CN115610008B

CN115610008B - Driving device and control method thereof

Info

Publication number: CN115610008B
Application number: CN202211552967.1A
Authority: CN
Inventors: 李泽源; 刘刚; 姜行健
Original assignee: Googol Sichuang Driving Technology Shenzhen Co ltd
Current assignee: Googol Sichuang Driving Technology Shenzhen Co ltd
Priority date: 2022-12-06
Filing date: 2022-12-06
Publication date: 2023-08-08
Anticipated expiration: 2042-12-06
Also published as: CN115610008A

Abstract

The present disclosure provides a driving apparatus and a control method thereof. The method comprises the following steps: controlling the driving part to move along the first direction of the track according to the first motion parameter based on the first current parameter so as to enable the pressure part to move along the first direction according to the first motion parameter from the first preset position; when the pressure component moves to a second preset position, controlling the driving component to continue moving in the first direction according to the second motion parameter based on the second current parameter, so that the pressure component continues moving in the first direction according to the second motion parameter, and applying pressure to the processing object; when the driving part and/or the pressure part meet the preset condition, maintaining the target output current of the driving part in the preset time period, so that the pressure part maintains the target pressure on the processing object in the preset time period; the driving part is controlled to move in a second direction with a third motion parameter based on the third current parameter, so that the pressure part moves in the second direction with the third motion parameter, and the second direction is opposite to the first direction.

Description

Driving device and control method thereof

Technical Field

The disclosure relates to the technical field of control, and in particular relates to a driving device and a control method thereof.

Background

At present, the requirements of the manufacturing industry on machining precision are higher and higher, for example, when a chip mounter machines a machining object, a pressing component needs to be accurately driven to the surface position of the machining object by controlling a motor, and the machining object is accurately pressed, so that machining treatment of the machining object is realized. The existing control method generally adopts a current limiting method, and the motor current, the motor output torque and the mechanical end torque are required to be calibrated, however, due to the nonlinear characteristic of the motor, the control precision of a driving device such as a motor based on the control method is low, and the control precision of a pressing part is correspondingly reduced, so that the processing precision of a processing object is reduced, and the higher and higher processing precision requirements cannot be met.

Disclosure of Invention

The disclosure provides a control method of a driving device, so as to solve the technical problem of low control precision of the driving device to a certain extent.

In a first aspect of the present disclosure, there is provided a control method of a driving apparatus including a body provided with a rail, a driving member fixed to and moving along the rail, and a pressure member fixed to and moving with the driving member;

the method comprises the following steps:

controlling the driving part to move along a first direction of the track with a first movement parameter based on a first current parameter so as to enable the pressure part to move from a first preset position to the first direction with the first movement parameter;

when the pressure component moves to a second preset position, controlling the driving component to continue moving in the first direction according to a second motion parameter based on a second current parameter, so that the pressure component continues moving in the first direction according to the second motion parameter, and applying pressure to a processing object;

when the driving part and/or the pressure part meet a preset condition, maintaining a target output current of the driving part for a preset time period, so that the pressure part maintains a target pressure on the processing object for the preset time period;

the driving part is controlled to move in a second direction with a third motion parameter based on a third current parameter, so that the pressure part moves in a second direction with the third motion parameter, and the second direction is opposite to the first direction.

In a second aspect of the present disclosure, there is provided a driving apparatus comprising:

the body comprises a body part provided with a track, and a first protruding end and a second protruding end which are arranged at two ends of the body part; the second bulge end is used for fixing a workpiece platform, and a processing object is placed on the workpiece platform;

a driving part fixed on the rail and moving along the rail to drive the pressure part;

a pressure member fixed to the driving member, for moving with the movement of the driving member, and applying pressure to the processing object to perform processing on the processing object;

wherein the driving means is controlled to perform the machining process by the method according to the first aspect.

From the above, it can be seen that the driving device and the control method thereof provided by the present disclosure perform current control on the driving component by sections and combine with position control of the pressure component, so that accurate control on the driving device can be achieved, and the pressure component moves to the position of the processing object to process the processing object, thereby improving the processing precision of the processing object.

Drawings

In order to more clearly illustrate the technical solutions of the present disclosure or related art, the drawings required for the embodiments or related art description will be briefly described below, and it is apparent that the drawings in the following description are only embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to those of ordinary skill in the art.

Fig. 1 is a schematic view of a driving device according to an embodiment of the disclosure.

Fig. 2 is a schematic flowchart of a control method of a driving apparatus according to an embodiment of the present disclosure.

Fig. 3 is a schematic diagram of a speed profile and a current profile of an embodiment of the present disclosure.

Detailed Description

For the purposes of promoting an understanding of the principles and advantages of the disclosure, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same.

It should be noted that unless otherwise defined, technical or scientific terms used in the embodiments of the present disclosure should be given the ordinary meaning as understood by one of ordinary skill in the art to which the present disclosure pertains. The terms "first," "second," and the like, as used in embodiments of the present disclosure, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.

With the rapid expansion of the domestic 3C and semiconductor equipment manufacturing industries, technological innovation in surface mount devices and high-speed and high-precision sorting applications is endless, and the productivity of the chip mounter can reach 72000CPH (per hour), so that the motion control technology of pressure components of equipment such as the chip mounter is also challenged more. Such devices typically require rapid movement on a motion profile and enable accurate torque control. Conventional control methods such as "current limiting" control the torque of the pressure member by controlling the output current of the motor, thereby controlling the pressure applied by the pressure member to the processing object, which requires calibration of the motor current, motor output torque, and machine end torque. Because of the nonlinear characteristics of the motor, parameters such as moment coefficient, resistance and inductance can be changed along with temperature and running conditions, so that the control precision of the driving device such as the motor based on the control method is low, the control precision of the pressing part is correspondingly reduced, the machining precision of a machining object is reduced, and the higher and higher machining precision requirement cannot be met. Therefore, how to improve the control accuracy of the driving device and the machining accuracy is an urgent problem to be solved.

In view of this, the embodiments of the present disclosure provide a driving device and a control method thereof, which can implement accurate control of the driving device by controlling current of a driving member in segments and by combining position control of a pressure member, so that the pressure member moves to a position of a processing object to process the processing object, thereby improving processing accuracy of the processing object.

Referring to fig. 1, fig. 1 shows a schematic view of a driving apparatus according to an embodiment of the present disclosure. As shown in fig. 1, the driving apparatus 100 includes:

a body 110 including a body portion 112 provided with a rail 111, and first and second protruding ends 113 and 114 provided at both ends of the body portion 112; the second protruding end 114 is used for fixing a workpiece platform 115, and a processing object 116 is placed on the workpiece platform 115;

a driving part 120 fixed to the rail 111 and moving along the rail 111 to drive the pressure part 130;

and a pressure member 130 fixed to the driving member 120, for moving with the movement of the driving member 120, and applying pressure to the processing object 116 to process the processing object 116.

In some embodiments, the drive component 120 may be a motor. Such as a linear motor.

The driving device 100 may be used for a processing apparatus, such as a chip mounter, that attaches and presses a processing object. Such processing equipment can attach or press-fit a workpiece to another workpiece, and during the attachment and press-fit process, a balance point often needs to be found between the processing tact and the process effect. The faster the operation speed of the pressure member 130, which is a member that directly applies pressure to the processing target, means that the larger the torque fluctuation of the pressure member 130 when reaching the position of the processing target, which has a large influence on the processing accuracy of the processing target, the larger the torque fluctuation tends to cause a decrease in the processing accuracy. In view of this, the driving device 100 needs to perform pressure control at a lower speed and more accurately when the pressure member 130 is driven to approach the processing object. Since the driving apparatus 100 is not provided with a pressure sensor to detect the actual pressure applied to the processing object by the pressure member 130, the force of the pressure member 130 to the processing object 116 can be determined by the output torque of the driving member 120. In this way, the peak value of the output current of the driving member 120 is limited to the target output current corresponding to the predetermined pressure required for machining the machining object only when the driving member 120 approaches the machining object, and the pressure member 130 outputs the predetermined pressure required for machining the machining object when the driving member 120 reaches the target output current, thereby realizing precise machining control of the machining object.

The embodiment of the present disclosure provides a control method of a driving apparatus, referring to fig. 2, fig. 2 shows a schematic flowchart of the control method of the driving apparatus according to the embodiment of the present disclosure. As shown in fig. 2, a control method 200 of a driving apparatus includes:

in step S210, the driving part is controlled to move in a first direction along the track with a first movement parameter based on a first current parameter, so that the pressure part moves from a first preset position in the first direction with the first movement parameter;

in step S220, when the pressure member moves to a second preset position, controlling the driving member to continue moving in the first direction with a second movement parameter based on a second current parameter, so that the pressure member continues moving in the first direction with the second movement parameter, and applying pressure to a processing object;

in step S230, when the driving part and/or the pressure part satisfy a preset condition, maintaining a target output current of the driving part for a preset period of time, so that the pressure part maintains a target pressure on the processing object for the preset period of time;

in step S240, the driving part is controlled to move in a second direction with a third movement parameter based on a third current parameter, so that the pressure part moves in a second direction with the third movement parameter, the second direction being opposite to the first direction.

The driving part drives the pressure part to move to the surface of the processing object, then continues to move to apply pressure to the processing object, and maintains the preset time when the target pressure of the processing object is reached, so that the processing of the processing object is completed. The movement process in the machining process may be divided into a plurality of stages including a first stage of movement in a first direction with a first movement parameter, at which time the driving member drives the pressure member together to move from an initial first preset position to a second preset position. When the pressure component reaches the second preset position, the second stage of movement in the first direction with the second movement parameter can be performed, and at this time, the driving component drives the pressure component to apply pressure to the processing object, so that the processing object starts to be attached or pressed. When the driving part and/or the pressure part meet the preset conditions, the pressure of the pressure part on the processing object reaches the target pressure required by the process, and the output current of the driving part is the target output current for maintaining the target pressure. Thus, by controlling the current of the driving component in a segmented manner and combining the position control of the pressure component, the accurate control of the driving device can be realized, and the pressure component moves to the position of the processing object to process the processing object, so that the processing precision of the processing object is improved.

In some embodiments, the pressure member is positioned proximate to the first raised end and distal to the second raised end when in the first predetermined position.

The first preset position may refer to an initial position of the pressure member. Specifically, referring to fig. 1, in fig. 1, a guide rail 111 is provided on a body portion 112 of a driving device 100, a driving part 120 is provided on the guide rail, and a connection part may be provided on the driving part 120 to fix a pressure part 130 to the driving part 120. In this way, the pressure member 130 moves with the movement of the driving member 120, and the pressure member 130 has a movement parameter in accordance with the driving member 120 during the movement. The initial position of the pressure member 130 may be a first preset position S1 of a surface of the pressure member 130 pressing the processing object. The first preset position S1 is close to the first protruding end 113 connected to one end of the body 112, and is relatively far from the second protruding end 114 at the other end of the body 112. In some embodiments, each machining process, the pressure member 130 may be moved from the first predetermined position.

In some embodiments, the distance between the pressure member and the surface of the processing object is within a preset range when the pressure member is located at the second preset position.

The second preset position may be a position where the pressure member starts to apply pressure to the processing object or a position where pressure is about to be applied to the processing object. Because there may be a slight difference in the position where the pressure member applies pressure to the processing object each time due to individual differences of the processing object, the pressure member only has to be moved to the surface in contact with the processing object or the surface to be in contact with the processing object. The difference between the processing objects may be in a certain range, so that when the pressure member reaches the second preset position, the distance from the surface of the processing object is also within the preset range. Specifically, as shown in fig. 1, when the pressure member 130 moves to the second preset position S2, the application of pressure to the processing object 116 is about to start to push the first workpiece a of the processing object to move into the reserved space c of the second workpiece b, so as to complete the press-fitting of the first workpiece a and the second workpiece b.

In some embodiments, the first current parameter comprises a first current curve having a first slope and the second current parameter comprises a second current curve having a second slope. The first current curve or the second current curve may be a linear curve or a nonlinear curve. Correspondingly, when the first current curve or the second current curve is a linear curve, the corresponding first slope or second slope is constant; when the first current curve or the second current curve is a nonlinear curve, the corresponding first slope or second slope is a changed value.

In some embodiments, the first motion parameter may include a first speed profile having a fourth slope and the second motion parameter may include a second speed profile having a fifth slope. The first speed curve or the second speed curve may be a linear curve or a nonlinear curve. Correspondingly, when the first speed curve or the second speed curve is a linear curve, the corresponding fourth slope or fifth slope is constant; when the first speed curve or the second speed curve is a nonlinear curve, the corresponding fourth slope or fifth slope is a changed value. Further, in some embodiments, the fourth slope of the first speed profile is greater than 0 and the fifth slope of the second speed profile is less than 0.

Specifically, as shown in fig. 1, the first movement stage D1 may include the movement of the pressure member 130 from the first preset position S1 to the second preset position S2. In the first movement phase D1, the output current of the driving part 120 may be controlled based on the first current profile, and the output current of the driving part 120 may be gradually increased in a linear or nonlinear manner, so that the pressure part 130 moves from the first preset position S1 to the second preset position S2 in the first speed profile, and the movement speed of the pressure part 130 in the phase D1 may also be increased in a linear or nonlinear manner. This can facilitate reaching the vicinity of the processing object at a faster speed to increase the speed of the processing process. When the pressure member 130 reaches the second preset position S2 and is about to apply pressure to the processing object 116 for processing, the pressure member 130 needs to be controlled to apply pressure to the processing object 116 at a relatively slow speed, so as to avoid that the accuracy of the output torque of the driving member 120 is affected due to the excessive speed, and thus the accuracy of controlling the pressure of the processing object 116 is affected. At this time, the output current of the driving part 120 may be controlled to gradually increase in a linear or nonlinear manner based on the second current curve, so as to increase the output torque of the driving part 120, thereby gradually increasing the pressure of the pressure part 130 on the processing object 116, and pushing the press-fitting or fitting of the processing object 116. The pressure member 130 moves with a second velocity profile, which may be reduced in a linear or nonlinear manner, so that the pressure member 130 slowly pushes the processing object 116, reducing the influence of velocity on controlling the pressure of the processing object, and improving the pressure control accuracy of the processing object.

In some embodiments, the driving member and/or the pressure member satisfies a preset condition, comprising: the output torque of the driving component reaches a torque threshold and the speed of the pressure component is a preset speed within a preset time window.

In some embodiments, the work object includes a first work piece and a second work piece, and the target output current of the drive member is maintained for a preset period of time to press the second work piece into the target position of the first work piece.

And after the pressure component moves to the second preset position, the pressure component starts to apply pressure to the processing object so as to push the construction object to be attached or pressed. When the object reaches the target position for machining, the object will not move any more, at which point the pressure member will not move accordingly. It is possible to judge whether the object reaches the target position by the operation state of the pressure member and/or the driving member. Specifically, as shown in fig. 1, when the first workpiece a moves into the empty space c of the second workpiece b, that is, reaches the target position of the first workpiece a. At this time, when the first workpiece a is no longer moving, indicating that the first workpiece a has reached the target position, the running speed of the pressure member 130 will be reduced to a preset speed, for example 0. The driving part 120 is locked and stops moving, the output current is continuously increased to the target output current, and the output torque is also continuously increased to the target torque. The pressure to which the process object 116 is subjected also reaches the target pressure required for the process. When this is the case, the arrival of the processing object 116 at the target position can be determined. Then, the output current of the driving part 120 is continuously maintained as the target output current for a preset time period after the preset time window, so that the internal pressure part 130 maintains the target pressure on the processing object 116 for the preset time period, and the processing object 116 is ensured to be completely attached or pressed.

In some embodiments, the target output current is determined based on a target pressure at which the machining object is machined, a gravitational force of the machining object, a traction balance force, and a motor force constant. For example, target pressure=target output current×motor force constant+gravity-traction balance force of the processing object. The traction balance force may be provided by a resilient element connected to the pressure member, which may be a conventional spring or a magnetic spring. For a normal spring, the traction balance force can be the elasticity f=k×x of the spring, k is the elastic coefficient, and x is the spring extension length; for a magnetic spring, the traction balance force may be a fixed value. The motor force constant can be the ratio of the thrust force of the motor to the output current, and can reflect the capability of the motor to provide the thrust force. Specifically, the driving device 100 may quickly and in real time receive the current setting command from the host computer through the communication modes such as gLink-II, etherCAT, RS485, etc., so as to modify the target output current I of the driving device 100 _limit . For example, the actual force of the driving member 120 may be the target pressure-the gravity of the object to be processedSince the +balance force is equal to the motor force constant×the motor current, the target output current that the driving member 120 needs to output when maintaining the predetermined target pressure can be obtained by the target pressure for machining the machining object, the gravity of the machining object, the traction balance force, and the motor force constant.

In some embodiments, the driving member and/or the pressure member satisfies a preset condition, comprising: the pressure member moves to a third preset position, wherein the second preset position is located between the first preset position and the third preset position.

When the object reaches the target position, the pressing member 130 or the driving member 120 also reaches the corresponding predetermined position. For example, the pressure member may be moved to a third predetermined position and the drive member may be moved to a fourth predetermined position. Since the relative positions of the driving part 120 and the pressure part 130 are fixed, the relative positions between the third preset position and the fourth preset position are also fixed, i.e., correspond to each other. Therefore, in addition to determining the speed and output current of the driving part 120, it is also possible to determine whether the processing object reaches the target position based on the position reached by the pressure part 130 and/or the driving part 120. For example, as shown in fig. 1, since the pressure member 130 is in a contact state with the surface of the first workpiece a, the third reserved position S3 where the pressure member 130 reaches, that is, the contact surface with the pressure member 130 when the first workpiece a reaches the target position. The second movement stage D2 may include a stage in which the pressure member 130 moves from the second preset position S2 to the third preset position S3, where the second preset position S2 is located between the first preset position S1 and the third preset position S3. In the second movement stage D2, the driving part 120 drives the pressing part 130 to push the processing object 116 to the target position at the second speed profile. Then, the output current of the driving part 120 is continuously maintained as the target output current for a preset time period, so that the internal pressure part 130 maintains the target pressure on the processing object 116 for the preset time period, the pressure balance of the processing object 116 is ensured, the processing object 116 is completely attached or press-fitted, and overshoot is avoided.

As shown in fig. 1, the third movement phase D3 of the pressure member 130 may include a movement phase in which the pressure member 130 is retracted from the third preset position S3 to the first preset position S1. At this time, the driving part 120 drives the pressure part 120 to move in the second direction with a third movement parameter, for example, a third speed curve, based on a third current parameter, for example, a third current curve. The second direction is opposite to the first direction of the first movement stage D1 and the second movement stage D2. The third speed profile may be gradually increased in a linear or nonlinear manner, for example, the slope of the third speed profile may refer to the maximum acceleration that the driving device 100 can withstand, so that the driving part 120 and the pressure part 130 quickly retract to the initial first preset position S1, and the operation efficiency of the driving device is further improved.

For the first movement phase D1, the first movement phase D1 can be divided into two sub-phases in order to further increase the control accuracy of the pressure member 130, in particular to further reduce the influence of the speed on the torque control accuracy of the pressure member 130.

In some embodiments, after the pressure member continues to move in the first direction with the first movement parameter, the method further comprises:

when the pressure component moves to a fourth preset position, the driving component is controlled to continue moving in the first direction according to a fourth movement parameter based on a fourth current parameter, so that the pressure component continues moving in the first direction according to the fourth movement parameter until reaching the second preset position, wherein the fourth preset position is located between the first preset position and the second preset position.

The fourth preset position may be a position that changes from the first motion parameter to the fourth motion parameter, for example, the fourth preset position may be a position closer to the processing object. As shown in fig. 1, the first sub-stage D11 of the first movement stage D1 may include a stage in which the pressure member moves with a first movement parameter, and the second sub-stage D12 of the first movement stage D1 may include a stage in which the pressure member moves with a second movement parameter. In the first sub-stage D11, the pressure member 130 moves from the initial first preset position S1 to the fourth preset position S4 based on the first speed profile movement, and the speed of the pressure member 130 may be uniform or gradually increased. In order to improve the accuracy of controlling the output torque of the driving part 120 and the pressure of the pressure part 130 on the processing object, in the second sub-node D12, the pressure part 130 moves from the fourth preset position S4 to the second preset position S2 based on the fourth velocity profile movement, and the velocity of the pressure part 130 gradually decreases from the fourth preset position S4 to ensure that the movement velocity of the pressure part 130 does not affect the output torque of the driving part 120 and the control of the pressure part 130 on the processing object when reaching the second preset position S2.

In some embodiments, the fourth current parameter comprises a fourth current curve having a third slope, the first slope of the first current curve being greater than the second slope of the second current curve and greater than the third slope of the fourth current curve.

In some embodiments, the fourth motion parameter comprises a fourth speed curve, a sixth slope of the fourth speed curve being less than 0 and the sixth slope being greater than the fifth slope.

In particular, referring to fig. 3, fig. 3 shows a schematic diagram of a speed profile and a current profile according to an embodiment of the present disclosure. In fig. 3, during the first sub-stage D11 of the first movement stage D1, the driving part 120 drives the pressure part 130 to move from the initial first preset position S1 to the fourth preset position S4 according to the first speed curve v11, and the speed of the pressure part 130 may be maintained at a constant speed or may be gradually increased to ensure that the pressure part 130 approaches the processing object 116 as quickly as possible, so as to improve the driving efficiency. At this time, the movement speed vmax of the pressure member 130 when reaching the fourth preset position S4 is maximum. During the first sub-phase D11, the output current of the driving part 120 may be controlled based on the first current curve I11. The first current curve I11 may be increased in a linear or non-linear fashion to a peak value Imax (e.g., maximum value) and then decreased in a linear or non-linear fashion to Ia before the pressure member 130 reaches the fourth preset position S4.

During the second sub-phase D12 of the first movement phase D1, the driving part 120 drives the pressure part 130 to move from the fourth preset position S4 to the second preset position S2 with the fourth speed curve v12, and the speed of the pressure part 130 in the fourth speed curve v12 may be gradually reduced or directly move at a constant speed smaller than vmax, so as to ensure that the speed of the driving part 120 when reaching the second preset position S2, i.e. when pressing the processing object 116, is maintained in a reasonable range, for example, may be a target speed vt, i.e. the speed of the driving part 120 when reaching the second preset position S2 is the target speed vt, thereby avoiding the influence on the pressure control of the pressure part 130 and the output torque control of the driving part 120 and ensuring the control accuracy of both. During the second sub-phase D12, the output current of the driving part 120 may be controlled based on the fourth current curve I12, e.g. the output current of the driving part 120 or the fourth current curve I12 may gradually decrease to Ib in a linear or non-linear form.

During the second movement phase D2, the driving part 120 drives the pressure part 130 to move from the fourth preset position S4 to the third preset position S3 with the second velocity profile v2, and the movement velocity of the pressure part 130 may be further reduced compared to the second sub-phase D12 or directly move at a uniform velocity less than vt to precisely push the first workpiece a in the processing object 116 into the target position c in the second workpiece b. During the second movement phase D2, the output current of the driving part 120 may be controlled based on the second current curve I2, for example, the output current of the driving part 120 or the second current curve I2 may gradually decrease to Ic in a linear or nonlinear form, and the pressure part 130 pushes the fitting or press-fitting of the processing object 116. The output current of the driving member 120 may be a fixed current value, so that the output torque of the driving member 120 and the pressure exerted on the processing object 116 by the pressure member 130 are fixed values, and the processing object 116 is pushed to be attached or pressed.

Until the pressure member 130 reaches the third preset position S3, or the movement speed of the driving member 120 at the preset window time is 0, which indicates that the fitting or press-fitting of the processing object 116 reaches the target position, the driving member 120 and the pressure member 130 do not move any more. At this time, the output current of the driving part 120 may gradually increase to the target output current Id in a linear or nonlinear form, as shown by a current curve I3 in fig. 3, and accordingly, the output torque also increases to the target torque, and the pressure applied by the pressure part 130 on the processing object 116 also reaches the target pressure. The target output current Id of the driving part 120 may be maintained for a preset period of time based on the process requirement, so that the target pressure of the pressure part 130 to the process object 116 is maintained for the preset period of time.

In the third movement stage D3, as shown in fig. 1, the driving part 120 drives the pressure part 130 to move from the third preset position S3 to the first preset position S1 at the third speed curve, and during this period, the movement speed of the pressure part 130 may be uniform or gradually increased so as to quickly retract to the initial position and prepare for the next processing.

It should be appreciated that the first movement stage may be divided into more sub-stages, and the movement speeds of the driving part 120 and the pressure part 130 in the sub-stages closer to the processing object are slower, which is advantageous for more precisely controlling the output torque of the driving part 120 and thus precisely controlling the pressure control of the pressure part 130 on the processing object 116.

Some solutions in the prior art directly use the method of switching between the position ring and the current ring (torque ring) of the drive device for force control, for example, by first moving the pressure member rapidly to a preset position and then switching the pressure directly to current control. However, since the motor cannot perform linear control on the output position and speed during current control, the current output by the driving component may cause the driving device to continuously accelerate, resulting in "galloping" and damage to equipment. Meanwhile, the continuity of the current command during loop switching is difficult to ensure. Still other schemes need to switch between a position display mode and a position current dual-limit mode based on a preset user program in the upper computer, and judge the position of the pressure component and the current state of the driving component, so that waiting and executing time in interaction of the user program in the upper computer and the motion control system is increased, and the operation efficiency of the driving device is reduced.

In comparison with the above-described prior art, according to the driving apparatus and the control method thereof of the embodiment of the present disclosure, a motion control manner is proposed in which the running speed is segmented, the current control is performed on the driving member by segmentation, and the position control of the pressure member is combined, and the processing object is slowly approached when approaching. Meanwhile, the servo motion mode switching of the processing part is completely realized in the driving device of the embodiment of the disclosure, and the upper computer can reliably control the processing part to stably process the processing object through the multi-stage control of the driving device only by sending the corresponding target output current to the driving device, and does not need to arrange the corresponding motion mode switching program in the upper computer, so that the programming workload of the upper computer user program is reduced, the system interaction time is shortened, and the operation efficiency of the equipment is greatly improved.

It should be noted that the foregoing describes some embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments described above and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Those of ordinary skill in the art will appreciate that: the discussion of any of the embodiments above is merely exemplary and is not intended to suggest that the scope of the disclosure, including the claims, is limited to these examples; the technical features of the above embodiments or in the different embodiments may also be combined under the idea of the present disclosure, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present disclosure as described above, which are not provided in details for the sake of brevity.

Additionally, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures, in order to simplify the illustration and discussion, and so as not to obscure the embodiments of the present disclosure. Furthermore, the devices may be shown in block diagram form in order to avoid obscuring the embodiments of the present disclosure, and this also accounts for the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform on which the embodiments of the present disclosure are to be implemented (i.e., such specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative in nature and not as restrictive.

While the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of those embodiments will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

The disclosed embodiments are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Accordingly, any omissions, modifications, equivalents, improvements, and the like, which are within the spirit and principles of the embodiments of the disclosure, are intended to be included within the scope of the disclosure.

Claims

1. A control method of a driving device, characterized in that the driving device comprises a body provided with a rail, a driving part and a pressure part, the driving part is fixed on the rail and moves along the rail, and the pressure part is fixed on the driving part and moves along with the movement of the driving part; the method comprises the following steps:

first motion sub-phase: controlling the driving part to move along a first direction of the track according to a first motion parameter based on a first current curve so as to enable the pressure part to move from a first preset position to a fourth preset position according to the first motion parameter in the first direction; wherein the movement speed of the pressure member is maximum when reaching the fourth preset position, and the first current curve is decreased to Ia during the time when the pressure member reaches the fourth preset position after increasing to the peak value; a second motion sub-phase: controlling the output current of the driving part to be reduced to Ib based on a fourth current curve, and moving the pressure part along the first direction according to a fourth movement parameter so as to move the pressure part from the fourth preset position to a second preset position; wherein the speed of the pressure member is reduced from a fourth preset position;

second movement phase: when the pressure component moves to a second preset position, controlling the output current of the driving component to be reduced to Ic based on a second current curve, and continuing to move in the first direction with a second motion parameter, so that the pressure component continues to move in the first direction with the second motion parameter, and applying pressure to a processing object comprising a first workpiece and a second workpiece to push the first workpiece into the second workpiece; wherein the speed of the pressure member continues to decrease from the second preset position;

when the output current of the driving part starts to increase from Ic to a target output current and the speed of the pressure part is 0 within a preset time window; or when the pressure component moves to a third preset position, the output torque of the driving component reaches a torque threshold value, and the target output current of the driving component is maintained within a preset time period, so that the pressure component maintains the target pressure on the processing object within the preset time period; wherein the second preset position is located between the first preset position and the third preset position;

the driving part is controlled to move in a second direction with a third motion parameter based on a third current curve so as to enable the pressure part to move in a second direction with the third motion parameter, wherein the second direction is opposite to the first direction.

2. The method of claim 1, wherein a first slope of the first current curve is greater than a second slope of the second current curve is greater than a third slope of the fourth current curve.

3. The method of claim 1, wherein the first motion parameter comprises a first speed profile, a fourth slope of the first speed profile being greater than 0; the second motion parameter comprises a second speed profile and the fourth motion parameter comprises a fourth speed profile, a fifth slope of the second speed profile and a sixth slope of the fourth speed profile being less than 0 and the sixth slope being greater than the fifth slope.

4. A driving device, characterized by comprising:

wherein the driving device is controlled by the method according to any one of claims 1 to 3 to perform the processing.

5. The device of claim 4, wherein the pressure member is positioned proximate the first raised end and distal the second raised end when in the first predetermined position.

6. The apparatus of claim 4, wherein the distance from the surface of the object is within a predetermined range when the pressure member is in the second predetermined position.

7. The apparatus of claim 4 wherein the target output current of the drive member is maintained for a predetermined period of time to press the first workpiece into the target position of the second workpiece.

8. The apparatus of claim 7, wherein the target output current is determined based on a target pressure at which the processing object is processed, a gravitational force of the processing object, a traction balance force, and a motor force constant.