CN103302670A - Servo control system for four-axis intermediate speed full-automatic soldering robot - Google Patents
Servo control system for four-axis intermediate speed full-automatic soldering robot Download PDFInfo
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Abstract
The invention discloses a servo control system for a four-axis intermediate speed full-automatic soldering robot, which comprises a control module, four motors, a motion module and an image collecting module, wherein the control module comprises a digital signal processing chip and an LM 629 motion control chip; the digital signal processing chip is connected with point welding positions on the motion module through the image collecting module; the LM 629 motion control chip generates pulse-width modulation wave signals and sends the signals to the four motors; and the four motors are connected with the motion module respectively. According to the servo control system for the four-axis intermediate speed full-automatic soldering robot, provided by the invention, through the adoption of the scheme, the degree of automation and the operational precision are greatly improved, the positioning is extremely precise, the soldering efficiency of the robot can be greatly improved, the requirement for motion synchronous control of the four-axis servo motors is met, the all-digital control of a tin discharge system is realized, the space occupied by a special motion chip is reduced, and the micromation development is facilitated.
Description
Technical field
The present invention relates to soldering robot technical field, particularly relate to the full-automatic soldering robot serve control system of a kind of four axle middling speeds.
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, abundant practical experience and stable weld horizontal.The work that welding is again that a kind of working condition is poor, flue dust is many, heat radiation is large simultaneously, danger is high, so novel automatic welding production 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 five degree of freedom soldering robot comprises the several parts of motor, algorithm and microprocessor substantially, but existing automatic soldering device people long-play exists a lot of safety problems:
(1) at the soldering initial stage, all be that artificial sport soldering robot arrives original position, only rely on human eye to carry out the correction of initial position, so that bonding accuracy reduces greatly.
(2) automatic soldering device people's power acquisition is used is dc source after the general AC power rectification, can make whole soldering campaign failure when unexpected power failure.
(3) mostly the main control chip of soldering robot is 8 single-chip microcomputer if adopting, computing capability is inadequate, causes the welding system speed of service slower.Because the frequent spot welding of automatic soldering device people between solder joint will brake and start frequently, has increased the weight of the workload of single-chip microcomputer, single single-chip microcomputer can't satisfy the requirement that automatic soldering device people starts fast and stops.Disturbed by the surrounding environment destabilizing factor, singlechip controller often can occur unusually causing that the soldering robot is out of control, and antijamming capability is relatively poor.
(4) mostly automatic soldering device people's executing agency is often can run into stepper motor pulse-losing and cause the motor desynchronizing phenomenon to occur if adopting, cause system inconsistent for the solder joint tin output amount.Stepper motor can make organism fever more serious, needs sometimes motor body is dispelled the heat, and the mechanical noise of system's running increases greatly, is unfavorable for environmental protection.Stepper motor generally all is heterogeneous structure, and control circuit need to adopt a plurality of power tubes, so that control circuit is relatively complicated, and increased the controller price, and because the back and forth switching between heterogeneous so that the pulsating torque of system increases, is unfavorable for the raising of dynamic performance.
(5) be subjected to single-chip microcomputer capacity and algorithm affects, common tin weldering robot is to the not storage of pad information of process, all information will disappear when running into power-down conditions or fault and restart, this so that whole soldering process to restart or the artificial regeneration routing information.
(6) although in welding, can adjust according to the spot size of welded object the size of tin feeding amount, do not consider the temperature of solder joint, cause solder joint inconsistent.In the soldering process, ignored the cleaning to solder horn, the situation that often causes producing failure welding or solder joint filth because of residual scolding tin occurs.In welding process, solder horn is adopted the mode of manual cleaning, because the temperature of solder horn is higher, can accidentally injure the people sometimes.In welding process, if find any solder joint problems of welded quality is arranged, the breakpoint that needs to open on the man-machine interface arranges, and then artificial secondary repair welding is so that automaticity reduces greatly.
(7) for the pinpoint welding procedure of four-degree-of-freedom soldering robot, in order to satisfy fast requirement, minimum requirements is that the pwm control signal of three motors of its orbiting motion of control is wanted synchronously, owing to being subjected to the restriction of single-chip microcomputer computing capability, single single-chip microcomputer servo-drive system is difficult to satisfy this condition.
(8) owing to a large amount of larger plug-in components of volumes that adopt, so that the volume of servo controller is larger.
Summary of the invention
The technical problem that the present invention mainly solves provides the full-automatic soldering robot serve control system of a kind of four axle middling speeds, 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 axle middling speeds full-automatic soldering robot serve control system, comprise control module, the first motor, the second motor, the 3rd motor, the 4th motor, action module and image capture module, described control module comprises digital signal processing chip and LM629 motion control chip, described digital signal processing chip is connected with spot welding position on the described action module by described image capture module, described LM629 motion control chip production burst width modulated ripple signal also sends to described the first motor, described the second motor, described the 3rd motor and described the 4th motor, described the first motor, described the second motor, described the 3rd motor be connected the 4th motor and be connected with described action module.
In a preferred embodiment of the present invention, described servo-control system also comprises the 5th motor and goes out the tin module, and described the 5th motor goes out the tin module and is connected with described.
In a preferred embodiment of the present invention, described the first motor, described the second motor, described the 3rd motor, described the 4th motor and described the 5th motor are permanent-magnet DC servo motor, comprise 512 linear lights electricity coding disk in the described permanent-magnet DC servo motor.
In a preferred embodiment of the present invention, described digital signal processing chip is 32.
The invention has the beneficial effects as follows: the full-automatic soldering robot serve control system of four axle middling speeds of the present invention, automaticity and operational precision improve greatly, locate extremely accurate, can well improve the soldering efficient of robot, the requirement of four axle servomotor synchronized movement controls and the digital control that goes out the tin system have been satisfied, reduced the shared space of special-purpose motion chip, be conducive to microminiaturized future development.
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 full-automatic soldering robot serve control system one preferred embodiment of the present invention's four axle middling speeds;
Fig. 3 is the full-automatic soldering robot serve control system's of four axle middling speeds described in Fig. 2 flow chart;
Fig. 4 is the full-automatic soldering robot serve control system's of four axle middling speeds described in Fig. 2 system block diagram.
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.
Digital signal processing chip (DSP) has fast computing capability, 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, and greatly peripheral circuits design reduces system cost and system complexity, has also greatly improved the data storage disposal ability.
LM629 is a special chip for precise motion control that National semiconductor produces, 24 pin and two kinds of surface-mounted encapsulation of 28 pin are arranged, the repertoire of integrated digital-type sport control in a chip, so that design one fast, the task of kinetic control system becomes light accurately, easily, its operating frequency is 6MHz and 8MHz, operating temperature range is-40 ℃ ~ 85 ℃, use the 5V power supply, have 32 bit positions, speed and acceleration storage, the PWM pulsewidth modulation output of 8 bit resolutions, 16 programmable digital PID controllers and inner trapezoidal rate generator.But LM629 motion control chip real time modifying speed, target location and pid control parameter, in real time programmable Interrupt, differential term sampling interval able to programme and the increment code wheel signal carried out quadruple can be arranged at two kinds of duties of speed or position servo.
See also Fig. 2, the invention provides the full-automatic soldering robot serve control system of a kind of four axle middling speeds, comprise control module, motor X, motor Z, motor U, motor R, action module and image capture module.Described control module comprises digital signal processing chip and LM629 motion control chip, described digital signal processing chip is 32, described digital signal processing chip is connected with spot welding position on the described action module by described image capture module, and described LM629 motion control chip production burst width modulated ripple signal also sends to described motor X, described motor Z, described motor U and described motor R.Described motor X, described motor Z, described motor U and the motor R of being connected are connected with described action module.
Described servo-control system also comprises motor Y and goes out the tin module, and described motor Y goes out the tin module and is connected with described.Described motor X, described motor Z, described motor U, described motor R and described motor Y are permanent-magnet DC servo motor, comprise 512 linear lights electricity coding disk in the described permanent-magnet DC servo motor.
See also Fig. 3 and Fig. 4, the concrete function of the full-automatic soldering robot serve control system of described four axle middling speeds is embodied as:
(1) opening power, automatic conveyor is sent to the working region automatically to the processing component that is installed on the anchor clamps.Can judge the supply voltage source at opening power moment single-chip microcomputer, when determining to be storage battery power supply, if cell voltage low pressure, to forbid LM629 work, motor X, motor Z, motor U, motor R and motor Y can not work, voltage sensor will be worked simultaneously, and controller can send the low pressure alarming signal.
(2) the people's automatic control program that starts the machine loads task by controller 232 serial ports incoming tasks or from hard disk.Motor X, motor Z, motor U work are automatically moved to initialization points with executing agency's (comprise flatiron and go out tin-tube), motor X, motor Z and motor U self-locking also discharge bus, this moment, image capturing system was opened, the motor R angle that tilts, and automatic calibration goes out the aligned position of tin-tube and starting point.
(3) under a welding signal condition for validity, the time-delay certain hour makes the soldering robot prepare to start working.In order to drive single-degree-of-freedom automatic soldering device people automatically motion and automatic what of control tin output amount, this control system has been introduced five LM629, but enters real-time communication by I/O mouth and DSP, controls it by DSP and turns on and off.
(4) for the system based on LM629, the detection of state of " hurrying " is the primary part of whole Servo System Design, detects first this mode bit before each motion, determines whether " doing ", if " hurrying " will carry out the software reset, make system can carry out data communication.
(5) for the system based on LM629, resetting also is important in a LM629 servos manipulate link, after resetting, check the status word of LM629, if be not equal to 84H or C4H, the hardware reset failure is described, must again reset, otherwise LM629 cannot work.
(6) in automatic soldering device people motion process, DSP can constantly store the space-time distance of process or the solder joint of process, and calculate relatively next space-time 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 move, speed and acceleration, DSP and LM629 communication, transmit these parameters to LM629, by LM629 formation speed motion ladder diagram, this trapezoidal area that comprises is exactly soldering robot motor X, motor Z, the distance that motor U motor R will move is again according to current of electric and photoelectric coded disk Information generation control motor X, motor Z, PWM ripple and the direction of motion signal of motor U and motor R operation.
(7) after arriving predetermined four-dimensional bond pad locations, flatiron begins 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 need to move, the parameter preset such as speed and acceleration and PID, DSP provides these parameter transmission the LM629 of tin system, generate tin system speed motion ladder diagram by LM629, this trapezoidal area that comprises is exactly that the soldering robot goes out the distance that tin system motor Y will move, the PWM ripple and the direction of motion signal that move according to photoelectric coded disk Information generation control motor Y again.
(8) after finishing out tin system servo, in order to prevent the too high again thawing that causes scolding tin of flatiron temperature, motor Y generally retracts a little distance to solder stick, and records this value, immediately self-locking, flatiron and go out the tin system and under the effect of motor X, move to next tin welding spot together.
(9) if in motion process automatic soldering device people 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 process, automatic soldering device people's motor X, motor Z, motor U, motor R and the motor Y that goes out the tin system prevent maloperation with the original place self-locking.
(10) photoelectric coded disk that is contained on motor X, motor Z, motor U, 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 once, the location register in the LM629 can add according to the traffic direction of motor X, motor Z, motor U, motor R and motor Y 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 to the LM629 register, record the absolute position of motor, be converted into the particular location and the physical length that goes out tin of automatic soldering device people solder joint in space-time.
(11) DSP is according to the particular location of automatic soldering device people solder joint in space-time 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, calculate actual acceleration, speed and the position signalling that automatic soldering device people need to upgrade by ladder diagram.
(12) in the soldering process, if image capturing system finds have the solder joint of any position quality problems to occur, the lower current four-dimensional positional information of memory record, DSP is according to the particular location of automatic soldering device people at welding assembly, calculate and send corresponding acceleration, speed and position data etc. give the ladder diagram generator of LM629 as the reference value, calculate automatic soldering device people by ladder diagram and arrive the actual acceleration that the renewal point needs, speed and position signalling, control motor X, motor Y, motor U and motor R arrive assigned address, DSP repairs according to IMAQ output control motor Y butt welding point, unlatching image capturing system after reparation is finished, at motor X, motor Y, return the position of memory under depositing originally under the help of motor U and motor R, again continue original work.
(13) in the soldering process, if image capturing system finds that solder horn has a large amount of residual tin, the lower current four-dimensional positional information of memory record, DSP is according to the particular location of automatic soldering device people at welding assembly, help motor X, motor Y, motor U and motor R that the soldering robot is moved to cleaning place by image collecting device, then clean flatiron, transfer corresponding positional information after complete, come back to the storage solder joint, continue new work.
(14) in whole pinpoint welding procedure, PWM ripple signal and motor positive and inverse signal that the Digital PID Controller generating power drive axle that is determined in conjunction with motor position decoding by the ladder diagram generator needs are used for realizing automatic soldering device robot system motor X, motor Z, motor U, motor R and go out the SERVO CONTROL of tin system motor Y.
(15) if when automatic soldering device people runs into unexpected outage in running, battery can automatically be opened and immediately the soldering robot be powered, when the flow currents of motor surpasses setting value, the interruptive command LPES of LM629 will send interrupt requests to DSP, this moment DSP can control immediately LM629 quit work and access under current solder joint information, not only effectively avoided the generation of high-rate battery discharge, and preserved the solder joint data, so that fixing a breakdown to receive, controller can continue to move its remaining work after restarting order.
(16) in order to make things convenient for the soldering work system to add the automatic pause point that arranges from man-machine interface, if in the soldering process, read the automatic pause point, DSP can control LM629 and stop with the acceleration of maximum and make process automatic pause occur and store current information, until controller reads and again press START button information LM629 is reworked, and transfer storage information the soldering robot can be worked on from the automatic pause point.
(17) automatic soldering device people can detect cell voltage constantly at running, and when low pressure appearred in system, sensor meeting notification controller was opened and sent alarm, has effectively protected lithium ion battery.
(18) after the soldering campaign of finishing whole processing component, motor Y can draw back one section scolding tin that has shifted out the solder box, and control soldering robot walks out movement locus.The soldering robot is according to new soldering parts particular location, resets position zero point, waits for new work.
The beneficial effect that the full-automatic soldering robot serve control system of four axle middling speeds that the present invention discloses has is:
(1) SCM system of high speed processing chip DSP with respect to 8, the computing capability of DSP control soldering soldering robot system improves greatly.
(2) before soldering begins, open image capturing system, help motor X, motor Z, motor U and motor R automated movement soldering robot to arrive assigned address and correction, improved system's soldering precision.
(3) 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 DSP and LM629 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 large electric current, so fundamentally solved large electric current to the impact of lithium ion battery.
(4) process the four-degree-of-freedom soldering robot of soldering robot by LM629 and go out the SERVO CONTROL of tin system, on the one hand DSP is freed from the servo algorithm of complexity, greatly improved arithmetic speed, in addition on the one hand also so that the controller design comparison is simple, shortened the construction cycle short, effectively prevented " race flies " of program, antijamming capability strengthens greatly.
(5) adopt full SMD components material, realized veneer control, not only saved control panel and taken up room, and be conducive to alleviating of the long-pending and weight of soldering machine human body.
(6) in the soldering process, send the control of tin speed automatically to regulate, temperature sensor just gathers a rear transmission DSP to the operating temperature of solder horn, DSP is according to the result of collecting temperature, the current spot welding speed of service and image acquisition and processing, and COMPREHENSIVE CALCULATING was adjusted afterwards and sent the tin motor Y velocity magnitude of operation.
(7) in the soldering process, send the control of tin length automatically to regulate, finish the welding of a solder joint when soldering after, controller accesses in the memory information of solder joint in the next space-time immediately, DSP can be according to the spot size of welded article, the speed of current tin soldering robot operation and the result of image acquisition and processing, and COMPREHENSIVE CALCULATING was adjusted afterwards and sent tin motor Y speed and the distance of operation.
(8) in the soldering process, solder horn constant temperature is adjustable, can adjust according to the result of real work speed needs and IMAQ solder joint the temperature of solder horn, operating temperature is regulated between 200 ℃-480 ℃, melts the requirement of scolding tin when satisfying the quick spot welding of soldering robot.
(9) in the soldering process, if IMAQ finds that the residual scolding tin of solder horn is too much, the current spot welding work of meeting automatic pause, preserve current information, IMAQ help motor X, motor Z, motor U and motor R accurately move to flatiron cleaning place and carry out residual scolding tin processing, have reduced residual scolding tin to the impact of welding.
(10) in the soldering process, if IMAQ finds have solder joint quality problems to occur, to store current information, then move to defective in quality solder joint and carry out after-treatment, if system discovery is not processed this problem, to input again repair welding information to man-machine interface, and then enter storage location, finish the residue task.
(11) in order to improve movement velocity and precision, this soldering robot has adopted the permanent-magnet DC servo motor with 512 linear lights electricity coding disk to substitute the stepper motor of commonly using in the legacy system, so that operational precision improves greatly, efficient is also relatively high.Adopt permanent-magnet DC servo motor so that speed adjustable range is wider, contrast of regulating speed is steady.
(12) the PWM ripple of control motor rotation, being LM629 obtains according to predeterminated position, speed and acceleration parameter and the photoelectric coded disk information of DSP, not only simplified interface circuit, and saved the trouble that DSP writes position, speed control program and various pid algorithms, so that the debugging of system is simple.In control, DSP adjusts the pid parameter of LM629 inside in good time according to the peripheral ruuning situation of robot, realize segmentation P, PD, PID control and nonlinear PID controller, the switching of speed when making system satisfy the middling speed operation.Double-damping structure is adopted in PID control and the instruction of motion control class of LM629, data at first write master register by single-chip microcomputer, only the data of the master register work register of could further packing into after writing related command is easy to realize any control of single-axis servo motion like this.
(13) owing to having a memory function, this so that after the power down of soldering robot or when running into fault and restarting system can transfer easily and put the routing information that welds, can finish uncompleted task from trouble point secondary spot welding easily.
(14) in whole soldering process, be engraved in during controller and calculate the soldering robot speed of service, solder horn temperature to going out the impact of tin systematic parameter, guaranteed the reliably working of tin system.
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 (4)
1. full-automatic soldering robot serve control system of axle middling speed, it is characterized in that, comprise control module, the first motor, the second motor, the 3rd motor, the 4th motor, action module and image capture module, described control module comprises digital signal processing chip and LM629 motion control chip, described digital signal processing chip is connected with spot welding position on the described action module by described image capture module, described LM629 motion control chip production burst width modulated ripple signal also sends to described the first motor, described the second motor, described the 3rd motor and described the 4th motor, described the first motor, described the second motor, described the 3rd motor be connected the 4th motor and be connected with described action module.
2. the full-automatic soldering robot serve control system of four axle middling speeds according to claim 1 is characterized in that, described servo-control system also comprises the 5th motor and go out the tin module, and described the 5th motor goes out the tin module and is connected with described.
3. the full-automatic soldering robot serve control system of four axle middling speeds according to claim 2, it is characterized in that, described the first motor, described the second motor, described the 3rd motor, described the 4th motor and described the 5th motor are permanent-magnet DC servo motor, comprise 512 linear lights electricity coding disk in the described permanent-magnet DC servo motor.
4. the full-automatic soldering robot serve control system of four axle middling speeds according to claim 1 is characterized in that, described digital signal processing chip is 32.
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| CN104889613A (en) * | 2015-05-15 | 2015-09-09 | 无锡阳工机械制造有限公司 | Intelligent welding process |
| CN107470734A (en) * | 2017-08-04 | 2017-12-15 | 四川建筑职业技术学院 | A kind of precise positioning Soldering machine and control system based on DSP |
| CN111805109A (en) * | 2020-06-23 | 2020-10-23 | 贵州民族大学 | Spot welding system |
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Application publication date: 20130918 |