CN203221505U - SDOF high-speed tin soldering robot servo control system based on dual-core control - Google Patents
SDOF high-speed tin soldering robot servo control system based on dual-core control Download PDFInfo
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- CN203221505U CN203221505U CN 201320187301 CN201320187301U CN203221505U CN 203221505 U CN203221505 U CN 203221505U CN 201320187301 CN201320187301 CN 201320187301 CN 201320187301 U CN201320187301 U CN 201320187301U CN 203221505 U CN203221505 U CN 203221505U
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Abstract
The utility model discloses an SDOF high-speed tin soldering robot servo control system based on dual-core control. The SDOF high-speed tin soldering robot servo control system comprises a manual operator, a central controller, a power supply device, a speed controller, a tin feed amount controller, a temperature controller and a servo motor. The central controller comprises a digital signal processing chip and a field-programmable gate array chip. The power supply device comprises an alternating current power supply and a battery. Servo system generating circuits are integrated on the field-programmable gate array chip. The manual operator is connected with the central controller, and the digital signal processing chip is connected with the tin feed amount controller, the speed controller and the temperature controller. The SDOF high-speed tin soldering robot servo control system based on dual-core control is high in speed and efficiency.
Description
Technical field
The utility model has related to a kind of servo-control system, has particularly related to a kind of single-degree-of-freedom high speed soldering robot serve control system based on double-core control.
Background technology
In today of high-tech fast development, traditional mode of production falls behind day by day, along with the production in enormous quantities of electronic product, the manual method that adopts pin solder joint on the flatiron instrument pointwise welding pcb board again can not adapt to market demands, production efficiency and product quality.Novel automation welding is produced and will be become the new century and accept the important way of market challenges.Because the soldering robot is the main tool of novel automation, directly robot is become immediate productivity, it is changing traditional production model, boosts productivity and the adaptive capacity aspect in market is demonstrated great superiority.It replaces the people to come out from the working environment of abominable danger simultaneously, carries out production strictly in line with rules and regulations, and this all is significant with social progress to promoting economic development.In some simple PCB solderings actions, only require that robot does a kind of action, the straight reciprocating motion on direction, perhaps rotatablely moving of a direction do not have aggregate motion, and single-degree-of-freedom soldering robot generally can finish above-mentioned action.A complete single-degree-of-freedom soldering machine National People's Congress causes and is divided into following components:
But because the unit of this robot of domestic research and development is less, the research and development level is relatively backward relatively, the automatic soldering robot long-play of research and development finds to exist a lot of safety problems, that is: what adopted as the automatic power supply of soldering robot (1) is dc source after the general AC power rectification, and whole soldering campaign is failed.(2) as the main control chip of soldering robot, employing be mostly 8 single-chip microcomputer, computing capability is not enough, causes the welding system speed of service slower.(3) control model based on microprocessor+special-purpose motion control chip generally has microprocessor to calculate the various default of motor needs according to predeterminated position earlier, give special chip then and carry out the PWM ripple signal that secondary calculating generates the control motor, make that system-computed speed generally neither be very high, and owing to adopted special-purpose motion control chip, can't expand design, also can't realize various advanced motion control arithmetics.(4) in the control model based on microprocessor+special-purpose motion control chip, motor of general special integrated circuit control, and take a large amount of microprocessor port address, system for multiaxial motion, use complicated control technology and just can realize, and the synchronism of multiaxis is difficult to guarantee.(5) be mostly stepper motor as what the automatic executing agency of soldering robot adopted, run into pulse-losing through regular meeting and cause the motor desynchronizing phenomenon to take place that it is inconsistent to cause system to go out tin for solder joint.(6) because actuating motor adopts stepper motor, make organism fever more serious, need sometimes motor body is dispelled the heat.(7) owing to adopt stepper motor, make the mechanical noise of system's running increase greatly, be unfavorable for environmental protection.(8) owing to adopt stepper motor, its body generally all is heterogeneous structure, control circuit need adopt a plurality of power tubes, make control circuit relatively complicated, and increased the controller price, and because the switching back and forth between heterogeneous makes the pulsating torque of system increase, be unfavorable for the raising of dynamic performance.(9) because the automatically frequent spot welding of soldering robot between solder joint will brake and start frequently, increased the weight of the workload of single-chip microcomputer, single single-chip microcomputer can't satisfy the requirement that automatic soldering robot starts fast and stops.(10) owing to disturbed by the surrounding environment destabilizing factor, singlechip controller occurs unusual through regular meeting, cause that the soldering robot is out of control, and antijamming capability is relatively poor.(11) owing to be subjected to single-chip microcomputer capacity and algorithm affects, common tin weldering robot is to the not storage of pad information of process, all information will disappear when running into power-down conditions or fault and restart, and this makes whole soldering process will restart or the artificial regeneration routing information.(12) though in welding, can adjust the size of tin feeding amount according to the spot size of welded article body, do not consider the temperature of solder joint, cause solder joint inconsistent.(13) in the soldering process, ignored the cleaning to solder horn, the situation that often causes producing failure welding or solder joint filth because of residual scolding tin takes place.
In order to satisfy the needs of high speed, High-efficient Production, must redesign based on the automatic soldering robot controller of monolithic processor controlled single-degree-of-freedom existing, seek a kind of single-degree-of-freedom high speed soldering robot serve control system based on double-core control.
The utility model content
The utility model mainly is the requirement at present market, and a kind of single-degree-of-freedom high speed soldering robot serve control system based on double-core control with diverse in function, efficient high-speed is provided.
To achieve these goals, the utility model provides following technical scheme:
The utility model provides a kind of single-degree-of-freedom high speed soldering robot serve control system based on double-core control, it comprises the manually-operated device, central controller, supply unit, speed control, the tin feeding amount controller, temperature controller and servomotor, described central controller comprises digital signal processing chip and field programmable gate array chip, described supply unit comprises AC power and battery, be integrated with the servo-drive system generative circuit on the described field programmable gate array chip, described servomotor device comprises robot servomotor and tin feeding amount servomotor, described manually-operated device is connected with described central controller, described servo-drive system generative circuit is connected with described servomotor, described digital signal processing chip and described tin feeding amount controller, described speed control is connected with temperature controller, and described field programmable gate array chip is connected with described digital signal processing chip.
In preferred embodiment of the utility model, described single-degree-of-freedom high speed soldering robot serve control system based on double-core control has adopted SMD components and parts material.
In preferred embodiment of the utility model, described servomotor has adopted the AC permanent magnet servomotor.
In preferred embodiment of the utility model, described servomotor comprises photoelectric coded disk.
In preferred embodiment of the utility model, be integrated with two-way servo-drive system generative circuit on the described field programmable gate array chip.
In preferred embodiment of the utility model, described battery has adopted lithium ion battery.
The beneficial effects of the utility model are: the single-degree-of-freedom high speed soldering robot serve control system based on double-core control described in the utility model, improved the degree of accuracy of soldering robot, finishing of the assurance welding job of high-speed and high-efficiency can also be controlled and reduce production costs more.
Description of drawings
Fig. 1 is that the utility model is based on the single-degree-of-freedom high speed soldering robot serve control system of double-core control
The structural representation of unified preferred embodiment;
The mark of each parts is as follows in the accompanying drawing: 1, manually-operated device, 2, speed control, 3, tin feeding amount controller, 4, temperature controller, 5, servomotor, 6, digital signal processing chip, 7, field programmable gate array chip, 8, AC power, 9, battery, 10, the servo-drive system generative circuit.
The specific embodiment
Below in conjunction with accompanying drawing preferred embodiment of the present utility model is described in detail, thereby so that advantage of the present utility model and feature can be easier to be it will be appreciated by those skilled in the art that protection domain of the present utility model is made more explicit defining.
See also Fig. 1, Fig. 1 is that the utility model is based on the structural representation of single-degree-of-freedom high speed soldering robot serve control system one preferred embodiment of double-core control.
The utility model provides a kind of single-degree-of-freedom high speed soldering robot serve control system based on double-core control, it comprises manually-operated device 1, central controller, supply unit, speed control 2, tin feeding amount controller 3, temperature controller 4 and servomotor 5, described central controller comprises digital signal processing chip 6 and field programmable gate array chip 7, described supply unit comprises AC power 8 and battery 9, be integrated with servo-drive system generative circuit 10 on the described field programmable gate array chip, described servomotor device comprises robot servomotor (not sign) and tin feeding amount servomotor (not sign), described manually-operated device 1 is connected with described central controller, described servo-drive system generative circuit 10 is connected with described servomotor 5, described digital signal processing chip 6 described tin feeding amount controllers 3, described speed control 2 is connected with temperature controller 4, and described field programmable gate array chip 7 is connected with described digital signal processing chip 6.
Described single-degree-of-freedom high speed soldering robot serve control system based on double-core control has adopted SMD components and parts material, can realize veneer control like this, has not only saved control panel and has taken up room, and be conducive to alleviating of the long-pending and weight of soldering machine human body.
High performance 32-bit number signal processing chip, can be so that system handles speed increases greatly, can finely satisfy the requirement of soldering system rapidity, but the fastest 150MHz of its operation clock, handling property can reach 150MIPS, every instruction cycle 6.67ns, the IO mouth is abundant, AD conversion etc. with 0-3.3v of 12, it has the in-chip FLASH of 128k*16 position in the sheet, and the SRAM that 18K * is 16, digital signal processing chip have independently arithmetical logic device, have powerful digital signal processing capability, in addition, jumbo RAM is integrated in this chip, can greatly simplify periphery circuit design, reduce system cost and system complexity, also improved the stores processor ability of data greatly.
Described field programmable gate array chip 7, allow the user can be according to the design needs of oneself, by specific placement-and-routing instrument described field programmable gate array chip inside is reconfigured connection, in the shortest time, design the special IC of oneself, so just reduce cost, shorten the construction cycle, because field programmable gate array chip adopts the design philosophy of software implementation to realize the design of hardware circuit, so just make and have good reusable and the property revised based on described field programmable gate array chip 7 designed systems, in addition, handled the SERVO CONTROL of single-degree-of-freedom soldering robot servo-drive system and tin feeding amount controller 3 by described field programmable gate array chip 7, on the one hand digital signal processing chip 6 is freed from the servo algorithm of complexity, improved arithmetic speed greatly, make also on the one hand that in addition the controller design is fairly simple, it is short to have shortened the construction cycle.
The positional information that described field programmable gate array chip 7 sends according to described digital signal processing chip 6, electric current and photoelectric coded disk signal in conjunction with DC servomotor 5 generate control motor rotation PWM ripple, not only simplified interface circuit, and saved digital signal processing chip 6 and write position, speed control program, and the trouble of various pid algorithms, make that the debugging of system is simple.
Described battery 9 has adopted lithium ion battery; in motion process; described central controller is all being monitored and computing the running status of soldering robot constantly; when running into 8 outages of described AC power; lithium ion battery can provide the energy immediately; avoided the failure of soldering system servo-drive system motion; and provide in the process of power supply at battery; the moment is observed the electric current of battery and protects; avoided the generation of big electric current, so fundamentally solved big electric current to the impact of lithium ion battery.
In the soldering process, solder horn constant temperature is adjustable, can be according to real work speed needs, and operating temperature is regulated between 200 ℃-480 ℃, satisfying runs up melts the scolding tin needs, sends digital signal processing chip to after the operating temperature of the temperature sensor collection solder horn of described temperature controller 4.
Described speed control 2 can be gathered the velocity information of robot at that time, and velocity information is sent to described digital signal processing chip 6, makes things convenient for robot to carry out calculating and the judgement of next step action according to present speed.
Described servomotor 5 has adopted the AC permanent magnet servomotor, and described servomotor comprises 1024 linear lights electricity coding disk, makes that like this speed adjustable range is wideer, speed ratio is more steady, and makes operational precision improve greatly, and efficient is also higher relatively, noise is little, prevents from causing environmental pollution.
Be integrated with two-way servo-drive system generative circuit 10 on the described field programmable gate array chip 7, so not only satisfied the requirement of two spindle motor servo motions controls, and reduced the shared space of special-purpose motion chip, be conducive to develop in the microminiaturized direction of controller.
Single-degree-of-freedom high speed soldering robot serve control system based on double-core control described in the utility model, the degree of accuracy that has improved the soldering robot, finishing of the assurance welding job of high-speed and high-efficiency can also be controlled and reduce production costs more.
The above only is embodiment of the present utility model; be not so limit claim of the present utility model; every equivalent structure or equivalent flow process conversion that utilizes the utility model specification and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present utility model.
Claims (6)
1. single-degree-of-freedom high speed soldering robot serve control system based on double-core control, it is characterized in that: comprise the manually-operated device, central controller, supply unit, speed control, the tin feeding amount controller, temperature controller and servomotor, described central controller comprises digital signal processing chip and field programmable gate array chip, described supply unit comprises AC power and battery, described field programmable gate array chip is provided with the servo-drive system generative circuit, described servomotor device comprises robot servomotor and tin feeding amount servomotor, described manually-operated device is connected with described central controller, described servo-drive system generative circuit is connected with described servomotor, described digital signal processing chip and described tin feeding amount controller, described speed control is connected with temperature controller, and described field programmable gate array chip is connected with described digital signal processing chip.
2. the single-degree-of-freedom high speed soldering robot serve control system based on double-core control according to claim 1 is characterized in that, described single-degree-of-freedom high speed soldering robot serve control system based on double-core control has adopted SMD components and parts material.
3. the single-degree-of-freedom high speed soldering robot serve control system based on double-core control according to claim 1 is characterized in that described servomotor has adopted the AC permanent magnet servomotor.
4. the single-degree-of-freedom high speed soldering robot serve control system based on double-core control according to claim 1 is characterized in that described servomotor comprises photoelectric coded disk.
5. the single-degree-of-freedom high speed soldering robot serve control system based on double-core control according to claim 1 is characterized in that, is integrated with two-way servo-drive system generative circuit on the described field programmable gate array chip.
6. the single-degree-of-freedom high speed soldering robot serve control system based on double-core control according to claim 1 is characterized in that described battery has adopted lithium ion battery.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320187301 CN203221505U (en) | 2013-04-15 | 2013-04-15 | SDOF high-speed tin soldering robot servo control system based on dual-core control |
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| CN 201320187301 CN203221505U (en) | 2013-04-15 | 2013-04-15 | SDOF high-speed tin soldering robot servo control system based on dual-core control |
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| CN203221505U true CN203221505U (en) | 2013-10-02 |
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| CN 201320187301 Expired - Fee Related CN203221505U (en) | 2013-04-15 | 2013-04-15 | SDOF high-speed tin soldering robot servo control system based on dual-core control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103192392A (en) * | 2013-04-15 | 2013-07-10 | 苏州工业园区职业技术学院 | Dual-core control based single-degree-of-freedom high-speed tin soldering robot servo control system |
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2013
- 2013-04-15 CN CN 201320187301 patent/CN203221505U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103192392A (en) * | 2013-04-15 | 2013-07-10 | 苏州工业园区职业技术学院 | Dual-core control based single-degree-of-freedom high-speed tin soldering robot servo control system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131002 Termination date: 20140415 |