freedom middling speed soldering robot serve control system according to claim 1, is characterized in that, described control module adopts SMD components material.
CN201310183227.XA 2013-05-17 2013-05-17 A kind of four-degree-of-freedom middling speed soldering robot serve control system Active CN103264392B (en)

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CN102389997A (en) * 2011-08-31 2012-03-28 无锡先锋电机有限公司 Tin soldering device for commutator and armature wire
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CN203282487U (en) * 2013-05-17 2013-11-13 苏州工业园区职业技术学院 Four-freedom-degree medium-speed tin welding robot servo control system

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Publication number Priority date Publication date Assignee Title
CN102389997A (en) * 2011-08-31 2012-03-28 无锡先锋电机有限公司 Tin soldering device for commutator and armature wire
CN102841557A (en) * 2012-09-26 2012-12-26 苏州工业园区职业技术学院 Four-axis full-automatic high-speed dispensing robot servo-control system
CN102841559A (en) * 2012-09-26 2012-12-26 苏州工业园区职业技术学院 Servo control system for four-shaft low-and-medium-speed dispensing robot
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