CN104635618B - The method and device of ultrasonic bonding - Google Patents
The method and device of ultrasonic bonding Download PDFInfo
- Publication number
- CN104635618B CN104635618B CN201410809244.4A CN201410809244A CN104635618B CN 104635618 B CN104635618 B CN 104635618B CN 201410809244 A CN201410809244 A CN 201410809244A CN 104635618 B CN104635618 B CN 104635618B
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- Prior art keywords
- ultrasonic bonding
- 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
Abstract
A kind of method and device of ultrasonic bonding, the method includes the steps：Call default movement track parameters and send and be used for the movement for controlling robot by servo-driver according to movement track parameters to robot controller, wherein robot controller；The default and matched ultrasonic bonding parameter of movement track parameters is called, and is sent to ultrasonic bonding power supply, wherein ultrasonic bonding power supply is used for the ultrasonic wave that welding head is output to according to ultrasonic bonding parameter adjustment, and welding head is installed in robot.The present invention merges ultrasonic welding technique and robot technology, has prominent superiority in the welding of complex part locus and multi-product flexible production；By calling matched movement track parameters and ultrasonic bonding parameter, the ultrasonic technique parameter of movement locus and welding head input to robot flexibly controls, so as to according to workpiece difference welding position and requirement, realize ultrasonic welding process and the Collaborative Control of robot motion.
Description
Technical field
The present invention relates to Industry Control and technical field of automation, more particularly to a kind of method of ultrasonic bonding, surpasses
The device of sound wave welding.
Background technology
Ultrasonic bonding is a kind of special joining technology, and the object table of two need welding is delivered to using dither ripple
Face, in the case of pressurization, makes two body surface phase mutual friction and forms the fusion between molecular layer.Because ultrasonic bonding has
There is outstanding advantages of energy-saving and environmental protection, easy to operate, at present, in electronics industry, electric appliance manufacture, the preparation of new material, aerospace
And sealing technique of nuclear power industry, food package box, advanced part etc. is widely used.
Existing ultrasonic bonding is mainly based on manual operation or automatic welding special plane, and manual operation efficiency is low, welding position
Positioning accuracy is low, poor welding quality；Automatic welding special plane is efficient, and quality is good, but the adaptability of complicated position welding and different productions
The flexible production of product is poor.
The content of the invention
Based on this, it is necessary in view of the above-mentioned problems, providing a kind of method and device of ultrasonic bonding, it is possible to increase complicated
The adaptability of position welding and the flexible production of multi-product.
A kind of method of ultrasonic bonding, including step：
Call default movement track parameters and send to robot controller, wherein the robot controller is used for root
The movement of robot is controlled by servo-driver according to movement track parameters；
The default and matched ultrasonic bonding parameter of the movement track parameters is called, and is sent to ultrasonic bonding electricity
Source, wherein the ultrasonic bonding power supply is used for the ultrasonic wave that welding head is output to according to ultrasonic bonding parameter adjustment, institute
Welding head is stated in the robot.
A kind of device of ultrasonic bonding, including：
Movement track parameters calling module, for calling default movement track parameters and sending to robot controller,
Wherein described robot controller is used for the movement for controlling robot by servo-driver according to movement track parameters；
Ultrasonic bonding parameter calling module, for calling the default and matched supersonic welding of the movement track parameters
Parameter is connect, and is sent to ultrasonic bonding power supply, wherein the ultrasonic bonding power supply is used for according to ultrasonic bonding parameter tune
The whole ultrasonic wave for being output to welding head, the welding head are installed in the robot.
The method and device of ultrasonic bonding of the present invention, when being compared to each other with the prior art, has the following advantages：
1st, the present invention is using the flexibility feature of robot in the industrial production etc., by ultrasonic welding technique and robot
Technological incorporation, further increases the degree of automation of ultrasonic bonding, the application field of ultrasonic bonding has been expanded, in complexity
There is prominent superiority in the welding of workpiece space position and multi-product flexible production；
2nd, one aspect of the present invention flexibly controls the movement locus of robot, separately by calling movement track parameters
On the one hand by calling and the matched ultrasonic bonding parameter of movement track parameters, the ultrasonic technique of the input of butt welding machine head
Parameter is flexibly controlled, so that according to workpiece difference welding position and requirement, realizes ultrasonic welding process and robot
The Collaborative Control of movement.
Brief description of the drawings
Fig. 1 is the flow diagram of the method for the present invention embodiment；
Fig. 2 is the structure diagram of apparatus of the present invention embodiment one；
Fig. 3 is the structure diagram of apparatus of the present invention embodiment two；
Fig. 4 is the structure diagram of apparatus of the present invention embodiment three；
Fig. 5 is the structure diagram of apparatus of the present invention example IV；
Fig. 6 is the structure diagram of the whole ultrasonic welding system of the present invention.
Embodiment
The embodiment of the method for ultrasonic bonding of the present invention is described in detail below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of method of ultrasonic bonding, including step：
S110, call default movement track parameters and send to robot controller, wherein the robot controller
For the movement of robot to be controlled by servo-driver according to movement track parameters；
S120, call the default and matched ultrasonic bonding parameter of the movement track parameters, and is sent to ultrasonic wave
The source of welding current, wherein the ultrasonic bonding power supply is used for the ultrasound that welding head is output to according to ultrasonic bonding parameter adjustment
Ripple, the welding head are installed in the robot.
Step S110 and step S120 can be carried out at the same time without sequencing.Robot controller is used for the control according to reception
System instruction control servo-driver etc., servo-driver is used to drive the servomotor in robot, so as to control robot complete
Moved into required track.Robot can use general six-joint robot, and various complexity can be completed in working region
Action, has higher flexibility and flexibility.Ultrasonic bonding power supply can be the digitalized ultrasonic ripple source of welding current, can be according to ultrasound
Ripple welding parameter adjusts ultrasonic welding process parameter in real time, so as to produce the ultrasound of power needed for production on welding head
Ripple.Execution equipment of the welding head as ultrasonic bonding, its action are directly controlled by ultrasonic bonding power supply, to meet to grasp
Make flexibly, the 6th axis of robot can be directly mounted at, it is compact-sized.
, it is necessary to first to movement track parameters and supersonic welding before movement track parameters and ultrasonic bonding parameter is called
Connect parameter to be configured, establish corresponding parameter library.So the movement track parameters and ultrasonic bonding parameter call the step of
Before, step is further included：
Set and store movement track parameters, and the movement track parameters are synchronized to the robot controller；
Set and store ultrasonic bonding parameter, and the ultrasonic bonding parameter synchronization is electric to the ultrasonic bonding
Source.
Movement track parameters needed for robot motion, specific fortune are set by teaching machine programming or miscellaneous equipment programming
The numerical value of dynamic trajectory parameters can be obtained according to user experience etc..Can be according to LINE (straight line) movement instructions and ARC (circular arc)
Movement instruction etc. sets movement track parameters, and the movement track parameters after setting are stored.The movement locus set
Parameter can also realize fortune by Ethernet/CAN (Ethernet/controller LAN) bus transfers to robot controller
The synchronization of dynamic trajectory parameters.
Ultrasonic bonding parameter can be configured according to the LIST instructions for continuously displaying table or environmental information, it has
The numerical value of body can equally be obtained according to user experience.The ultrasonic bonding parameter set is stored, and is passed through
Ethernet/CAN bus transfers give ultrasonic bonding power supply, realize the synchronization of ultrasonic bonding parameter.
After movement track parameters and ultrasonic bonding parameter setting, into welding procedure.Specific welding can be directed to will
Ask the corresponding matched movement track parameters of calling and ultrasonic bonding parameter, when robot motion is to a certain position, ultrasound
The ripple source of welding current exports corresponding ultrasonic technique parameter to welding head, realizes ultrasonic bonding and the collaboration of robot motion
Control.The calling of ultrasonic bonding parameter can use CALLLIST to instruct, and the calling of movement track parameters is set according to specific
Movement instruction, take corresponding call instruction.When calling ultrasonic bonding parameter and movement track parameters, ultrasonic bonding
Power supply can be output to the ultrasonic wave of welding head, robot controller according to the ultrasonic bonding parameter adjustment called at this time
Servo-driver is controlled according to the movement track parameters called at this time, and then drives the servomotor of robot, controls robot
Moved according to tracing point, so as to carry out ultrasonic bonding.
Before to movement track parameters and ultrasonic bonding parameter call, it is also necessary to open servo-driver and ultrasonic wave
The source of welding current, than just can normal communication, ensure being normally carried out for ultrasonic bonding.So to movement track parameters and ultrasonic wave
Before welding parameter is called, step can also be included：
Servo-driver enabled instruction SERVON is sent to the robot controller, is started by robot controller
The servo-driver；
Ultrasonic wave output enabled instruction SONICON is sent to the ultrasonic bonding power supply, controls the supersonic welding
Connect power supply output ultrasonic wave.
The startup of servo-driver and ultrasonic bonding power supply has no sequencing, can send dependent instruction at the same time and realize two
The startup of person.When servo-driver and ultrasonic bonding power supply normally start, into welding procedure.
When ultrasonic bonding is completed, it is necessary to be exported to the ultrasonic wave for stopping servo-driver and ultrasonic bonding power supply.
So after movement track parameters and ultrasonic bonding parameter call are completed, step can also be included：
Servo-driver halt instruction SERVOFF is sent to the robot controller, is stopped by robot controller
The only servo-driver；
Ultrasonic wave output halt instruction SONICOFF is sent to the ultrasonic bonding power supply, controls the supersonic welding
Connect power supply and stop output ultrasonic wave.
The stopping of the ultrasonic wave of servo-driver and ultrasonic bonding power supply output can be sent at the same time equally without sequencing
Dependent instruction realizes both stoppings.When servo-driver and ultrasonic bonding power supply are turned off successfully, whole welding procedure
Terminate.
Based on same inventive concept, the present invention also provides a kind of device of ultrasonic bonding, below in conjunction with the accompanying drawings to this hair
The embodiment of bright device is described in detail.
As shown in Fig. 2, a kind of device 100 of ultrasonic bonding, including：
Movement track parameters calling module 110, controls for calling default movement track parameters and sending to robot
Device 200, wherein the robot controller 200 is used to control robot by servo-driver 300 according to movement track parameters
400 movement；
Ultrasonic bonding parameter calling module 120, for calling the default and matched ultrasound of the movement track parameters
Ripple welding parameter, and ultrasonic bonding power supply 500 is sent to, wherein the ultrasonic bonding power supply 500 is used for according to ultrasonic wave
Welding parameter adjusts the ultrasonic wave for being output to welding head 600, and the welding head 600 is installed in the robot 400.
Robot controller 200 is used to communicate with the device 100 of ultrasonic bonding, controls servo-driver 300.Servo is driven
Dynamic device 300 is used to drive the servomotor in robot 400, so as to control robot 400 to complete required track movement.Machine
Device people controller 200 and servo-driver 300 may be mounted inside a babinet, form robot control cabinet, can also divide
Open independently installed.Robot 400 can use general six-joint robot, and various compound actions can be completed in working region,
With higher flexibility and flexibility.Ultrasonic bonding power supply 500 can adjust ultrasonic bonding in real time according to ultrasonic bonding parameter
Technological parameter, so as to produce the ultrasonic wave of power needed for production on welding head 600.Welding head 600 is used as supersonic welding
The execution equipment connect, its action are directly controlled by ultrasonic bonding power supply 500, to meet that operation is flexible, can be directly mounted at
6th axis of robot 400, it is compact-sized.
Movement track parameters and ultrasonic bonding parameter calling module 120 are called in movement track parameters calling module 110
Call before ultrasonic bonding parameter, it is necessary to be first configured to movement track parameters and ultrasonic bonding parameter, foundation is corresponding
Parameter library.So as shown in figure 3, apparatus of the present invention can also include being connected with the movement track parameters calling module 110
Movement track parameters setup module 130, the ultrasonic bonding parameter being connected with the ultrasonic bonding parameter calling module 120
Setup module 140；
Movement track parameters setup module 130, joins for setting and storing movement track parameters, and by the movement locus
Number is synchronized to the robot controller 200；
Ultrasonic bonding parameter setting module 140, for setting and storing ultrasonic bonding parameter, and by the ultrasonic wave
Welding parameter is synchronized to the ultrasonic bonding power supply 500.
The numerical value of movement track parameters can be obtained according to user experience etc..Movement track parameters setup module 130 can be with
Movement track parameters are set according to the instruction of LINE linear motions and ARC circular motions instruction etc., and by the movement locus after setting
Parameter is stored.The movement track parameters set can also be passed through Ethernet/ by movement track parameters setup module 130
CAN bus is transferred to robot controller 200, realizes the synchronization of movement track parameters.
Ultrasonic bonding parameter setting module 140 can be configured ultrasonic bonding parameter according to LIST instructions etc.,
Its specific numerical value can equally be obtained according to user experience.The ultrasound that ultrasonic bonding parameter setting module 140 will be set
Ripple welding parameter is stored, and realizes supersonic welding to ultrasonic bonding power supply 500 by Ethernet/CAN bus transfers
Connect the synchronization of parameter.
In order to ensure being normally carried out for ultrasonic bonding, movement locus ginseng is called in movement track parameters calling module 110
Number and ultrasonic bonding parameter calling module 120 are called before ultrasonic bonding parameter, it is necessary to first start 300 He of servo-driver
Ultrasonic bonding power supply 500.As shown in figure 4, apparatus of the present invention can also include：
Enabled instruction sending module 150, for sending servo-driver enabled instruction to the robot controller
200, the servo-driver 300 is started by robot controller 200；
Enabled instruction sending module 160 is exported, for sending ultrasonic wave output enabled instruction to the ultrasonic bonding
Power supply 500, controls 500 output ultrasonic wave of ultrasonic bonding power supply.
When servo-driver and ultrasonic bonding power supply normally start, into welding procedure.
When ultrasonic bonding is completed, it is necessary to be exported to the ultrasonic wave for stopping servo-driver and ultrasonic bonding power supply.
So as shown in figure 5, apparatus of the present invention can also include：
Halt instruction sending module 170, for sending servo-driver halt instruction to the robot controller
200, the servo-driver 300 is stopped by robot controller 200；
Halt instruction sending module 180 is exported, for sending ultrasonic wave output halt instruction to the ultrasonic bonding
Power supply 500, controls the ultrasonic bonding power supply 500 to stop output ultrasonic wave.
When servo-driver and ultrasonic bonding power supply are turned off successfully, whole welding procedure terminates.
The method of the present invention and device can be realized by software and chip etc., as shown in fig. 6, software and chip can be installed
On IPC (industrial personal computer) host computer 610, IPC host computers 610 are directly connected with robot control cabinet 620, and wherein robot controls
Cabinet 620 includes robot controller and servo-driver, and robot controller communicates with host computer, according to the control instruction of reception
Servo-driver is controlled, and then by the servomotor of servo driver drives robot 630, realizes the movement of robot 630
Control；IPC host computers 610 are directly connected with ultrasonic bonding power supply 640, and by ultrasonic bonding power supply 640 to welding procedure
Parameter and welding head 650 are controlled.IPC host computers 610 can pass through Ethernet/CAN bus communications and robot control
Device processed and ultrasonic bonding power supply 640 carry out information exchange.
Embodiment described above only expresses the several embodiments of the present invention, its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (8)
- A kind of 1. method of ultrasonic bonding, it is characterised in that including step：Call default movement track parameters and send to robot controller, wherein the robot controller is used for according to fortune Dynamic trajectory parameters control the movement of robot by servo-driver；While calling default telemechanical trajectory parameters and sending to robot controller, the default and movement rail is called The matched ultrasonic bonding parameter of mark parameter, and ultrasonic bonding power supply is sent to, wherein the ultrasonic bonding power supply is used for The ultrasonic wave of welding head is output to according to ultrasonic bonding parameter adjustment, the welding head is installed in the robot； Wherein, the ultrasonic bonding power supply is the digitalized ultrasonic ripple source of welding current, and ultrasound is adjusted in real time according to ultrasonic bonding parameter Ripple welding condition, produces the ultrasonic wave of power needed for production on welding head；Before the step of calling default movement track parameters, step is further included：Set and store movement track parameters, and the movement track parameters are synchronized to the robot controller；Set and store ultrasonic bonding parameter, and by the ultrasonic bonding parameter synchronization to the ultrasonic bonding power supply.
- 2. the method for ultrasonic bonding according to claim 1, it is characterised in that according to LINE linear motion instruction and ARC circular motions instruction sets movement track parameters；Instructed according to LIST and ultrasonic bonding parameter is set.
- 3. the method for ultrasonic bonding according to claim 1, it is characterised in that call default movement track parameters Before step, step is further included：Servo-driver enabled instruction is sent to the robot controller, servo-drive is started by robot controller Device；Ultrasonic wave output enabled instruction is sent to the ultrasonic bonding power supply, controls the ultrasonic bonding power supply output super Sound wave.
- 4. the method for the ultrasonic bonding according to claims 1 to 3 any one, it is characterised in that call it is default with The matched ultrasonic bonding parameter of movement track parameters, and the step of be sent to ultrasonic bonding power supply after, further include Step：Servo-driver halt instruction is sent to the robot controller, stopping the servo by robot controller drives Dynamic device；Ultrasonic wave output halt instruction is sent to the ultrasonic bonding power supply, controls the ultrasonic bonding power supply to stop defeated Go out ultrasonic wave.
- A kind of 5. device of ultrasonic bonding, it is characterised in that including：Movement track parameters calling module, for calling default movement track parameters and sending to robot controller, wherein The robot controller is used for the movement for controlling robot by servo-driver according to movement track parameters；Ultrasonic bonding parameter calling module, for calling default telemechanical trajectory parameters simultaneously in movement track parameters calling module While being sent to robot controller, the default and matched ultrasonic bonding parameter of the movement track parameters is called, and Ultrasonic bonding power supply is sent to, wherein the ultrasonic bonding power supply is used to be output to weldering according to ultrasonic bonding parameter adjustment Pick the ultrasonic wave of head, and the welding head is installed in the robot；Wherein, the ultrasonic bonding power supply is digitlization Ultrasonic bonding power supply, adjusts ultrasonic welding process parameter according to ultrasonic bonding parameter, is produced on welding head in real time The ultrasonic wave of power needed for production；The device of ultrasonic bonding further includes the movement track parameters being connected with the movement track parameters calling module and sets mould Block, the ultrasonic bonding parameter setting module being connected with the ultrasonic bonding parameter calling module；Movement track parameters setup module, for setting and storing movement track parameters, and the movement track parameters are synchronous To the robot controller；Ultrasonic bonding parameter setting module, joins for setting and storing ultrasonic bonding parameter, and by the ultrasonic bonding Number is synchronized to the ultrasonic bonding power supply.
- 6. the device of ultrasonic bonding according to claim 5, it is characterised in that the movement track parameters setup module Movement track parameters are set according to the instruction of LINE linear motions and ARC circular motions instruction；The ultrasonic bonding parameter setting Module instructs according to LIST and sets ultrasonic bonding parameter.
- 7. the device of ultrasonic bonding according to claim 5, it is characterised in that further include：Enabled instruction sending module, for sending servo-driver enabled instruction to the robot controller, passes through machine People's controller starts servo-driver；Enabled instruction sending module is exported, for sending ultrasonic wave output enabled instruction to the ultrasonic bonding power supply, control Make the ultrasonic bonding power supply output ultrasonic wave.
- 8. the device of the ultrasonic bonding according to claim 5 to 7 any one, it is characterised in that further include：Halt instruction sending module, for sending servo-driver halt instruction to the robot controller, passes through machine People's controller stops the servo-driver；Halt instruction sending module is exported, for sending ultrasonic wave output halt instruction to the ultrasonic bonding power supply, control Make the ultrasonic bonding power supply and stop output ultrasonic wave.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410809244.4A CN104635618B (en) | 2014-12-19 | 2014-12-19 | The method and device of ultrasonic bonding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410809244.4A CN104635618B (en) | 2014-12-19 | 2014-12-19 | The method and device of ultrasonic bonding |
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| Publication Number | Publication Date |
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| CN104635618A CN104635618A (en) | 2015-05-20 |
| CN104635618B true CN104635618B (en) | 2018-04-20 |
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| CN201410809244.4A Active CN104635618B (en) | 2014-12-19 | 2014-12-19 | The method and device of ultrasonic bonding |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109531576B (en) * | 2018-12-29 | 2021-03-16 | 大族激光科技产业集团股份有限公司 | Welding control method, device and 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 |
| CN112757288B (en) * | 2020-11-17 | 2023-12-26 | 上海智殷自动化科技有限公司 | Industrial robot motion control method with adaptive process parameters |
| CN112828881B (en) * | 2020-11-27 | 2022-07-12 | 智昌科技集团股份有限公司 | Three-flow fusion industrial robot control method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05333909A (en) * | 1992-05-28 | 1993-12-17 | Yokogawa Electric Corp | Robot controller |
| CN202428111U (en) * | 2011-11-25 | 2012-09-12 | 重庆延锋江森汽车部件系统有限公司 | Ultrasonic robot welding device |
| CN202517723U (en) * | 2012-03-05 | 2012-11-07 | 东莞市长江超声波机有限公司 | Mobile type welding storage device for ultrasonic welding machine |
| CN102862292A (en) * | 2012-09-21 | 2013-01-09 | 苏州凯尔博精密机械有限公司 | Ultrasonic welding machine with robot |
| CN203936516U (en) * | 2014-06-24 | 2014-11-12 | 杭州新松机器人自动化有限公司 | A kind of fully-automatic supersonic welding system |
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