CN104635618A - Ultrasonic welding method and device - Google Patents
Ultrasonic welding method and device Download PDFInfo
- Publication number
- CN104635618A CN104635618A CN201410809244.4A CN201410809244A CN104635618A CN 104635618 A CN104635618 A CN 104635618A CN 201410809244 A CN201410809244 A CN 201410809244A CN 104635618 A CN104635618 A CN 104635618A
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- ultrasonic soldering
- ultrasonic
- movement track
- power supply
- track parameters
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/10—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating making use of vibrations, e.g. ultrasonic welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Lining Or Joining Of Plastics Or The Like (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an ultrasonic welding method and device. The method comprises the following steps that preset moving track parameters are called and sent to a robot controller, wherein the robot controller is used for controlling the movement of a robot through a servo driver according to the moving track parameters; ultrasonic welding parameters matched with the preset moving track parameters are called and are sent to an ultrasonic welding power supply, wherein the ultrasonic welding power supply is used for regulating ultrasonic waves output to a welding machine head according to the ultrasonic welding parameters, and the welding machine head is arranged on the robot. The ultrasonic welding method and the ultrasonic welding device have the advantages that an ultrasonic welding technology and a robot technology are fused, and the prominent superiority is realized on the complicated workpiece space position welding and the multi-product flexible production; the robot moving track and the ultrasonic process parameters input by the welding machine head are flexibly controlled through calling the matched moving track parameters and ultrasonic welding parameters, so that the cooperative control of the ultrasonic welding process and the robot movement is realized according to different welding positions and requirements of workpieces.
Description
Technical field
The present invention relates to Industry Control and technical field of automation, particularly relate to a kind of method of ultrasonic soldering, the device of ultrasonic soldering.
Background technology
Ultrasonic soldering is a kind of special joining technology, utilizes the body surface that dither wave loops welds to two need, when pressurizeing, makes the mutual friction of two body surface phases and the fusion that formed between molecular layer.Because ultrasonic soldering has energy-saving and environmental protection, the outstanding advantages such as easy to operate, at present, be widely used in the Sealing Technology etc. of the preparation of electronics industry, electrical equipment manufacture, new material, Aero-Space and nuclear power industry, food package box, senior part.
Existing ultrasonic soldering is mainly based on manual operation or automatic welding special plane, and manual operation efficiency is low, and welding position positioning precision is low, poor welding quality; Automatic welding special plane efficiency is high, and quality is good, but the adaptability of complicated position welding and the flexible production of different product poor.
Summary of the invention
Based on this, be necessary for the problems referred to above, a kind of method and device of ultrasonic soldering are provided, the adaptability of complicated position welding and the flexible production of multi-product can be improved.
A method for ultrasonic soldering, comprises step:
Call default movement track parameters and send to robot controller, wherein said robot controller is used for according to the motion of movement track parameters by servo-driver control;
Call the default ultrasonic soldering parameter of mating with described movement track parameters, and send to ultrasonic soldering power supply, wherein said ultrasonic soldering power supply is used for the ultrasound wave outputting to welding head according to ultrasonic soldering parameter adjustment, and described welding head is arranged in described robot.
A device for ultrasonic soldering, comprising:
Movement track parameters calling module, for calling default movement track parameters and sending to robot controller, wherein said robot controller is used for according to the motion of movement track parameters by servo-driver control;
Ultrasonic soldering parameter calling module, for calling the default ultrasonic soldering parameter of mating with described movement track parameters, and send to ultrasonic soldering power supply, wherein said ultrasonic soldering power supply is used for the ultrasound wave outputting to welding head according to ultrasonic soldering parameter adjustment, and described welding head is arranged in described robot.
The method of ultrasonic soldering of the present invention and device, when mutually comparing with prior art, have the following advantages:
1, the present invention utilizes robot flexibility feature etc. in the industrial production, ultrasonic welding technique and Robotics are merged, further increase the automaticity of ultrasonic soldering, expand the application of ultrasonic soldering, the welding of complex part locus and multi-product flexible production have had outstanding superiority;
2, one aspect of the present invention is by calling movement track parameters, the movement locus of robot is controlled flexibly, on the other hand by calling the ultrasonic soldering parameter of mating with movement track parameters, the ultrasonic technique parameter of the input of butt welding machine head controls flexibly, thus according to the different welding position of workpiece and requirement, achieve the Collaborative Control of ultrasonic welding process and robot motion.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the inventive method embodiment;
Fig. 2 is the structural representation of apparatus of the present invention embodiment one;
Fig. 3 is the structural representation of apparatus of the present invention embodiment two;
Fig. 4 is the structural representation of apparatus of the present invention embodiment three;
Fig. 5 is the structural representation of apparatus of the present invention embodiment four;
Fig. 6 is the structural representation of the whole ultrasonic welding system of the present invention.
Embodiment
Be described in detail below in conjunction with the embodiment of accompanying drawing to the method for ultrasonic soldering of the present invention.
As shown in Figure 1, a kind of method of ultrasonic soldering, comprises step:
S110, call default movement track parameters and send to robot controller, wherein said robot controller is used for according to movement track parameters by the motion of servo-driver control;
S120, call the default ultrasonic soldering parameter of mating with described movement track parameters, and send to ultrasonic soldering power supply, wherein said ultrasonic soldering power supply is used for the ultrasound wave outputting to welding head according to ultrasonic soldering parameter adjustment, and described welding head is arranged in described robot.
Step S110 and step S120, without sequencing, can carry out simultaneously.Robot controller is used for controlling servo-driver etc., the servomotor of servo-driver on drive machines people according to the steering order received, thus control completes required orbiting motion.Robot can adopt general six-joint robot, can complete various compound action, have higher flexibility and flexibility in perform region.Ultrasonic soldering power supply can be the digitalized ultrasonic ripple source of welding current, can adjust ultrasonic welding process parameter in real time according to ultrasonic soldering parameter, thus on welding head, produce the ultrasound wave producing power demand.Welding head is as the actuating equipment of ultrasonic soldering, and its action, by the direct control of ultrasonic soldering power supply, for meeting flexible operation, directly can be installed on the 6th axle of robot, compact conformation.
Before calling movement track parameters and ultrasonic soldering parameter, need first to arrange movement track parameters and ultrasonic soldering parameter, set up corresponding parameter library.So before the step of movement track parameters and ultrasonic soldering parameter call, also comprise step:
Arrange and storing moving trajectory parameters, and described movement track parameters is synchronized to described robot controller;
Arrange and store ultrasonic soldering parameter, and by described ultrasonic soldering parameter synchronization to described ultrasonic soldering power supply.
Programmed by teaching machine or miscellaneous equipment is programmed the movement track parameters arranged needed for robot motion, the numerical value of concrete movement track parameters can according to acquisitions such as user experiences.Movement track parameters can be set according to LINE (straight line) movement instruction and ARC (circular arc) movement instruction etc., and the movement track parameters after arranging is stored.The movement track parameters set to robot controller, can also realize the synchronous of movement track parameters by Ethernet/CAN (Ethernet/controller local area network) bus transfer.
Ultrasonic soldering parameter can be arranged according to the LIST instruction for continuous indicator gauge or environmental information, and its concrete numerical value can obtain according to user experience equally.The ultrasonic soldering parameter set is stored, and by Ethernet/CAN bus transfer to ultrasonic soldering power supply, realizes the synchronous of ultrasonic soldering parameter.
After movement track parameters and ultrasonic soldering optimum configurations, enter welding sequence.Movement track parameters and the ultrasonic soldering parameter of corresponding coupling can be called for concrete welding requirements, when robot motion is to a certain position, ultrasonic soldering power supply exports corresponding ultrasonic technique parameter to welding head, realizes the Collaborative Control of ultrasonic soldering and robot motion.Calling of ultrasonic soldering parameter can adopt CALLLIST instruction, and calling according to the concrete movement instruction arranged of movement track parameters, takes corresponding call instruction.When calling ultrasonic soldering parameter and movement track parameters, namely ultrasonic soldering power supply can output to the ultrasound wave of welding head according to the ultrasonic soldering parameter adjustment of now calling, robot controller controls servo-driver according to the movement track parameters now called, and then the servomotor of drive machines people, control moves according to tracing point, thus carries out ultrasonic soldering.
Before to movement track parameters and ultrasonic soldering parameter call, also need to open servo-driver and ultrasonic soldering power supply, can proper communication than just, ensure normally carrying out of ultrasonic soldering.So before to movement track parameters and ultrasonic soldering parameter call, can also step be comprised:
Servo-driver enabled instruction SERVON is sent to described robot controller, starts described servo-driver by robot controller;
Ultrasound wave is exported enabled instruction SONICON and be sent to described ultrasonic soldering power supply, control described ultrasonic soldering power supply output ultrasonic wave.
The startup of servo-driver and ultrasonic soldering power supply there is no sequencing, can send the startup of both dependent instruction realizations simultaneously.When servo-driver and ultrasonic soldering power supply all normally start, enter welding sequence.
When ultrasonic soldering completes, need stopping the ultrasound wave of servo-driver and ultrasonic soldering power supply to export.So after movement track parameters and ultrasonic soldering parameter call complete, can also step be comprised:
Servo-driver halt instruction SERVOFF is sent to described robot controller, stops described servo-driver by robot controller;
Ultrasound wave is exported halt instruction SONICOFF and be sent to described ultrasonic soldering power supply, control described ultrasonic soldering power supply and stop output ultrasonic wave.
The stopping that the ultrasound wave of servo-driver and ultrasonic soldering power supply exports is same without sequencing, can send the stopping of both dependent instruction realizations simultaneously.When servo-driver and ultrasonic soldering power supply are all closed successful, whole welding sequence terminates.
Based on same inventive concept, the present invention also provides a kind of device of ultrasonic soldering, is described in detail below in conjunction with the embodiment of accompanying drawing to apparatus of the present invention.
As shown in Figure 2, a kind of device 100 of ultrasonic soldering, comprising:
Movement track parameters calling module 110, for calling default movement track parameters and sending to robot controller 200, wherein said robot controller 200 is for passing through the motion of servo-driver 300 control 400 according to movement track parameters;
Ultrasonic soldering parameter calling module 120, for calling the default ultrasonic soldering parameter of mating with described movement track parameters, and send to ultrasonic soldering power supply 500, wherein said ultrasonic soldering power supply 500 is for outputting to the ultrasound wave of welding head 600 according to ultrasonic soldering parameter adjustment, described welding head 600 is arranged in described robot 400.
Robot controller 200, for communicating with the device 100 of ultrasonic soldering, controls servo-driver 300.Servo-driver 300 is for the servomotor on drive machines people 400, thus control 400 completes required orbiting motion.Robot controller 200 and servo-driver 300 can be arranged on inside a casing, form robot control cabinet, also can separate independent installation.Robot 400 can adopt general six-joint robot, can complete various compound action, have higher flexibility and flexibility in perform region.Ultrasonic soldering power supply 500 can adjust ultrasonic welding process parameter in real time according to ultrasonic soldering parameter, thus on welding head 600, produce the ultrasound wave producing power demand.Welding head 600 is as the actuating equipment of ultrasonic soldering, and its action, by the direct control of ultrasonic soldering power supply 500, for meeting flexible operation, directly can be installed on the 6th axle of robot 400, compact conformation.
Before movement track parameters calling module 110 calls movement track parameters and ultrasonic soldering parameter calling module 120 calls ultrasonic soldering parameter, need first to arrange movement track parameters and ultrasonic soldering parameter, set up corresponding parameter library.So as shown in Figure 3, apparatus of the present invention can also comprise the movement track parameters be connected with described movement track parameters calling module 110 and arrange module 130, the ultrasonic soldering parameter setting module 140 be connected with described ultrasonic soldering parameter calling module 120;
Movement track parameters arranges module 130, for arranging and storing moving trajectory parameters, and described movement track parameters is synchronized to described robot controller 200;
Ultrasonic soldering parameter setting module 140, for arranging and storing ultrasonic soldering parameter, and by described ultrasonic soldering parameter synchronization to described ultrasonic soldering power supply 500.
The numerical value of movement track parameters can according to acquisitions such as user experiences.Movement track parameters arranges module 130 can arrange movement track parameters according to the instruction of LINE rectilinear motion and ARC circular motion instruction etc., and is stored by the movement track parameters after arranging.Movement track parameters arrange module 130 can also by the movement track parameters that sets by Ethernet/CAN bus transfer to robot controller 200, realize the synchronous of movement track parameters.
Ultrasonic soldering parameter setting module 140 can be arranged ultrasonic soldering parameter according to LIST instruction etc., and its concrete numerical value can obtain according to user experience equally.The ultrasonic soldering parameter set stores by ultrasonic soldering parameter setting module 140, and by Ethernet/CAN bus transfer to ultrasonic soldering power supply 500, realizes the synchronous of ultrasonic soldering parameter.
In order to ensure normally carrying out of ultrasonic soldering, before movement track parameters calling module 110 calls movement track parameters and ultrasonic soldering parameter calling module 120 calls ultrasonic soldering parameter, need first to start servo-driver 300 and ultrasonic soldering power supply 500.As shown in Figure 4, apparatus of the present invention can also comprise:
Enabled instruction sending module 150, for servo-driver enabled instruction is sent to described robot controller 200, starts described servo-driver 300 by robot controller 200;
Export enabled instruction sending module 160, being sent to described ultrasonic soldering power supply 500 for ultrasound wave being exported enabled instruction, controlling described ultrasonic soldering power supply 500 output ultrasonic wave.
When servo-driver and ultrasonic soldering power supply all normally start, enter welding sequence.
When ultrasonic soldering completes, need stopping the ultrasound wave of servo-driver and ultrasonic soldering power supply to export.So as shown in Figure 5, apparatus of the present invention can also comprise:
Halt instruction sending module 170, for servo-driver halt instruction is sent to described robot controller 200, stops described servo-driver 300 by robot controller 200;
Export halt instruction sending module 180, being sent to described ultrasonic soldering power supply 500 for ultrasound wave being exported halt instruction, controlling described ultrasonic soldering power supply 500 and stopping output ultrasonic wave.
When servo-driver and ultrasonic soldering power supply are all closed successful, whole welding sequence terminates.
The inventive method and device can by the realizations such as software and chip, as shown in Figure 6, software and chip can be arranged on IPC (industrial computer) host computer 610, IPC host computer 610 is directly connected with robot control cabinet 620, wherein robot control cabinet 620 comprises robot controller and servo-driver, robot controller communicates with host computer, steering order according to receiving controls servo-driver, and then by the servomotor of servo driver drives robot 630, realize the motion control of robot 630; IPC host computer 610 is directly connected with ultrasonic soldering power supply 640, and is controlled by ultrasonic soldering power supply 640 pairs of welding conditions and welding head 650.IPC host computer 610 can carry out message exchange by Ethernet/CAN bus communication and robot controller and ultrasonic soldering power supply 640.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. a method for ultrasonic soldering, is characterized in that, comprises step:
Call default movement track parameters and send to robot controller, wherein said robot controller is used for according to the motion of movement track parameters by servo-driver control;
Call the default ultrasonic soldering parameter of mating with described movement track parameters, and send to ultrasonic soldering power supply, wherein said ultrasonic soldering power supply is used for the ultrasound wave outputting to welding head according to ultrasonic soldering parameter adjustment, and described welding head is arranged in described robot.
2. the method for ultrasonic soldering according to claim 1, is characterized in that, before calling the step of default movement track parameters, also comprises step:
Arrange and storing moving trajectory parameters, and described movement track parameters is synchronized to described robot controller;
Arrange and store ultrasonic soldering parameter, and by described ultrasonic soldering parameter synchronization to described ultrasonic soldering power supply.
3. the method for ultrasonic soldering according to claim 2, is characterized in that, arranges movement track parameters according to the instruction of LINE rectilinear motion and ARC circular motion instruction; According to LIST instruction, ultrasonic soldering parameter is set.
4. the method for ultrasonic soldering according to claim 1, is characterized in that, before calling the step of default movement track parameters, also comprises step:
Servo-driver enabled instruction is sent to described robot controller, starts servo-driver by robot controller;
Ultrasound wave is exported enabled instruction and be sent to described ultrasonic soldering power supply, control described ultrasonic soldering power supply output ultrasonic wave.
5. the method for the ultrasonic soldering according to Claims 1-4 any one, is characterized in that, calls the default ultrasonic soldering parameter of mating with described movement track parameters, and after sending to the step of ultrasonic soldering power supply, also comprises step:
Servo-driver halt instruction is sent to described robot controller, stops described servo-driver by robot controller;
Ultrasound wave is exported halt instruction and be sent to described ultrasonic soldering power supply, control described ultrasonic soldering power supply and stop output ultrasonic wave.
6. a device for ultrasonic soldering, is characterized in that, comprising:
Movement track parameters calling module, for calling default movement track parameters and sending to robot controller, wherein said robot controller is used for according to the motion of movement track parameters by servo-driver control;
Ultrasonic soldering parameter calling module, for calling the default ultrasonic soldering parameter of mating with described movement track parameters, and send to ultrasonic soldering power supply, wherein said ultrasonic soldering power supply is used for the ultrasound wave outputting to welding head according to ultrasonic soldering parameter adjustment, and described welding head is arranged in described robot.
7. the device of ultrasonic soldering according to claim 6, it is characterized in that, also comprise the movement track parameters be connected with described movement track parameters calling module and module is set, the ultrasonic soldering parameter setting module be connected with described ultrasonic soldering parameter calling module;
Movement track parameters arranges module, for arranging and storing moving trajectory parameters, and described movement track parameters is synchronized to described robot controller;
Ultrasonic soldering parameter setting module, for arranging and storing ultrasonic soldering parameter, and by described ultrasonic soldering parameter synchronization to described ultrasonic soldering power supply.
8. the device of ultrasonic soldering according to claim 7, is characterized in that, described movement track parameters arranges module and arranges movement track parameters according to the instruction of LINE rectilinear motion and ARC circular motion instruction; Described ultrasonic soldering parameter setting module arranges ultrasonic soldering parameter according to LIST instruction.
9. the device of ultrasonic soldering according to claim 6, is characterized in that, also comprises:
Enabled instruction sending module, for servo-driver enabled instruction is sent to described robot controller, starts servo-driver by robot controller;
Export enabled instruction sending module, being sent to described ultrasonic soldering power supply for ultrasound wave being exported enabled instruction, controlling described ultrasonic soldering power supply output ultrasonic wave.
10. the device of the ultrasonic soldering according to claim 6 to 9 any one, is characterized in that, also comprises:
Halt instruction sending module, for servo-driver halt instruction is sent to described robot controller, stops described servo-driver by robot controller;
Exporting halt instruction sending module, being sent to described ultrasonic soldering power supply for ultrasound wave being exported halt instruction, control described ultrasonic soldering power supply and stop output ultrasonic wave.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410809244.4A CN104635618B (en) | 2014-12-19 | 2014-12-19 | The method and device of ultrasonic bonding |
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| CN201410809244.4A CN104635618B (en) | 2014-12-19 | 2014-12-19 | The method and device of ultrasonic bonding |
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| CN104635618B CN104635618B (en) | 2018-04-20 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106066479A (en) * | 2016-05-24 | 2016-11-02 | 马鞍山市博宇智能装备有限公司 | A kind of six-joint robot position detecting system |
| CN109531576A (en) * | 2018-12-29 | 2019-03-29 | 大族激光科技产业集团股份有限公司 | Welding control method, device, system and welding robot |
| CN110181492A (en) * | 2019-07-07 | 2019-08-30 | 广州金世福珠宝有限公司 | A kind of artificial intelligence machinery arm Platform Alliance operating facilities |
| CN112757288A (en) * | 2020-11-17 | 2021-05-07 | 上海智殷自动化科技有限公司 | Industrial robot motion control method with adaptive process parameters |
| CN112828881A (en) * | 2020-11-27 | 2021-05-25 | 上海智殷自动化科技有限公司 | Three-flow fusion industrial robot control method |
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| CN112828881A (en) * | 2020-11-27 | 2021-05-25 | 上海智殷自动化科技有限公司 | Three-flow fusion industrial robot control method |
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