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.
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.