CN115802737B - Automatic conveying control system and method for mounting Printed Circuit Board (PCB) - Google Patents
Automatic conveying control system and method for mounting Printed Circuit Board (PCB) Download PDFInfo
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- CN115802737B CN115802737B CN202211353101.8A CN202211353101A CN115802737B CN 115802737 B CN115802737 B CN 115802737B CN 202211353101 A CN202211353101 A CN 202211353101A CN 115802737 B CN115802737 B CN 115802737B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention relates to the technical field of surface mounting, and particularly discloses an automatic conveying control system and method for mounting a PCB (printed circuit board), wherein the system comprises a control unit and a conveying unit; the conveying unit is used for conveying the PCB; the control unit is used for carrying out signal interaction with the upper control unit, receiving signals from the sensor of the transmission unit, and controlling and monitoring the operation state of the driving mechanism of the transmission unit according to the signals of the upper control unit and the sensor. After the PCB is transferred in from the upstream machine, the PCB can be automatically transferred to the mounting area, the PCB is automatically transferred to the downstream machine after being mounted, the transfer state is monitored in real time, the possible problems in the PCB transfer process are monitored and error-reporting is processed, the transfer process is automatically adjusted according to the real-time state, a closed-loop feedback control system is formed, the PCB transfer automation is finally realized, the labor of manually receiving and transmitting the PCB is reduced, and the production efficiency is improved.
Description
Technical Field
The invention relates to the technical field of surface mounting, in particular to an automatic conveying control system and method for mounting a PCB (printed circuit board).
Background
In the surface mounting technology, a chip mounter is generally used for mounting bare boards of printed circuit boards (Printed Cirucit Board, PCB boards). In order to realize circuit integration and equipment miniaturization, SMD (Surface Mounted Devices surface mounted device) type components are adopted in the design of the current large-scale industrial circuit board, and the components are high in integration level, small in size, high in difficulty and low in efficiency through manual welding. Therefore, in order to improve the production efficiency of finished circuit boards, various surface mounting devices, namely a chip mounter, are appeared. In the whole system of the chip mounter, a conveying system is one of important components.
The function of the conveying system is to exchange and control the upstream machine conveying board with the upstream machine, and then convey the upstream machine to the bare printed circuit board of the current machine to the mounting head working position, namely the mounting position. After the bare board printed circuit board is mounted, the conveying system interacts with the downstream machine, and when the printed circuit board is conveyed to the downstream machine, whether the downstream machine is conveyed successfully or not is monitored, so that the subsequent processing procedure of the circuit board is to be carried out.
The printed circuit board conveying part of the surface mount machine has no perfect control system at present for realizing the function of conveying the printed circuit board card from an upstream machine to the current machine mounting position and conveying the printed circuit board card to a downstream machine after the printed circuit board card mounting is finished.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides an automatic conveying control system and method for mounting a PCB.
In order to achieve the above object, a first aspect of the present invention provides an automatic transfer control system for mounting a PCB board, the system including a control unit and a transfer unit;
the transfer unit includes:
the conveying track is used for conveying the PCB and is sequentially divided into an incoming track, a mounting track and an outgoing track along the conveying direction; the mounting rail is provided with a mounting position;
the lifting mechanism is arranged on the mounting rail corresponding to the mounting position and is used for lifting the PCB when the PCB is conveyed to the mounting position;
the sensors are used for detecting the position of the PCB on the conveying track and sending position signals to the control unit;
the driving mechanism is in signal connection with the control unit and is used for driving the transmission rail and the lifting mechanism;
the control unit is used for carrying out signal interaction with the upper control unit, receiving signals of the sensor, and controlling and monitoring the running state of the driving mechanism according to the signals of the upper control unit and the sensor.
The second aspect of the present invention provides an automatic transfer control method for mounting a PCB, based on the above automatic transfer control system for mounting a PCB, comprising the steps of:
after the transmission track of the transmission unit receives the PCB pushed upstream, the trigger sensor sends a receiving signal to the control unit, and the control unit feeds back the receiving signal to the upper main control unit;
the control unit receives a PCB board input instruction from the upper main control unit, and controls the transmission track to carry out an input process through the driving mechanism, so that the PCB board is sent to the mounting position;
the control unit controls the lifting mechanism to lift through the driving mechanism so that the PCB leaves the conveying track, and feeds back completion of the conveying to the upper-layer main control unit;
the control unit receives an outgoing instruction from the upper main control unit, controls the lifting mechanism to descend so that the PCB is positioned on the conveying track and controls the conveying track to enter an outgoing flow;
after the outgoing flow is finished, the control unit feeds back the completion of the outgoing of the PCB to the upper main control unit.
Through the technical scheme, the control method can be applied to control of the PCB conveying structure of the chip mounter. After the PCB is transferred in from the upstream machine, the PCB can be automatically transferred to the mounting area, the PCB is automatically transferred to the downstream machine after being mounted, the transfer state is monitored in real time, the possible problems in the PCB transfer process are monitored and error-reporting is processed, the transfer process is automatically adjusted according to the real-time state, a closed-loop feedback control system is formed, the PCB transfer automation is finally realized, the labor of manually receiving and transmitting the PCB is reduced, and the production efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of a conveyor system according to the present invention;
FIG. 2 is a functional block diagram of a hardware control board according to the present invention;
FIG. 3 is a signal flow diagram of an ADDA voltage regulation module according to the present invention;
FIG. 4 is a flow chart of the information interaction between the control system and the upper master control unit and between the control system and the upstream and downstream machines;
FIG. 5 is a schematic flow chart of an incoming flow chart of the present invention;
FIG. 6 is a flow chart of the outgoing flow of the present invention;
FIG. 7 is a schematic view of a lifting platform according to the present invention;
FIG. 8 is a schematic view of the structure of the clamping plate of the present invention;
in the figure: 1. an upstream machine; 2. a downstream machine; 31. a first sensor; 32. a second sensor; 33. a third sensor; 34. a fourth sensor; 35. a fifth sensor; 36. a sensor six; 4. a lifting platform; 5. a frame; 6. a conveyor belt; 7. a servo transmission structure; 8. a mounting plane; 9. a splint transmission structure; 10. a clamping plate; 11. an incoming track; 12. mounting a track; 13. outgoing track.
Detailed Description
The following describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
A first aspect of the present invention provides an automatic transfer control system for mounting a PCB board, as shown in fig. 1, the system including a control unit and a transfer unit including a transfer rail, a lifting mechanism, a plurality of sensors, and a driving mechanism.
The drive mechanism includes at least 5 servo drives, a plurality of pneumatic assemblies, and a magnetic switch. The servo transmission mechanism can be a servo motor, a stepping motor and the like, and the pneumatic assembly can be an air cylinder, a pressure regulating valve and the like.
The plurality of sensors, including sensor one 31, sensor two 32, sensor three 33, sensor four 34, sensor five 35 and sensor six 36, are located in the incoming and outgoing ends of the incoming track 11, the incoming and outgoing ends of the mounting track 12, and the incoming and outgoing ends of the outgoing track 13, in order from left to right as shown in fig. 1. A photoelectric sensor is generally used, and preferably a reflective photoelectric sensor is further defined, and is used for detecting the position of the PCB board transmitted to the track, and sending a position signal to the control unit, which can be regarded as a feedback part in the transmission control system.
As shown in fig. 1, the conveying track is used for conveying the PCB board, and is a basic track blank formed by two parallel frames 5, and because the PCB boards with different widths need to be adapted, one side of the parallel frames 5 is fixed, and the other side of the parallel frames 5 can move relative to the fixed frames 5 through a servo transmission structure, so that the width adjusting function is finally realized. The parallel frame 5 in both sides has a conveyer belt 6 that conveying face is very narrow respectively, and the PCB board only both sides edge contacts with conveyer belt 6, relies on the frictional force between PCB board edge and the conveyer belt 6, conveys the PCB board to a certain direction, and the operation of conveyer belt 6 utilizes servo drive structure equally, realizes conveying work. Taking fig. 1 as an example, the conveying track is divided into three sections, namely, from left to right, the positions of every two sensors can be regarded as a section of track, and two parallel vertical dashed lines are taken as boundaries in the drawing, and the conveying track is sequentially divided into an incoming track 11, a mounting track 12 and an outgoing track 13 along the conveying direction, namely, from left to right in fig. 1, as shown in fig. 1. In the figure, the area indicated by the arrow below "11" is the incoming track, the area indicated by the arrow below "12" is the mounting track, and the area indicated by the arrow below "13" is the outgoing track 13. The incoming track 11 is used for transferring the PCB which is transferred to the first position of the sensor at the upstream to the mounting track, and the mounting track 12 is used for transferring the PCB to the junction between the fourth sensor and the fifth sensor, namely the mounting position; after the bare board PCB is mounted, the mounting track conveys the PCB to the outgoing track, and the outgoing track 13 continues to convey the PCB to a downstream machine for receiving the PCB.
The lifting mechanism comprises a lifting platform 4 and a clamping plate 10 which are matched for use, the lifting platform 4 is a rectangular plane capable of vertically moving up and down, a dotted line frame area shown in fig. 1 is the position of the lifting platform 4, the lifting platform 4 is arranged on an installation plane 8 as shown in fig. 7, and the lifting mechanism is driven to lift by a servo transmission structure 7, so that an upward support is mainly provided for a PCB in a mounting area. The clamping plates 10 are arranged on two sides of the mounting position, can clamp the edges of two sides of the PCB, enable the edges to be separated from the conveying belt 6 and fixed, and are used for clamping the PCB to enable the PCB to be separated from the conveying rail, as shown in fig. 8, the clamping plates 10 on one side of the mounting are also arranged on the other corresponding side, the clamping plates 10 on the two sides are matched for use to realize clamping or loosening, and the clamping plates 10 are driven by the clamping plate transmission structure 9.
Preferably, according to the placement positions of the upstream machine and the downstream machine, the conveying direction of the PCB can be determined; in order to ensure that the PCB can accurately stay in a fixed mounting area, a controllable gear pin is additionally arranged at the junction of the sensor IV and the sensor V, a pneumatic control structure is adopted, and a cylinder is optimized. The plug column in the air cylinder can play a role of a stop pin column, and the plug column is lifted in the conveying advancing direction of the PCB to stop the PCB from advancing continuously so as to realize the stopping function.
And the control unit is used for carrying out signal interaction with the upper control unit, receiving the signal of the third sensor and controlling and monitoring the running state of the driving mechanism according to the signals of the upper control unit and the third sensor. The main control module of the control unit is a hardware control board, and the board card functional module is shown in fig. 2 and comprises a main chip, a communication interface module, a sensor and magnetic switch detection signal module, a pneumatic assembly driving module, an ADDA voltage regulating module and an upstream and downstream machine interaction interface module.
The board card adopts industrial direct current weak current power supply, and is generally 24V; after the board card is connected, the power supply module performs voltage reduction treatment and supplies power to the main chip and each interface module respectively.
The main chip selects an FPGA (field programmable gate array) chip, can perform parallel work of a plurality of interface modules, processes information of each interface module, and improves the working efficiency of a control system.
The communication interface module is mainly used for communicating with a servo driver in a servo transmission system, and an RS485 or RS422 physical link is generally adopted, and the link adopts a twisted pair differential transmission line, so that the communication interface module can provide a longer communication transmission distance and higher anti-interference characteristic in industry. Typically off-the-shelf drives may support this type of communication interface. Moreover, modbus protocol is generally adopted for instruction interaction, so that information transmission is realized. Therefore, the control of the servo motor can be realized by adopting a point-to-point communication mode according to a protocol provided by the servo driver, and the state and the position of the servo motor can be read. Meanwhile, the communication interface module is interacted with the upper main control unit, receives the information of the printed circuit board, the instruction of pushing the printed circuit board by the upstream machine 1, the instruction of inputting the printed circuit board and outputting the printed circuit board, and the like, and uploads the information of the transmission system through the communication interface.
The sensor and the magnetic switch detect signal module, the sensor on the transmission track generally selects a limited reflection type photoelectric sensor, the sensor emits light rays, receives the light rays reflected by the object, realizes the detection of whether the object exists on the front surface of the sensor, and is used for detecting whether the printed circuit board exists or not; the magnetic switch is generally matched with a cylinder for use, and when the plug magnetic ring in the cylinder moves to the installation position of the magnetic switch, the magnetic switch responds. Thus, magnetic switches are also a type of sensor. The sensor generally needs 24V input power supply, the output signal is generally in two states of high resistance and conduction, and the conduction state is generally output when a target is detected; and outputting a high-resistance state when the target is not detected. The sensor and the magnetic switch signal interface circuit process the two signals into signals which can be identified by the FPGA, and finally the signals are transmitted to the FPGA for signal processing.
The pneumatic assembly driving module is used for driving the pneumatic assembly by a pneumatic electromagnetic valve due to the fact that the pneumatic assembly is involved in the conveying system; the standard pneumatic electromagnetic valve is driven by 24V voltage, the inside of the standard pneumatic electromagnetic valve is similar to a relay structure, and the pneumatic assembly control is realized by changing the air path through suction and release; the main chip FPGA outputs high-low level signals, the signals are processed by the pneumatic assembly driving module to realize pneumatic electromagnetic valve control, and finally pneumatic assembly control is realized.
The ADDA (Analog to Digital, digital to Analog; analog signal-to-digital signal, digital signal-to-analog signal) voltage regulating module mainly controls an electric pressure regulating valve, when 0-5V voltage is input to the electric pressure regulating valve, the pressure of an output gas circuit of the pressure regulating valve changes voltage along with the input voltage, and meanwhile, 1-5V voltage is fed back to form a linear proportional relation with the output voltage regulation; the basic composition of the module is shown in figure 3, and an AD conversion and DA conversion chip is arranged in the module and is used for sampling 1-5V voltage and outputting 0-5V voltage; the ADDA voltage regulating module is used for realizing clamping plate voltage regulating control.
The upstream machine 1 generally adopts industrial 24V/0V trigger pulse or short-circuit trigger pulse; the main chip transmits signals to an upstream machine interaction interface module and a downstream machine interaction interface module, and the module outputs the type of trigger signals required by the upstream machine 1 to realize the function of pushing the printed circuit board by the upstream machine 1; the downstream machine 2 generally gives a feedback signal, the feedback signal is generally 24V/0V, or the high resistance and conduction state, and the upstream and downstream machine interaction interface modules are compatible with the two signal detection types and send the processed signals to the main chip for processing.
The PCB conveying system requires 5 transmission structures to work, 1 acts on the frame to move, 1 acts on the lifting platform, and the other 3 acts on the conveying belt to divide the conveying track into 3 sections for conveying control; the 3 pneumatic structure components work in an auxiliary mode, wherein 2 baffle pins act on, and the 2 baffle pins are distributed at the junction of the second sensor and the third sensor and the junction of the fourth sensor and the fifth sensor, and the other baffle pin acts on the clamping plate.
The second aspect of the present invention provides an automatic transfer control method for mounting a PCB, where the steps of the method are based on the automatic transfer control system for mounting a PCB, and the steps of the method are also working principles of the control system, and include the following steps:
as shown in fig. 4, the upper-layer main control unit performs information interaction with the control unit in the control system, the upper-layer main control unit loads the width information of the PCB, then sends a width adjustment instruction to the control unit of the control system, and the control system feeds back whether width adjustment is completed or not to the upper layer; after the upper layer receives the width adjustment completion, the upper layer issues a PCB pushing command of the upstream machine, the control system interacts with the upstream machine to control the upstream machine to push the PCB, and when the control unit of the control system monitors that the sensor is activated, the upper layer feeds back the upstream machine to push the PCB to complete; the upper layer continuously issues a PCB board input instruction, and after receiving the instruction, the control system controls each component to work according to the PCB board input process planning described above, and feeds back to the upper layer after the PCB board input instruction is transmitted to the mounting position; after the upper layer receives the completion of the transfer of the PCB, other modules are controlled to complete the mounting work, and after the upper layer judges that the mounting is completed and the PCB can be transferred out, a PCB transfer instruction is sent to the control system; and after the control system receives the PCB outgoing instruction, the control system executes PCB outgoing according to the outgoing flow planning, and feeds back the PCB to the upper layer after the downstream machine receives the PCB.
Further, the control system performs the PCB board incoming process planning as shown in fig. 5: firstly, loading PCB width information into a control unit of a control system, controlling a width adjusting motor to adjust the width, monitoring whether the width adjusting motor moves in place after monitoring that the width adjusting motor stops, and if the width adjusting motor does not move in place, entering an error reporting mechanism, and feeding back abnormal control of a width adjusting transmission part; if the motion is in place, the control system interacts with an upstream machine, and sends a trigger signal for pushing the PCB to the upstream machine; monitoring a first sensor signal after the transmission is completed, waiting for the activation of the first sensor, judging that the upstream machine fails to push the PCB if the first sensor is not activated within a fixed time, and transmitting a trigger signal for pushing the PCB to the upstream machine again until the first sensor is activated, wherein the PCB in the upstream machine enters a position where the first sensor is located; the control system controls the movement of the motor of the incoming track and the lifting of the shift pin, monitors whether the incoming track is in movement or not and the shift pin is lifted to be in place within a specified time, wherein the in-place monitoring of the movement of the shift pin is performed by a magnetic switch matched with an air cylinder, when the shift pin is lifted to be in place, the magnetic switch at the lifting to be in place is activated, and the magnetic switch at the lowering to be in place is not activated, so that the shift pin is judged to be lifted to be in place, and if the transfer track is not moved or the shift pin is not lifted to be in place within a specified time, an error reporting mechanism is entered, and abnormal control of the transfer track or abnormal control of the shift pin is fed back; if the sensor is normal, continuously monitoring whether the sensor I is changed from activated to deactivated, when the sensor I has more than one state change, indicating that the transmission of the PCB passes through a track area corresponding to the position of the sensor I, if the sensor I still keeps activated within a set time, judging that the PCB stays at the position of the sensor I all the time, and entering an error reporting mechanism; if the state monitoring is normal, entering a second sensor state, and if the second sensor is not activated all the time after waiting for a fixed time, entering an error reporting mechanism, and judging that the PCB is clamped at a track between the first sensor and the second sensor; if the second sensor is activated within the fixed time, the control system controls the mounting track motor to transmit, monitors whether the mounting track is in a moving state within the fixed time, and if not, enters an error reporting mechanism; if yes, entering a state monitoring of a sensor III; similarly, after waiting for the fixed time, if the third sensor is in an inactive state all the time, judging that the PCB is clamped between the second sensor and the third sensor, and entering an error reporting mechanism; if the sensor III is activated, continuing to monitor whether the sensor is switched into an inactive state after a certain time, and judging whether the PCB is clamped at the position of the sensor III or not so as to determine whether to enter an error reporting mechanism or not.
When the sensor III is monitored to be switched from activation to non-activation, the PCB can be judged to completely enter the mounting track, at the moment, the control system controls the incoming track to stop, whether the incoming track stops in a specified time is monitored, and if not, an error reporting mechanism is entered; if yes, starting to monitor whether the sensor IV is activated or not, and after waiting for a fixed time, if the sensor IV is not activated, judging that the PCB is clamped in a track area between the sensor III and the sensor IV, and entering an error reporting mechanism; if the sensor IV is activated, the control system controls the mounting rail to decelerate to an extremely small conveying speed for movement, and the step is to enable the PCB to touch the stop pin at a slow speed so as to prevent the element placed on the PCB from shifting due to the fact that the stop pin is impacted at a high speed; after the fact that the mounting rail is conveyed at a small speed is monitored, timing is started, timing time is finished after the fact that the PCB can be conveyed to the touch stop pin is met, and the control system controls the mounting rail to stop. Above, also in order to realize that PCB board stop position is accurate, stop in shelves round pin post regional left side promptly, confirm to be the mounting region.
After the control system controls the mounting rail to stop, monitoring whether the state of the rail motor is in a stop state, and if not, entering an error reporting mechanism; if yes, the control system controls the clamping plate device to clamp the PCB, the clamping plate is judged to be clamped in place after the fixed time length is reserved, the external gas circuit of the clamping plate is a pressure-adjustable gas circuit, the pressure adjustment is also controlled by the control system, and the purpose of the pressure adjustment is to control the clamping strength of the clamping plate so as to avoid damage to the clamping of the PCB with different thicknesses; and then the control system controls the lifting platform to rise to a designated height, provides upward support for the PCB, monitors whether the lifting platform moves in place after being stationary, if so, judges that the PCB is finished in the incoming process, and if not, enters an error reporting mechanism.
The above flow realizes the basic flow planning that the PCB enters the current machine from the upstream machine and is transmitted to the mounting position.
Further, the control system performs the PCB outgoing flow planning as shown in fig. 6: firstly, the control system needs to judge whether the sensor IV is activated, when the sensor is activated, the current mounting area is judged to have a PCB, the PCB can be transmitted out, and when the sensor IV is not activated, the current track position is considered to have no PCB, and the control system enters an error reporting mechanism. After the activation of the sensor IV is monitored, the control system controls the clamping plate to be loosened, the clamping plate is also a cylinder transmission assembly, and when the activation of the magnetic switch corresponding to the loosening position is monitored, the next step is carried out; if the error is not detected in the fixed time, entering an error reporting mechanism; the control system controls the lifting platform to descend to a designated position after the clamping plates are loosened, after the lifting platform is monitored to be in a motion state, the coordinates of the lifting platform relative to the original point are continuously monitored, when the height of the lifting platform is lower than a certain fixed height, whether the sensor five and the sensor six on the outgoing track are in an activated state or not is monitored, if yes, the outgoing track is judged to have a PCB, and the process is ended.
If the sensor five and the sensor six on the outgoing track are not activated, waiting for the lifting platform to be static, monitoring whether the lifting platform is in place after the lifting platform is static, and if the lifting platform is not in place, entering an error reporting mechanism; if the pin is in place, the control system controls the pin to descend, the fixed duration is waited, and if the pin is not in place, an error reporting mechanism is entered; if the pin is normally lowered, the control system controls the mounting rail and the outgoing rail to be transmitted, after the motion state of the two rails is monitored, the state monitoring of the sensor IV is carried out, the fixed duration is waited, and if the sensor IV is always in an activated state, the error reporting mechanism is carried out; if the sensor IV is changed from activation to deactivation, the monitoring of the sensor five states is carried out, the fixed duration is still waited, and if the sensor five is in the non-activation state, the error reporting mechanism is carried out; if the sensor five is changed from inactive to active, the control system judges that the PCB reaches the sensor five-track area; continuing to monitor the sensor five until the sensor five is changed from activated to deactivated, and judging that the PCB completely enters the outgoing track by the control system; if the time is out, reporting the error.
After the control system judges that the PCB completely enters the outgoing track, controlling the mounting track to stop, and monitoring whether the mounting track stops within a fixed time; after the mounting track is normally stopped, the control system monitors the state of the sensor six and waits for the sensor six to be activated so as to judge that the PCB is transmitted to the sensor track area; after the sensor six is monitored to be activated, continuing to monitor when the sensor six is switched to be deactivated, waiting for a fixed time, and if the state of the sensor does not present a target state, entering an error reporting mechanism by the control system; when the sensor six is monitored to be activated, the control system controls the outgoing track to stop, monitors the track state, enters a downstream machine after the track is successfully stopped and receives a feedback signal of the PCB, and if the feedback signal of the downstream machine is not received, the error is reported; if the downstream machine is monitored to feed back the received activating signal of the PCB, and the feedback signal is transferred to be inactive after fixed time, the outgoing flow of the PCB is finished.
The error reporting mechanism in the control system mainly acts on the tracking of the PCB board transmission flow, the control system encodes different error information through the control unit, the encoded information is uploaded and finally displayed on the man-machine interaction interface of the upper control unit after the error is detected, the transmission unit of the whole machine enters an emergency stop state, and the encoding corresponding information display can provide complete error information description and guide a method for manually troubleshooting, so that the production of the whole machine is restored quickly to the maximum extent.
The PCB is sent out from the mounting position and is transmitted to the flow planning of the downstream machine.
In summary, the technical scheme of the invention can be applied to control of the PCB conveying structure of the chip mounter, can realize that the PCB is automatically conveyed to the mounting area after being conveyed from an upstream machine, is automatically conveyed to a downstream machine after being mounted, monitors the conveying state in real time, monitors and processes possible problems in the conveying process of the PCB, automatically adjusts the conveying process according to the real-time state, forms a closed-loop feedback control system, finally realizes the conveying automation of the PCB, reduces the labor of manually receiving and dispatching the PCB, and improves the production efficiency.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Within the scope of the technical idea of the invention, a number of simple variants of the technical solution of the invention are possible, including the combination of the individual specific technical features in any suitable way. The various possible combinations of the invention are not described in detail in order to avoid unnecessary repetition. Such simple variations and combinations are likewise to be regarded as being within the scope of the present disclosure.
Claims (11)
1. An automatic conveying control system for mounting a PCB (printed Circuit Board), which is characterized by comprising a control unit and a conveying unit;
the transfer unit includes:
the conveying track is used for conveying the PCB and is sequentially divided into an incoming track, a mounting track and an outgoing track along the conveying direction; the mounting rail is provided with a mounting position, the outgoing end of the mounting position is provided with a blocking pin, and the blocking pin can block the PCB at the mounting position when lifted up and down through the driving mechanism;
the lifting mechanism is arranged on the mounting rail corresponding to the mounting position and is used for lifting the PCB when the PCB is conveyed to the mounting position;
the sensors are used for detecting the position of the PCB on the conveying track and sending position signals to the control unit; the sensors comprise a first sensor, a second sensor, a third sensor and a fourth sensor which are sequentially positioned at an incoming end and an outgoing end of an incoming track and at an incoming end and an outgoing end of a mounting track; after the PCB enters the sensor of the incoming track and is activated, the control unit controls the incoming track to move and the pin of the blocking column to rise, monitors whether the incoming track is in motion and the pin of the blocking column rises to a proper position within a specified time, if not, enters an error reporting mechanism, feeds back the abnormal control of the incoming track or the abnormal control of the pin of the blocking column, if yes, monitors the state of the sensor, if the sensor is kept activated within a specified time, judges that the PCB stays at the position of the sensor, and enters the error reporting mechanism; if the sensor I is changed from activation to non-activation, monitoring a sensor II, after waiting for a preset time, if the sensor II is not activated, judging that the PCB is clamped at a track between the sensor I and the sensor II, entering an error reporting mechanism, if the sensor II is activated in the preset time, controlling the mounting track to move by a control unit, monitoring whether the mounting track is in a moving state in the preset time, if the mounting track is not in the moving state in the preset time, entering an error reporting mechanism, and if the mounting track is in the moving state in the preset time, monitoring the state of the sensor III; after waiting for the preset time, if the third sensor is in an inactive state all the time, judging that the PCB card is between the second sensor and the third sensor, entering an error reporting mechanism, and if the third sensor is activated, continuously monitoring whether the third sensor is in an inactive state after the preset time; when the sensor III is monitored to be switched into an inactive state from active, the PCB can be judged to completely enter the mounting track, at the moment, the control unit controls the incoming track to stop moving, whether the incoming track stops moving within a specified time is monitored, and if the incoming track does not stop moving within the specified time, an error reporting mechanism is entered; monitoring whether the sensor IV is activated when the incoming track stops in the instruction time; after waiting for the preset time, if the sensor IV is not activated, judging that the PCB is clamped between the sensor III and the sensor IV, entering an error reporting mechanism, if the sensor IV is activated, controlling the mounting rail to be decelerated to a preset speed by the control unit, starting timing after monitoring that the mounting rail is transmitted at the preset speed, and ending the timing after the timing time meets the requirement that the PCB can be transmitted to the touch gear pin, wherein the control unit controls the mounting rail to stop; monitoring whether the mounting track is stopped or not, if not, entering an error reporting mechanism, if yes, controlling the clamping plate to clamp the PCB by the control unit, and waiting for a preset time period to judge that the clamping plate is clamped in place; then the control system controls the lifting platform to rise to a designated height, upward support is provided for the PCB, whether the lifting platform moves in place after being stationary is monitored, if yes, the end of the PCB in-process flow is judged, and if not, an error reporting mechanism is started;
the driving mechanism is in signal connection with the control unit and is used for driving the conveying track and the lifting mechanism;
the control unit is used for carrying out signal interaction with the upper control unit, receiving signals of the sensor, and controlling and monitoring the running state of the driving mechanism according to the signals of the upper control unit and the sensor.
2. The system of claim 1, wherein the conveyor track comprises two parallel arranged frames, a conveyor belt mounted on the frames; one side frame is fixedly arranged, and the other side frame can move relative to the one side frame through a servo transmission mechanism, so that the width of the conveying track can be adjusted; two ends of the PCB board are respectively pressed on the two conveyor belts.
3. The system of claim 1, wherein the lifting mechanism comprises a lifting platform and clamping plates, the clamping plates being arranged on both sides of the mounting position for clamping the PCB to disengage the PCB from the transfer track; the lifting platform is lifted through the driving mechanism and used for being matched with the clamping plate to enable the PCB to lift.
4. The system of claim 1, wherein the plurality of sensors includes a sensor five and a sensor six, positioned sequentially at an outgoing track incoming end and an outgoing end.
5. The system of any one of claims 1-4, wherein the drive mechanism comprises at least 5 servo-actuators, a plurality of pneumatic components, and a magnetic switch; the sensor is a reflective photosensor.
6. The system of claim 5, wherein the control unit comprises:
the communication interface module is in signal connection with the upper-layer main control unit and the servo transmission mechanism;
the upstream machine interaction interface module and the downstream machine interaction interface module are in signal connection with an upstream machine and a downstream machine;
the sensor and the magnetic switch detection signal module are in signal connection with the magnetic switch and the sensor;
and the pneumatic assembly driving module is in signal connection with the pneumatic assembly.
7. An automatic transfer control method for mounting a PCB board, characterized by comprising the steps of:
after the transmission track of the transmission unit receives the PCB pushed upstream, the trigger sensor sends a receiving signal to the control unit, and the control unit feeds back the receiving signal to the upper main control unit;
the control unit receives a PCB board input instruction from the upper main control unit, and controls the transmission track to carry out an input process through the driving mechanism, so that the PCB board is sent to the mounting position; the incoming process is as follows: after the PCB enters the sensor of the incoming track and is activated, the control unit controls the incoming track to move and the pin of the blocking column to rise, monitors whether the incoming track is in motion and the pin of the blocking column rises to a proper position within a specified time, if not, enters an error reporting mechanism, feeds back the abnormal control of the incoming track or the abnormal control of the pin of the blocking column, if yes, monitors the state of the sensor, if the sensor is kept activated within a specified time, judges that the PCB stays at the position of the sensor, and enters the error reporting mechanism; if the sensor I is changed from activation to non-activation, monitoring a sensor II, after waiting for a preset time, if the sensor II is not activated, judging that the PCB is clamped at a track between the sensor I and the sensor II, entering an error reporting mechanism, if the sensor II is activated in the preset time, controlling the mounting track to move by a control unit, monitoring whether the mounting track is in a moving state in the preset time, if the mounting track is not in the moving state in the preset time, entering an error reporting mechanism, and if the mounting track is in the moving state in the preset time, monitoring the state of the sensor III; after waiting for the preset time, if the third sensor is in an inactive state all the time, judging that the PCB card is between the second sensor and the third sensor, entering an error reporting mechanism, and if the third sensor is activated, continuously monitoring whether the third sensor is in an inactive state after the preset time; when the sensor III is monitored to be switched into an inactive state from active, the PCB can be judged to completely enter the mounting track, at the moment, the control unit controls the incoming track to stop moving, whether the incoming track stops moving within a specified time is monitored, and if the incoming track does not stop moving within the specified time, an error reporting mechanism is entered; monitoring whether the sensor IV is activated when the incoming track stops in the instruction time; after waiting for the preset time, if the sensor IV is not activated, judging that the PCB is clamped between the sensor III and the sensor IV, entering an error reporting mechanism, if the sensor IV is activated, controlling the mounting rail to be decelerated to a preset speed by the control unit, starting timing after monitoring that the mounting rail is transmitted at the preset speed, and ending the timing after the timing time meets the requirement that the PCB can be transmitted to the touch gear pin, wherein the control unit controls the mounting rail to stop; monitoring whether the mounting track is stopped or not, if not, entering an error reporting mechanism, if yes, controlling the clamping plate to clamp the PCB by the control unit, and waiting for a preset time period to judge that the clamping plate is clamped in place; then the control system controls the lifting platform to rise to a designated height, upward support is provided for the PCB, whether the lifting platform moves in place after being stationary is monitored, if yes, the end of the PCB in-process flow is judged, and if not, an error reporting mechanism is started;
after the upper main control unit judges that the mounting is finished and the PCB can be transferred out, a PCB transfer instruction is sent to the control system;
the control unit receives an outgoing instruction from the upper-layer main control unit, controls the lifting mechanism to lift through the driving mechanism so that the PCB leaves the conveying track, and feeds back the completion of the incoming to the upper-layer main control unit;
the control unit controls the lifting mechanism to descend so that the PCB is positioned on the conveying track and controls the conveying track to enter an outgoing flow;
after the outgoing flow is finished, the control unit feeds back the completion of the outgoing of the PCB to the upper main control unit.
8. The method of claim 7, further comprising width adjustment prior to the incoming process, comprising: the control unit loads the width information of the PCB, controls the width adjusting motor to adjust the width of the transmission track, monitors whether the transmission track moves in place after monitoring that the width adjusting motor stops, enters an error reporting mechanism if the transmission track does not move in place, and feeds back that the width adjusting transmission part is abnormal in control; if the motion is in place, the control unit interacts with the upstream machine and sends a trigger signal for pushing the PCB to the upstream machine.
9. The method of claim 7, wherein the outgoing flow is as follows: the control unit judges whether the sensor IV is activated, judges that the current mounting area has a PCB (printed circuit board) when the sensor IV is activated, can carry out the outgoing work of the PCB, judges that the mounting position has no PCB when the sensor IV is not activated, and enters an error reporting mechanism; after the sensor IV is activated, the control unit controls the clamping plate to be released, when the activation of the magnetic switch at the clamping plate releasing position is monitored, the next step is carried out, and if the activation of the magnetic switch at the clamping plate releasing position is not monitored within the appointed time, an error reporting mechanism is carried out; the control unit controls the lifting platform to descend to a designated position after the clamping plates are loosened, after the lifting platform is monitored to be in a motion state, the coordinates of the lifting platform relative to an origin point are continuously monitored, after the lifting platform is lower than the designated height, whether the sensor five and the sensor six are in an activated state or not is monitored, if the sensor five and the sensor six are in the activated state, the outgoing track is judged to have a PCB (printed circuit board), and the process is ended; if the sensor five and the sensor six on the outgoing track are not activated, waiting for the lifting platform to be stationary, and monitoring whether the lifting platform is in place or not after the lifting platform is stationary; if the lifting platform is not in place, entering an error reporting mechanism, and if the lifting platform is in place, controlling the stop pin to descend by the control unit; waiting for a designated time length, entering an error reporting mechanism if the pin is not lowered in place, controlling the mounting track and the outgoing track to move by the control unit if the pin is lowered normally, and monitoring the state of the sensor IV after monitoring the movement of the mounting track and the outgoing track; waiting for a specified duration, entering an error reporting mechanism if the sensor IV is always in an activated state, and monitoring the sensor V state if the sensor IV is changed from the activated state to the inactivated state; waiting for a specified duration, entering an error reporting mechanism if the sensor five is in an unactivated state, and judging that the PCB reaches a sensor five-track area by a control system if the sensor five is changed from the unactivated state to the activated state; continuing to monitor the sensor five until the sensor five is changed from activation to deactivation, judging that the PCB completely enters an outgoing track by the control system, and entering an error reporting mechanism if the PCB is overtime; after the control system judges that the PCB completely enters the outgoing track, controlling the mounting track to stop, and monitoring whether the mounting track stops within a fixed time; after the mounting rail is normally stopped, monitoring the state of a sensor six; the sensor six is activated, and the PCB is judged to be transmitted to the six positions of the outgoing track sensor; after the sensor six is monitored to be activated, continuing to monitor the state of the sensor six, waiting for a specified time, if the sensor six does not become an inactive state, entering an error reporting mechanism by the control unit, and after the sensor six is monitored to become inactive, controlling the outgoing track to stop running by the control unit and monitoring the motion state of the outgoing track; if the outgoing track is successfully stopped, monitoring whether a downstream machine feeds back a received signal of the PCB, if the received signal is not monitored, entering an error reporting mechanism, and if the received signal is monitored and is transferred to be inactive after fixed time, completing the outgoing flow of the PCB.
10. The method according to any one of claims 7 to 9, wherein after the transfer track of the transfer unit receives the PCB pushed upstream, the trigger sensor sends a receiving signal to the control unit, and the control unit feeds back the receiving signal to the upper main control unit as follows:
after loading the width information of the PCB, the upper main control unit sends a width adjusting instruction to the control unit, and the control unit feeds back whether width adjustment is completed to the upper main control unit; after the upper-layer main control unit receives the width adjustment completion, a PCB pushing instruction is sent to the upstream machine through the control unit, the control unit interacts with the upstream machine to control the upstream machine to push the PCB, and when the control unit monitors that the sensor of the incoming track is activated, the upper-layer main control unit feeds back the upstream machine to push the PCB to complete.
11. The method of claim 10, wherein the error reporting mechanism is used for tracking a PCB board transfer flow, specifically: the control unit encodes different error information, and when an error is detected, the encoded information is fed back to the upper control unit and the transmission unit is controlled to enter an emergency stop state.
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| CN116133357B (en) * | 2023-04-14 | 2023-06-09 | 合肥安迅精密技术有限公司 | Vacuum pressure monitoring system and method for chip mounter |
| CN116588636B (en) * | 2023-07-13 | 2023-09-26 | 合肥安迅精密技术有限公司 | Single track multi-section type transmission control method and system and storage medium |
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| CN205837769U (en) * | 2016-07-21 | 2016-12-28 | 深圳逻辑自动化科技有限公司 | A kind of transportation system of new automatic placement equipment |
| CN206169604U (en) * | 2016-10-28 | 2017-05-17 | 深圳市上亚精密技术有限公司 | Automatic dress device that pastes of slender piece |
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| CN204191031U (en) * | 2014-08-18 | 2015-03-04 | 苏州克兰兹电子科技有限公司 | A kind of chip mounter PCB connecting gear being provided with positioner |
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