CN107470734A - A kind of precise positioning Soldering machine and control system based on DSP - Google Patents

A kind of precise positioning Soldering machine and control system based on DSP Download PDF

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Publication number
CN107470734A
CN107470734A CN201710662525.5A CN201710662525A CN107470734A CN 107470734 A CN107470734 A CN 107470734A CN 201710662525 A CN201710662525 A CN 201710662525A CN 107470734 A CN107470734 A CN 107470734A
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CN
China
Prior art keywords
soldering
axis
dsp
control
tin
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CN201710662525.5A
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Chinese (zh)
Inventor
杨文宇
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Sichuan College of Architectural Technology
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Sichuan College of Architectural Technology
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Priority to CN201710662525.5A priority Critical patent/CN107470734A/en
Publication of CN107470734A publication Critical patent/CN107470734A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K3/00Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
    • B23K3/06Solder feeding devices; Solder melting pans
    • B23K3/0607Solder feeding devices
    • B23K3/063Solder feeding devices for wire feeding
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K3/00Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
    • B23K3/08Auxiliary devices therefor

Abstract

The invention discloses a kind of precise positioning Soldering machine and control system based on DSP, including rectangle soldering machine base, the tin feeding device being separately positioned on rectangle soldering machine base, heater, soldering head positioner soldering head positioner, tin Welding head mechanism;The tin feeding device includes Song Xi mechanisms and wire feed control system, the Song Xi mechanisms bag wire feeder, wired device, first gear, second gear, the first servomotor, the second servomotor;The wire feed control system includes the feedback regulating circuit being connected respectively with the first servomotor, the second servomotor, the 3rd servomotor, the first dsp controller being electrically connected with feedback regulating circuit, the speed adjustment circuit being electrically connected with the first dsp controller, the pulse-width modulation circuit being connected with speed adjustment circuit.By using pulse modulation technology, and feedback regulation is carried out automatically so that the supply voltage of servo wire feeding motor changes with the change of Motor torque, so as to have the function that stable wire feed rate.

Description

A kind of precise positioning Soldering machine and control system based on DSP
Technical field
The present invention relates to welding machine field, is a kind of precise positioning Soldering machine and control system based on DSP specifically.
Background technology
Welding procedure occupies critical role in manufacturing industry, and it is in machine-building, petrochemical industry, space flight and aviation, electronics etc. Numerous sector applications are extensive.With the development of society, traditional manual welding can not meet modern industry welding quality, work Make the requirement of efficiency, the progress of science provides technical foundation for the generation of automatic tin welding machine with application.Automatic tin welding machine, it is called Welding machine robot, it is used primarily in simple and repeated strong welding job, is that instead of the automation equipment of manual welding.Automatically Tin soldering machine can ensure the intensity and quality of welding job by certain technology, meet that the properties of product requirement refer to Mark, improve the production efficiency of welding procedure.
However, existing welding robot, by DC motor Driver wire feeder, scolding tin is transported to by wire-feeding pipe The head of electric iron, after fusing, AC capacitor is welded.This Soldering machine, electric control part is relatively simple, direct current Source voltage is applied directly on direct current generator, and power is provided to direct current generator.When wire feeder is because scolding tin thickness is uneven or machine Tool reason, and when producing wire-feeder resistance, the moment of torsion of direct current generator also changes therewith.And direct current power source voltage can not follow This change, cause wire feed rate unstable, directly affects the welding quality of capacitor, stifled tin, heap tin may be directly contributed Situation, it is also possible to because silk feeding quantity deficiency and directly contribute rosin joint, the situation of solder skip.
The content of the invention
It is an object of the invention to provide a kind of precise positioning Soldering machine and control system based on DSP, tin can be realized The accurate transmission of silk, and the precise positioning control of tin welding spot.
The present invention is achieved through the following technical solutions:A kind of precise positioning Soldering machine and control system based on DSP, including Rectangle soldering machine base, the tin feeding device being separately positioned on rectangle soldering machine base, heater, soldering head positioner, Tin Welding head mechanism.
The tin feeding device includes Song Xi mechanisms and wire feed control system, and the Song Xi mechanisms include being fixed on soldering head machine The wire feeder of structure side, installed in wired device of the wire feeder away from tin Welding head mechanism side;The wire feeder is internally provided with The less second gear of first gear and diameter being relatively large in diameter, the output shaft of first gear the first servomotor of connection, second Gear connects the output shaft of the second servomotor;The wired device includes L-type connecting rod, is fixedly connected on the of L-type connecting rod one end One moving block, wired set of the L-type connecting rod relative to the first moving block other end of connection is fixedly connected on, first moving block connects Connect the output shaft of the 3rd servomotor, the wired set is rigidity annulus, and the round and smooth setting of opening.
The wire feed control system includes being connected with the first servomotor, the second servomotor, the 3rd servomotor respectively Feedback regulating circuit, with feedback regulating circuit be electrically connected with the first dsp controller, with the first dsp controller be electrically connected with Speed adjustment circuit, the pulse-width modulation circuit that is connected with speed adjustment circuit.
When its Soldering machine works, after power supply is powered, soldering head positioner starts to start at first, according to what is pre-set Soldering point coordinates, tin Welding head mechanism start to move on X-axis, Y-axis, Z axis.After tin Welding head mechanism is moved to soldering point coordinates, Tin feeding device, heater, tin Welding head mechanism start simultaneously.On the one hand, send first gear inside tinware and second gear same When driven and rotate by the first servomotor and the second servomotor, tin silk between the gap of two gears by by gear band It is dynamic from sending the bottom of tinware to send out.The tin silk of submitting fixes direction of transfer by wired set, delivers at soldering head, the transmission of tin silk Direction can drive L-type connecting rod to adjust by the 3rd servomotor, so that it is guaranteed that being remained between soldering head and tin silk Soldering is carried out in proper angle.
Wherein, wire feed control system controls wire feed rate and silk feeding quantity in real time, the feedback regulation electricity in wire feed control system The rotating speed of its motor is detected after the first servomotor and the second servomotor start on road.Then controlled by the first DSP Device processed is computed the rotating speed detected to be converted into the transfer rate of tin silk after processing, then by compare this transfer rate with advance The threshold value of setting, to generate corresponding control instruction.Control instruction is raw after speed adjustment circuit and phase adjusting circuit Into pulse signal, so as to control the first servomotor and the second servomotor to adjust rotating speed, the transmission speed of tin silk is further adjusted Degree.Here transmitted, two motors can be entered simultaneously respectively simultaneously using the different first gear of diameter and second gear Row detection, ensure that the accuracy of detection.
On the other hand, heater carries out monitoring temperature to soldering head in real time, and temperature is adjusted according to the required conveying capacity of tin Size is spent, so as to control the melted mass of tin, so as to prevent generation situations such as blocking up tin, heap tin, rosin joint, solder skip.
Here conventional stepper motor is replaced with servomotor, is because stepper motor is frequently encountered pulse-losing and caused Motor desynchronizing phenomenon occurs, and causes system inconsistent for solder joint tin output amount.Stepper motor can be such that organism fever has than more serious When need to radiate to motor body, system operating mechanical noise greatly increase, be unfavorable for environmental protection.Stepping electricity Machine is typically all heterogeneous structure, and control circuit needs to use multiple power tubes so that control circuit is relatively complicated, and increases Add controller price, and due to toggling between multiphase so that the pulsating torque increase of system, it is unfavorable for system and moves The raising of state property energy.
In order to preferably realize the present invention, further, the soldering head positioner includes uniformly being arranged on Soldering machine Four support bars at four angles of base, the two Y-axis movement screw mandrel for being installed in parallel in four support bar tops, it is set in Y-axis shifter on two Y-axis movement screw mandrels, the X-axis transverse arm connected by Y-axis shifter, the X-axis being arranged on X-axis transverse arm Shifter, the Z axis vertical arm being connected with X-axis shifter, the Z axis shifter being arranged in Z axis vertical arm.By setting X-axis transverse arm, Y Axle movement screw mandrel, Z axis vertical arm, X-axis shifter, Y-axis shifter, Z axis shifter can realize tin Welding head mechanism in X-axis Y-axis Z axis On accurate movement because X-axis shifter, Y-axis shifter, Z axis shifter are internally provided with servomotor, pass through servomotor To drive corresponding shifter is mobile on the track on screw mandrel or armshaft to travel.Here it is because feeding work using servomotor Make the speed of travel of platform than relatively low, so require that servomotor has good low-speed performance;While in order to realize that workpiece exists The movement of immediate stability between each pad, it is desirable to which the inertia of motor is small, and detent torque is big, the quick frequent starting of energy, position Putting resolution ratio will height.Thus, DC servo-motor is selected as table drive motor.DC servo motor cost is low, Simple in construction, detent torque is big, speed-regulating range width, controls the features such as easy just meeting the requirement of Feed table.Here use Four support bars set up the stereochemical structure of a symmetric form, have preferable stability, allow the stress of base can be uniform, from And fixed point movement of the tin Welding head mechanism in this structure space, whole Soldering machine will not be caused because of discontinuity in soldering Shifted during the movement of head mechanism.
In order to preferably realize the present invention, further, the tin Welding head mechanism is connected by rotating mechanism and Z axis shifter Connect, and including connecting rod, be connected to the soldering device of connecting rod one end, be fixedly connected on connecting rod relative to the of the connection soldering device other end Two moving blocks, the soldering head for being connected to soldering device lower end, second moving block is arranged on rotating mechanism and connection the 4th is watched Take the output shaft of motor.Moving block is connected by using soldering device through connecting rod, so as to make the soldering being connected on soldering device Head is in certain angle range tilt, so as to realize the regulation of soldering angle.Tin Welding head mechanism is connected by rotating mechanism With Z axis shifter, it is possible to achieve the rotation that tin Welding head mechanism can be 360 degree, can be with along with the regulation of soldering head tilt angle Reach the welding of omnibearing angel, be truly realized accurate welding.
In order to preferably realize the present invention, further, the rotating mechanism includes rotary screw, is sleeved on rotary screw On circulator, the upper end of rotary screw is connected with Z axis shifter, and the lower end of rotary screw is provided with stopping means.Pass through Circulator is connected as one by rotary screw and Z axis shifter, not only simplify structure, moreover, realizing tin Welding head mechanism Spinning movement and Z axis shift action synchronously carry out, can more easily make soldering head from all angles be cut into soldering click through Row welding, the soldering further improved ground precision.
In order to preferably realize the present invention, further, the tin Welding head mechanism is also included for detecting whether occurring stifled The image capture module of tin, heap tin, described image acquisition module include the high-definition camera and and high definition being arranged on connecting rod The image processor of camera communication connection.Tin situation is sent by what high-definition camera monitored soldering head when Soldering machine works, and The image information collected is sent to image processor contrast locating relatively to handle, so as to which automatic decision goes out stifled tin, heap whether occur Situations such as tin, tin silk deficiency, fault message is reflected to staff in time, to ensure the normal work of Soldering machine.
In order to preferably realize the present invention, further, the heater includes being arranged on the heating inside soldering device Core, the temperature controller being connected with heating core electric wire and it is arranged on soldering device lower end and the TEMP being connected with soldering head Device.The temperature conditions of soldering head is detected by temperature sensor, and temperature value is fed back to temperature controller, so as to adjust in real time The temperature of soldering head, melt speed and melted mass to be precisely controlled tin silk, it is different according to the situation of tin welding spot, avoid in soldering Point out because temperature is too high, cause tin silk melted mass excessive and occur even to weld, the situation of built-up welding;Or again because temperature is not enough led Cause tin silk melted mass too low and produce rosin joint, the situation of missing solder.
In order to preferably realize the present invention, further, the soldering head positioner also includes positioning control system, institute Stating positioning control system includes motion control chip, the second dsp controller, position detecting module;Position detecting module is set respectively It is placed in X-axis shifter, Y-axis shifter, Z axis shifter inside and is connected with the second dsp controller, the connection of the second dsp controller It is connected by motion control chip with the servomotor inside X-axis shifter, Y-axis shifter, Z axis shifter.Wherein position is examined Survey module be X-axis shifter, Y-axis shifter, in Z axis shifter servomotor motor detection circuit, motion control chip is LM629 motion control chips, the second dsp controller are TMS320F2812.
Shift position is analyzed by the calculating of the second dsp controller again by detecting motor rotations, and controlled in the 2nd DSP Control instruction is sent after device analyzing and processing, and to motion control chip, motor adjusts soldering head position again, precisely fixed so as to ensure Position.
In order to preferably realize the present invention, further, the position calculation formula stored in second dsp controller For:
Wherein, JLFor total inertia of screw mandrel;fLFor the guide rail viscous damping coefficient of screw mandrel;KLIt is total for the mechanical transfer of screw mandrel Rigidity;P is screw lead;θ is the corner of shaft coupling output;T is traveling time;X is displacement., can be with using this formula The displacement of shifter is precisely calculated by starting to dwell time, and calculating is brought into by each pertinency factor, in pole The positional information of soldering head assembly is obtained in the case of reducing error in big degree, is further ensured that precise positioning.
In order to preferably realize the present invention, further, it is additionally provided with the rectangle soldering machine base for accessing hand Hold the control unit interface of formula controller.By setting serial ports come external hand-held controller, Soldering machine can be achieved from automatic mode To the switching of manual mode, in the case where not knowing the specific coordinate of pad, manual mode can be changed, manually The movement of soldering head is controlled to be subjected to, so as to enhancing the flexibility of Soldering machine, practicality.
In order to preferably realize the present invention, further, in addition to the touch screen for being monitored to soldering process.It is logical Cross and set touch screen on the one hand to realize monitoring to the Soldering machine course of work, and some are as running parameters such as temperature, coordinates Check, on the other hand can be set by touch screen and input the parameters such as some soldering point coordinates, soldering temperature, time intervals, from And provide a human-computer interaction interface well.
The present invention compared with prior art, has advantages below and beneficial effect:
(1) present invention is by using pulse modulation technology, and carries out feedback regulation automatically so that the confession of servo wire feeding motor Piezoelectric voltage changes with the change of Motor torque, so as to have the function that stable wire feed rate, and designs simple, reliability It is high, cheap, there are wide market prospects and application value.
(2) present invention adjusts the temperature of soldering head by temperature-adjusting heating device in real time, to be precisely controlled tin silk melted mass, has Effect avoids pointing out in soldering because temperature is too high, causes tin silk melted mass excessive and occurs even to weld, the situation of built-up welding and because of temperature Not enough cause tin silk melted mass too low and produce rosin joint, the situation of missing solder.
(3) present invention send tin situation by what high-definition camera monitored soldering head when Soldering machine works, and collecting Image information is sent to image processor contrast locating and relatively handled, so as to which automatic decision goes out whether to occur stifled tin, heap tin, tin silk deficiency Situations such as, fault message is reflected to staff in time, to ensure the normal work of Soldering machine.
Brief description of the drawings
Fig. 1 is the Soldering machine structural representation of the present invention.
Fig. 2 is soldering head mechanism structure schematic diagram of the present invention.
Fig. 3 is the Soldering machine top view of the present invention.
Fig. 4 is the wire feed control system schematic diagram of the present invention.
Fig. 5 is wire feed control system circuit schematic diagram of the present invention.
Wherein, the 1, first moving block;2nd, wired set;3rd, L-type connecting rod;4th, contiguous block fixator;5th, tin silk;6th, the first servo Motor;7th, the second servomotor;8th, temperature sensor;9th, heating core;10th, electric wire;11st, connecting rod;12nd, soldering head;13rd, high definition is taken the photograph As head;14th, cephalostat is imaged;15th, first gear;16th, second gear;17th, rotary screw;18th, the second moving block;20th, revolve Turn device;21st, soldering device;22nd, Z axis shifter;23rd, Z axis shifter fixed screw;24th, tin silk box;25th, Z axis vertical arm;26th, Z axis Silk rail;27th, X-axis silk rail;28th, cleaning box;29th, weldment fixator;30th, support bar;31st, rectangle soldering machine base;32nd, display control Device processed;33rd, touch screen;34th, X-axis transverse arm;35th, Y-axis shifter;36th, Y-axis movement screw mandrel;37th, Y-axis limiter;38th, X-axis moves Device.
Embodiment
Embodiment 1:
A kind of the precise positioning Soldering machine and control system based on DSP of the present embodiment, as shown in Figure 1:Including rectangle tin Welder base 31, the tin feeding device being separately positioned on rectangle soldering machine base 31, heater, soldering head positioner, tin Welding head mechanism.
Tin feeding device, as shown in Figure 2:Including Song Xi mechanisms and wire feed control system, the Song Xi mechanisms include being fixed on The wire feeder of tin Welding head mechanism side, installed in wired device of the wire feeder away from tin Welding head mechanism side;The wire feeder it is interior Portion is provided with the first gear 15 being relatively large in diameter and the less second gear 16 of diameter, and first gear 15 connects the first servomotor 6 output shaft, second gear 16 connect the output shaft of the second servomotor 7;The wired device includes L-type connecting rod 3, is fixedly connected The first moving block 1 in the one end of L-type connecting rod 3, it is fixedly connected on folder of the L-type connecting rod 3 relative to the connection other end of the first moving block 1 Silk braid 2, first moving block 1 connect L-type connecting rod 3 by contiguous block fixator 4;The connection of first moving block 1 the 3rd is watched Take the output shaft of motor, the wired set 2 is rigidity annulus, and the round and smooth setting of opening.
Rectangle soldering machine base 31, the lower right corner of the front surface of the rectangle soldering machine base 31 are provided with power switch 19, for manually booting and closing Soldering machine, four edges of rectangle soldering machine base 31 are provided with support bar 30, support Bar 30 is extension type, and for supporting soldering head positioner, a shifting is fixedly mounted in the wherein top of each two support bar 30 Lever, and two mobile bars supported are parallel to each other, and base upper left side is additionally provided with the cleaning for cleaning soldering first 12 Box 28, the weldment fixator 29 for fixing weldment is provided with center.
Soldering head positioner, the soldering head positioner include Y-axis mobile bar, Y-axis shifter 35, X-axis mobile bar, The two Y-axis mobile bars of X-axis shifter 38, Z axis mobile bar, Z axis shifter 22 here are supported by support bar 30, and are be arranged in parallel Above rectangle soldering machine base 31, a Y-axis shifter 35 is set with every Y-axis mobile bar, for controlling soldering head 12 move on space Y axle.Alignd between two Y-axis shifters 35 and be provided with an X-axis mobile bar, in X-axis mobile bar An X-axis shifter 38 is provided with, for controlling soldering first 12 to be moved on space X axle.It is provided with X-axis shifter 38 Z axis mobile bar, Z axis shifter 22 is provided with Z axis mobile bar and is used to control soldering first 12 to move on the Z of space.So as to Realize that soldering first 12 moves freely in three dimensions.
Tin Welding head mechanism, the tin Welding head mechanism are arranged on Z axis shifter 22, can be soldered a positioner and be carried out Positioning movement spatially, and be mainly made up of soldering device 21, soldering first 12, first to soldering 12 are built-in with soldering device 21 and is carried out The device of heating, soldering is carried out for heating to melt to tin silk 5.
The wire feed control system schematic diagram, as shown in Figure 4:Including respectively with the first servomotor 6, the second servomotor 7th, the feedback regulating circuit of the 3rd servomotor connection, the first dsp controller and first being electrically connected with feedback regulating circuit The speed adjustment circuit of dsp controller electric connection, the pulse-width modulation circuit being connected with speed adjustment circuit.Its work time pulse is wide Modulation circuit produces broad-adjustable pulse-width signal, drives direct current wire feeding motor.Speed adjustment circuit, by changing pulsewidth The width adjusting wire feed rate of modulated signal.Feedback regulating circuit, by being sampled to the operating current of direct current wire feeding motor, The stable wire feed rate of the width of automatic feedback control pulse-width signal.
The circuit theory diagrams of its wire feed control system, as shown in Figure 5:The all-wave being made up of D5, D6, D7, R15, C6 etc. is whole Flow filter circuit;The mu balanced circuit of the compositions such as R16, D8.
During its work, alternating current delivers to the full-wave rectifier filter being made up of D5, D6, D7, R15, C6 etc. after transformer T1 The mu balanced circuit of the composition such as circuit and R16, D8, give controller offer+12V working powers.Full-wave rectification ripple caused by D5 negative poles Shape, the saw-tooth wave generating circuit being made up of C4, R8, Q1 etc. is added to by R9.The sawtooth voltage is added to the negative defeated of comparator U3 Enter end, speed adjustment circuit is formed by potentiometer RP1, follower U1, operational amplifier U2 and its peripheral circuit, produced adjustable DC voltage, comparator U3 positive input terminal is added to, the VU3 inputs in its waveform such as Fig. 4+shown.Switch S1 be used for start and Stop wire feed.VU3 input+and VU3 input-after comparator U3, export broad-adjustable pulse-width signal.The signal is through light After coupling trigger U4, single-phase silicon-controlled Q2, Q3 triggering end are added to, controls its angle of flow.Alternating current through transformer T1 is single-phase can After controlling silicon Q2, Q3, the pulsating volage of adjustable angle is produced, direct current wire feeding motor M is transported to, drives its operation.In T1 secondary electricals The positive half cycle of pressure, voltage is exported by T1 level anode, after Q2, M1, R18, D4, returns to T1 level negative terminal;In T1 secondary voltages Negative half period, voltage is exported by T1 level negative terminal, after Q3, M1, R18, D3, returns to T1 level anode.R18 is direct current wire feed electricity Machine M1 current sampling resistor.R18, follower U5, triode Q4 and its peripheral circuit composition feedback regulating circuit.Work as wire-feed motor When structure produces wire-feeder resistance due to scolding tin thickness inequality or mechanical reason, the increase of direct current wire feeding motor M1 moments of torsion, electric current increase, Speed declines.Cause electric current increase, the voltage rising for flowing through R18.After follower U5, triode Q4 so that operational amplifier U2 negative input end voltage declines, and comparator U3 positive input terminal voltage rises, and the width of the pulse-width signal of U3 outputs becomes It is wide.The Q3 angle of flow increases therewith, and the voltage on direct current wire feeding motor M1 rises, and motor M1 speed rises.So, by automatic Feedback regulation, stable wire feed rate is just haveed the function that.
Its Soldering machine operation principle is:Required welding is fixed on rectangle soldering machine base 31 by weldment fixator 29 At center, 19 are then turned on the power switch, then starts the automatic control program of Soldering machine, by being inputted in advance in controller Task, under a welding signal condition for validity, be delayed certain time, the positioner of Soldering machine is started working, accordingly control Device processed drives the servomotor in X-axis shifter 38, Y-axis shifter 35, Z axis shifter 22, proceeds by first 12 positioning of soldering It is mobile.In automatic soldering motion process, DSP can store the weldering that passed through three dimensions distance is either passed through the moment Point, and be calculated according to these range informations by DSP relative to next three dimensions solder joint and the movement of automatic soldering X-axis Device 38, Y-axis shifter 35, Z axis shifter 22 distance, speed and the acceleration to be run.
After predetermined three-dimensional bond pad locations are reached, soldering first 12 starts butt welding point in setting time and heated, and is adding During heat, the temperature of DSP meeting butt welding point information and soldering first 12 enters secondary-confirmation, then passes through heater first to soldering 12 Temperature carry out adaptation regulation, to control tin output amount.
After the servo of tin system is completed out, in order to prevent the too high thawing again for causing scolding tin of first 12 temperature of soldering, send Solder stick 5 is typically retracted a small distance by tin device, and records this value, self-locking immediately, soldering first 12 and tin feeding device one Rise and moved in the presence of soldering head positioner to next tin welding spot.
Embodiment 2:
The present embodiment does further optimization on the basis of embodiment 1, as shown in Figure 3:The soldering head positioner bag Include four support bars 30 being uniformly arranged at four angles of soldering machine base, be installed in parallel in two of four tops of support bars 30 Y-axis moves screw mandrel 36, the Y-axis shifter 35 being set on two Y-axis movement screw mandrels 36, connected by Y-axis shifter 35 X-axis transverse arm 34, be arranged on X-axis transverse arm 34 X-axis shifter 38, be connected with X-axis shifter 38 Z axis vertical arm 25, set Z axis shifter 22 in Z axis vertical arm 25.Wherein Z axis vertical arm 25 is fixed on X-axis shifter 38 by fixed screw, every The both ends of root rotary screw 17 are provided with Y-axis limiter 37, and the side of X-axis shifter 38 is also detachably provided with tin silk box 24, Z Axle shifter 22 is fixed in Z axis vertical arm 25 by Z axis shifter fixed screw 23, and Z axis silk rail is provided with Z axis vertical arm 25 26, X-axis silk rail 27 is provided with X-axis transverse arm 34.
During its work, aggregate demand of the controlled device to input and output number is first counted, secondly the signal source of controlled device List one by one, the signal type of serious analysis input and output number.Such as:If input point totally 8 (input of X-axis signal, Y-axis letter Number input, the input of Z axis signal, one-shot button etc.), output point 7 (X-axis pulse, Y-axis pulse etc.).It is right according to analysis For DSP, it is desirable to provide 8 input points and 7 output points.In addition to input and output point more than, DSP and computer, touch The connection of the equipment such as screen is touched, it is necessary to use special purpose interface, should also be counted.In view of in actual installation, debugging and application, also having It may be found that unforeseen factor in some estimations, will increase some input, output signals, then pass through control according to actual conditions Parameter needed for device setting processed.
Turn on the power, welding gun waits in origin position.When pressing one-shot button, DSP sends 1000HZ arteries and veins respectively Rush to X, Y-axis, X, Y-axis setting in motion, when the umber of pulse of setting is counted in the pulse in register, pulse stops.Welding gun contacts Device KM is turned on, and welding gun is started working, and after timing 2S, welding gun is stopped, and X, Y return to the holding fix of setting respectively.When pressing Restarting button, DSP send 1000HZ pulse to Z axis, when the umber of pulse of setting is counted in the pulse in register, pulse Stop, Z axis positioning is completed.After the completion of positioning, DSP sends 1000HZ pulse to X, Y, Z axis respectively, X, Y, Z axis setting in motion, When the umber of pulse of setting is counted in the pulse in register, pulse stops.Welding gun contactor KM is turned on, and welding gun is started working, fixed When 2S after, welding gun is stopped, and X, Y, Z return to the holding fix of setting respectively.Third time welding is moved as second of welding Make.Last workbench goes to initial position, and whole work flow terminates.If there are missing solder or the action not being inconsistent with parameter to go out It is existing, then start warning device.
By setting X-axis transverse arm 34, Y-axis to move screw mandrel 36, Z axis vertical arm 25, X-axis shifter 38, Y-axis shifter 35, Z axis Shifter 22 can realize accurate movement of the tin Welding head mechanism on X-axis Y-axis Z axis, because X-axis shifter 38, Y-axis shifter 35th, Z axis shifter 22 is internally provided with servomotor, and corresponding shifter is driven by servomotor on screw mandrel or armshaft Track on mobile traveling.Here using servomotor be because Feed table the speed of travel than relatively low, so require watch Taking motor has good low-speed performance;, simultaneously in order to realize the movement of workpiece immediate stability between each pad Ask that the inertia of motor is small, and detent torque is big, can quick frequent starting, position resolution will height.Thus, select DC servo electricity Motivation is as table drive motor.DC servo motor cost is low, simple in construction, and detent torque is big, speed-regulating range width, control Make the requirement that the features such as easy just meeting Feed table.Here the solid of a symmetric form is set up using four support bars 30 Structure, there is preferable stability, allow the stress of base can be uniform, so as to fixed point of the tin Welding head mechanism in this structure space It is mobile, whole Soldering machine will not be caused to be shifted when tin Welding head mechanism moves because of discontinuity.
Embodiment 3:
The present embodiment does further optimization on the basis of embodiment 2, and the tin Welding head mechanism passes through rotating mechanism 20 and Z Axle shifter 22 connects, and including connecting rod 11, be connected to the soldering device 21 of the one end of connecting rod 11, be fixedly connected on connecting rod 11 relative to Second moving block 18 of the other end of connection soldering device 21, the soldering first 12 for being connected to the lower end of soldering device 21, second moving block 18 are arranged on rotating mechanism 20 and connect the output shaft of the 4th servomotor.
During its work, tin Welding head mechanism is driven by Z axis shifter 22 and moved in Z-direction, while in rotating mechanism 20 Rotated under driving.When being welded to the pad for having angle of inclination, pass through the soldering device on moving block drivening rod 11 The angle of 21 adjustment solderings first 12, then first controls soldering first 12 to be rotated again in Z axis movement, finds suitable soldering first 12 Cut-in angle is cut.
Moving block is connected by using the through connecting rod 11 of soldering device 21, so as to make the soldering head being connected on soldering device 21 12 in certain angle range tilt, so as to realize the regulation of soldering angle.Soldering head machine is connected by rotating mechanism 20 Structure and Z axis shifter 22, it is possible to achieve the rotation that tin Welding head mechanism can be 360 degree, along with the tune at first 12 angle of inclination of soldering Section, can reach the welding of omnibearing angel, be truly realized accurate welding.
Embodiment 4:
The present embodiment does further optimization on the basis of embodiment 3, and the rotating mechanism 20 includes rotary screw, suit Circulator on rotary screw, the upper end of rotary screw are connected with Z axis shifter 22, and the lower end setting of rotary screw is limited Position device.
During its work, the motor driven motor output shaft gear in circulator, gear drive rotates the position on screw mandrel Swivel becket, swivel becket drive circulator rotation, so as to drive tin Welding head mechanism in rotating wire while being moved up and down on screw mandrel Rotated on bar.
By the way that circulator is connected as one by rotary screw and Z axis shifter 22, structure is not only simplify, moreover, The spinning movement and Z axis shift action for realizing tin Welding head mechanism are synchronously carried out, and can more easily make soldering first 12 from each angle Degree is cut into tin welding spot and welded, the soldering further improved ground precision.
Embodiment 5:
The present embodiment does further optimization on the basis of embodiment 4, and the tin Welding head mechanism also including being for detection No that stifled tin, the image capture module of heap tin occurs, described image acquisition module includes the high-definition camera being arranged on connecting rod 11 13 and with high-definition camera 13 communicate to connect image processor.
During its work, high-definition camera 13 first to soldering 12 carries out image photographic at regular intervals, the figure collected Picture information transfer gives image processor to carry out contrast locating pair, and image processor here can be to be provided with image analysis software Computer, after analysis, if there is heap tin, the situation of stifled tin then sends soldering first 12 to clearly automatically by controller control Wash in box 28 and clean, then handled if there is the situation that tin silk 5 is insufficient or tin silk 5 is uneven by warning reminding staff.
Tin situation is sent by what high-definition camera 13 monitored soldering first 12 when Soldering machine works, and the image collected is believed Breath is sent to image processor contrast locating and relatively handled, so as to which automatic decision goes out whether to occur the feelings such as stifled tin, heap tin, the deficiency of tin silk 5 Condition, fault message is reflected to staff in time, to ensure the normal work of Soldering machine.
Embodiment 6:
The present embodiment does further optimization on the basis of embodiment 5, and the positioning control system includes motion control core Piece, the second dsp controller, position detecting module;Position detecting module is respectively arranged at X-axis shifter 38, Y-axis shifter 35, Z It is connected inside axle shifter 22 and with the second dsp controller, the second dsp controller connects through motion control chip and moved with X-axis Dynamic device 38, Y-axis shifter 35, the servomotor inside Z axis shifter 22 connect.Wherein position detecting module is X-axis shifter 38th, Y-axis shifter 35, in Z axis shifter 22 servomotor motor detection circuit.
Its operation principle is:The revolution of motor detection circuit detection real time motor analyzes and processes by the second dsp controller The distance of each shifter is obtained afterwards, and analyses whether to reach predeterminated position, if being not reaching to, the second dsp controller is sent Corresponding control instruction further drives X-axis shifter 38, Y-axis shifter to motion control chip, motion control chip 35th, the servomotor in Z axis shifter 22, so as to correct each shifter to accurate position.
Shift position is analyzed by the calculating of the second dsp controller again by detecting motor rotations, and controlled in the 2nd DSP Control instruction is sent after device analyzing and processing, and to motion control chip, motor adjusts first 12 position of soldering again, so as to ensure precisely Positioning.
Embodiment 7:
The present embodiment does further optimization on the basis of embodiment 6, the position meter stored in second dsp controller Calculating formula is:
Wherein, JLFor total inertia of screw mandrel;fLFor the guide rail viscous damping coefficient of screw mandrel;KLIt is total for the mechanical transfer of screw mandrel Rigidity;P is screw lead;θ is the corner of shaft coupling output;T is traveling time;X is displacement., can be with using this formula The displacement of shifter is precisely calculated by starting to dwell time, and calculating is brought into by each pertinency factor, in pole The positional information of first 12 component of soldering is obtained in the case of reducing error in big degree, is further ensured that precise positioning.
Embodiment 8:
The present embodiment does further optimization on the basis of embodiment 7, is additionally provided with the rectangle soldering machine base 31 For accessing the control unit interface of hand-held controller.By setting serial ports come external hand-held controller, achievable Soldering machine Switching from automatic mode to manual mode, in the case where not knowing the specific coordinate of pad, dynamic model in one's hands can be changed Formula, manually the movement of soldering first 12 is controlled to be subjected to, so as to enhancing the flexibility of Soldering machine, practicality.
The heater includes the temperature for being arranged on heating core 9 inside soldering device 21, being connected with the electric wire 10 of heating core 9 Controller and it is arranged on the lower end of soldering device 21 and the temperature sensor 8 being connected with soldering first 12.Examined by temperature sensor 8 The temperature conditions of soldering first 12 is surveyed, and temperature value is fed back to temperature controller, so as to adjust the temperature of soldering first 12 in real time, with It is precisely controlled tin silk 5 and melts speed and melted mass, it is different according to the situation of tin welding spot, avoid pointing out in soldering because temperature mistake Height, cause the melted mass of tin silk 5 excessive and occur even to weld, the situation of built-up welding;Or again because temperature not enough causes the melted mass of tin silk 5 It is too low and produce rosin joint, the situation of missing solder.
What a kind of precise positioning Soldering machine and control system based on DSP also included being used to be monitored soldering process touches Control 33 touch screens of screen are arranged on display controller 32.By setting touch screen 33 on the one hand to realize to the Soldering machine course of work Monitoring, and some checking as running parameters such as temperature, coordinates, it on the other hand can be set and inputted by touch screen 33 The parameters such as soldering point coordinates, soldering temperature, time interval, so as to provide a human-computer interaction interface well.
It is described above, be only presently preferred embodiments of the present invention, any formal limitation not done to the present invention, it is every according to Any simply modification, the equivalent variations made according to the technical spirit of the present invention to above example, each fall within the protection of the present invention Within the scope of.

Claims (10)

1. a kind of precise positioning Soldering machine and control system based on DSP, it is characterised in that:Including rectangle soldering machine base (31), the soldering head positioner on rectangle soldering machine base (31), the soldering head being connected with soldering head positioner Mechanism, the tin feeding device for being fixed on tin Welding head mechanism side, it is arranged on the in-house heater of soldering;
The tin feeding device includes Song Xi mechanisms and wire feed control system, and the Song Xi mechanisms include being fixed on tin Welding head mechanism one The wire feeder of side, installed in wired device of the wire feeder away from tin Welding head mechanism side;The wire feeder is internally provided with diameter Larger first gear (15) and the less second gear of diameter (16), first gear (15) connect the first servomotor (6) Output shaft, second gear (16) connect the output shaft of the second servomotor (7);The first gear and second gear are coplanar to be set Put, and the passage for passing tin feeding wire (5) is vacated between first gear and second gear;The wired device includes L-type connecting rod (3), it is fixedly connected on first moving block (1) of L-type connecting rod (3) one end, is fixedly connected on L-type connecting rod (3) relative to connection the The wired set (2) of one moving block (1) other end, first moving block (1) connect the output shaft of the 3rd servomotor, the folder Silk braid (2) is rigidity annulus, and the round and smooth setting of opening;
The wire feed control system includes with the first servomotor (6), the second servomotor (7), the 3rd servomotor connecting respectively The feedback regulating circuit that connects, the first dsp controller being electrically connected with feedback regulating circuit, electrically connect with the first dsp controller The speed adjustment circuit connect, the pulse-width modulation circuit being connected with speed adjustment circuit.
2. a kind of precise positioning Soldering machine and control system based on DSP according to claim 1, it is characterised in that:Institute Stating soldering head positioner includes uniformly four support bars (30) at (31) four angles of rectangle soldering machine base, parallel Two Y-axis at the top of four support bars (30) move screw mandrel (36), are set on two Y-axis movement screw mandrels (36) Y-axis shifter (35), the X-axis transverse arm (34) connected by Y-axis shifter (35), the X-axis that is arranged on X-axis transverse arm (34) move Dynamic device (38), the Z axis vertical arm (25) being connected with X-axis shifter (38), the Z axis shifter (22) being arranged in Z axis vertical arm (25); The lower end of the Z axis shifter (22) connects tin Welding head mechanism by rotating mechanism (20).
3. a kind of precise positioning Soldering machine and control system based on DSP according to claim 2, it is characterised in that:Institute Stating soldering head positioner soldering head positioner also includes positioning control system, and the positioning control system includes motion control Chip, the second dsp controller, position detecting module;Three position detecting modules are respectively arranged at X-axis shifter (38), Y-axis is moved Dynamic device (35), Z axis shifter (22) is internal and is connected with the second dsp controller, and the second dsp controller passes through motion control core The piece servomotor internal with X-axis shifter (38), Y-axis shifter (35), Z axis shifter (22) is connected.
4. a kind of precise positioning Soldering machine and control system based on DSP according to claim 2, it is characterised in that:Institute Stating rotating mechanism includes rotary screw (17), the circulator (20) that is sleeved on rotary screw (17), rotary screw (17) it is upper End is connected with Z axis shifter (22), and the lower end of rotary screw (17) is provided with stopping means, is gone back inside the circulator (20) It is provided with the 4th servomotor for adjusting tin Welding head mechanism angle.
5. a kind of precise positioning Soldering machine and control system based on DSP according to claim 4, it is characterised in that:Institute Stating tin Welding head mechanism includes connecting rod (11), is connected to the soldering device (21) of connecting rod (11) one end, is connected to soldering device (21) lower end Soldering head (12), be fixedly connected on connecting rod (11) relative to connection soldering device (21) other end the second moving block (18), institute The second moving block (18) is stated on rotating mechanism (20) and connects the output shaft of the 4th servomotor.
6. a kind of precise positioning Soldering machine and control system based on DSP according to claim 5, it is characterised in that:Institute Stating tin Welding head mechanism is also included for detecting whether stifled tin, the image capture module of heap tin, described image acquisition module bag occurs Include the high-definition camera (13) being arranged on connecting rod (11) and the image processor with high-definition camera (13) communication connection.
7. a kind of precise positioning Soldering machine and control system based on DSP according to claim 5, it is characterised in that:Institute State the temperature that heater includes being arranged on the internal heating core (9) of soldering device (21), being connected by electric wire (10) with heating core (9) Spend controller and be arranged on the temperature sensor (8) that soldering device (21) lower end is connected with soldering head (12).
8. a kind of precise positioning Soldering machine and control system based on DSP according to claim 3, it is characterised in that:Institute Stating the position calculation formula stored in the second dsp controller is:
<mrow> <msub> <mi>J</mi> <mi>L</mi> </msub> <mfrac> <mrow> <msup> <mi>d</mi> <mn>2</mn> </msup> <mi>X</mi> </mrow> <mrow> <msup> <mi>dt</mi> <mn>2</mn> </msup> </mrow> </mfrac> <mo>+</mo> <msub> <mi>f</mi> <mi>L</mi> </msub> <mfrac> <mrow> <mi>d</mi> <mi>X</mi> </mrow> <mrow> <mi>d</mi> <mi>t</mi> </mrow> </mfrac> <mo>+</mo> <msub> <mi>K</mi> <mi>L</mi> </msub> <mi>X</mi> <mo>=</mo> <mfrac> <mi>P</mi> <mrow> <mn>2</mn> <mi>&amp;pi;</mi> </mrow> </mfrac> <msub> <mi>K</mi> <mi>L</mi> </msub> <mi>&amp;theta;</mi> </mrow>
Wherein, JLFor total inertia of screw mandrel;fLFor the guide rail viscous damping coefficient of screw mandrel;KLFor the mechanical transfer global stiffness of screw mandrel; P is screw lead;θ is the corner of shaft coupling output.
9. a kind of precise positioning Soldering machine and control system based on DSP according to claim 3, it is characterised in that:Institute The control unit interface being additionally provided with rectangle soldering machine base (31) for accessing hand-held controller is stated, and control unit interface leads to Cross interface chip and the second dsp controller is electrically connected with.
10. a kind of precise positioning Soldering machine and control system based on DSP according to claim 3, it is characterised in that:Also Including the touch screen (33) for being monitored to soldering process, and touch screen (33) is controlled by touch-control circuit and the 2nd DSP Device is electrically connected with.
CN201710662525.5A 2017-08-04 2017-08-04 A kind of precise positioning Soldering machine and control system based on DSP Pending CN107470734A (en)

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