CN203221506U - Double-core three-degree-of-freedom intermediate-speed tin soldering robot servo controller - Google Patents

Abstract

The utility model discloses a three-degree-of-freedom intermediate-speed tin soldering robot servo controller. A precision motion control dedicated chip LM629 is introduced into a controller based on a DSP, and a brand-new controller based on the DSP and the LM629 is formed; control over a three-degree-of-freedom tin soldering robot servo system which has the largest workload in a control system, a tin discharging servo system motor X, a tin discharging servo system motor Z, a tin discharging servo system motor U and a tin discharging servo system motor Y is achieved by the LM629, and the functions of human-computer interface control, path reading, temperature detection, on-line output, data acquisition and storage, I/O control and the like are achieved by the DSP. With the method, the three-degree-of-freedom intermediate-speed tin soldering robot servo controller can achieve real-time processing of digital signals, free the DSP of complicated work, carry out data exchange and calling in real time, achieve partial signal processing algorithms and response to interruptions and achieve data communication and real-time signal storage.

Description

The servo control device of double-core Three Degree Of Freedom middling speed soldering robot

Technical field

The utility model relates to the soldering robot field, particularly relates to the servo control device of a kind of double-core Three Degree Of Freedom middling speed soldering robot.

Background technology

As everyone knows, soldering processing requires the welder that skilled operative skill, rich practice experience, stable weld horizontal will be arranged on the one hand; On the other hand, welding is again that a kind of working condition is poor, flue dust is many, heat radiation is big, dangerous high work.

Welding is different with other industrial processes process, and during manual welding, experienced welder can in time adjust the speed of position, attitude and the walking of welding gun according to the viewed actual bond pad locations of eyes, to adapt to the variation of solder joint and welding track.So Welder's work is a work position that certain technology content is arranged.Concerning factory, recruit a skilled Welder, with regard to present workman's phychology and factory employee's cost accounting is become the situation of a positive and negative staggered opposition, this is a bottleneck of manual welding;

The technology of artificial welding, be subjected to the restriction of Welder's technological level, Welder's welding technical ability and speed are uneven, and anxious state of mind has certain factor affecting, every day, welding quality and the output of product were affected thereupon, this be manual welding bottleneck two;

Welder's technical ability and mood more or less to when welding employed auxiliary material be unable to estimate, use the warehouse of how much arriving to go what are got, the keeper can't remove to quantize to use every day the welding auxiliary material, be a fuzzy concept to the welding cost of supplementary product just, the cost accounting of producing product is not quantized yet.To the client, be a kind of project that cannot be stated frankly to oneself cost, this be manual welding bottleneck three; Influenced by Welder's technical ability, the efficient of product welding every day also is can't go to quantize, and how many products factory can produce every day, product quality OK all be unable to estimate.

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 automatic, directly robot is become immediate productivity, it is changing traditional production model, enhances 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 special soldering actions, the soldering robot not only need repeatedly point-blank or two-dimensional plane on carry out straight line or circular arc spot welding or according to certain rules point-to-point spot welding carried out in some positions, and owing to element height on the circuit board of a complexity is inconsistent, this time, robot need be with respect to distance of the vertical direction of circuit board two dimensional surface motion, and a Three Degree Of Freedom soldering in this time robot can be very fast finishes above-mentioned action.

A complete Three Degree Of Freedom soldering machine National People's Congress causes and is divided into following components:

1) motor: in this system, actuating motor has four, three motors are carried out the soldering robot at the direct relevant action of walking of a three dimensions according to the instruction of microprocessor, and what of welding needs tin output amount the another one motor carry out according to the instruction of microprocessor;

2) algorithm: algorithm is the soul of soldering robot.The soldering robot must adopt certain intelligent algorithm could be quickly and accurately a bit arriving more in addition in the three dimensions, form point-to-point motion, the perhaps motion of curvilinear path, and calculate the size of tin output amount according to extraneous different condition;

3) microprocessor: microprocessor is the core of soldering robot, is the brain of soldering robot.The information that the soldering robot is all comprises that the cooperatively interact motion etc. of bond pad locations, tin output amount what, motor status information and four motors all needs through microprocessor processes and makes corresponding judgement.

The automatic soldering of Three Degree Of Freedom robot combines multi-subject knowledge, for being lifted at school students'ability for practice, team collaboration's ability and innovation ability, promotes that the digestion of student classroom knowledge and expansion students'knowledge face are all very helpful.

Automatically the development of soldering Robotics can be cultivated the talent of large quantities of association areas, and then promotes technical development and the industrialization process of association area.But because the unit of this robot of domestic research and development is less, it is relatively backward to research and develop level relatively, and automatic soldering robot architecture such as Fig. 1 of research and development, long-play find to exist a lot of safety problems, that is:

What adopt as the power supply of automatic soldering robot is dc source after the general AC power rectification, and whole soldering campaign is failed;

As the main control chip of soldering robot, employing be mostly eight single-chip microcomputer, computing capability is not enough, causes the welding system speed of service slower;

Mostly be stepper motor as what the 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;

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;

Because the automatically frequent spot welding of soldering robot between solder joint will brake and start frequently, has 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;

Owing to be subjected to the interference of 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;

Owing to be subjected to single-chip microcomputer capacity and algorithm affects, common tin weldering robot is to the not storage of solder joint 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;

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;

In the soldering process, ignored the cleaning to solder horn, the situation that often causes producing failure welding or solder joint filth because of the residual scolding tin on the solder horn takes place;

For the pinpoint welding procedure of Three Degree Of Freedom soldering robot, the general pwm control signal of three motors of its orbiting motion of control that requires is wanted synchronously, owing to be subjected to the restriction of single-chip microcomputer computing capability, single single-chip microcomputer servo-drive system is difficult to satisfy this condition;

Because a large amount of bigger plug-in unit components and parts of volume that adopt make that the volume of servo controller is bigger.

Technical development along with modern manufacturing process, the volume of servo control unit will be more and more littler, Embedded miniature servo-control system will be brought into play enormous function, servo control mode is mainly realized by software servo, uses the modern control theory algorithm to become possibility in servo-drive system thereby make.

This Embedded microsystem has been expanded the range of application of servo-drive system, has promoted the diversified development of servo-drive system.Adopt high speed microprocessor and high-performance digital signal processor (DSP) as SERVO CONTROL control core strategy, progressively replacing the more weak Single-chip Controlling mode of computing capability becomes inevitable.

Therefore, need redesign based on the automatic soldering robot controller of monolithic processor controlled Three Degree Of Freedom existing, seek a kind of economic and practical higher relatively middling speed Three Degree Of Freedom soldering robot servo-drive system of speed.

The utility model content

The technical problem that the utility model mainly solves provides the servo control device of a kind of double-core Three Degree Of Freedom middling speed soldering robot, adopted the brand-new control model based on DSP and LM629 double-core controller, be to handle core with LM629, can realize the real-time processing of data signal, simultaneously DSP is freed from the work of complexity, can carry out exchanges data in real time and call, realize signal processing algorithm and the response interruption of part, realize data communication and storage live signal.

For solving the problems of the technologies described above, the technical scheme that the utility model adopts is: provide a kind of double-core Three Degree Of Freedom middling speed soldering robot servo control device, comprise: DSP and LM629 double-core controller, motor U, motor Z and motor X, motor Y and temperature detecting module, described DSP is connected motor U, motor Z and motor X with LM629 double-core controller, described DSP also is connected motor Y with LM629 double-core controller, and described DSP and LM629 double-core controller and temperature detecting module interconnect.

In preferred embodiment of the utility model, described DSP and LM629 double-core controller comprise DSP digital signal processing chip and LM629 precision motion control chip, described LM629 precision motion control chip is used for the servo-drive system of control Three Degree Of Freedom soldering robot and goes out the tin system, and described DSP digital signal processing chip is used for that control man-machine interface, path read, trajectory parameters preset, temperature detection, data storage or I/O control.

In preferred embodiment of the utility model, described DSP digital signal processing chip is the TMS320F2812 chip.

In preferred embodiment of the utility model, described LM629 precision motion control chip comprises motion ladder diagram generator and motor position decoder.

In preferred embodiment of the utility model, described motor is the AC permanent magnet servomotor, is mounted with photoelectric coded disk on the described AC permanent magnet servomotor.

The invention has the beneficial effects as follows: the present invention has adopted the brand-new control model based on DSP and LM629 double-core controller, be to handle core with LM629, can realize the real-time processing of data signal, simultaneously DSP is freed from the work of complexity, can carry out exchanges data in real time and call, the signal processing algorithm and the response that have realized part are interrupted, and have realized data communication and storage live signal.

Description of drawings

Fig. 1 is the control principle figure of monolithic processor controlled Three Degree Of Freedom soldering robot;

Fig. 2 is the schematic diagram based on the servo control device of DSP and LM629 Three Degree Of Freedom high speed soldering robot of the present utility model;

Fig. 3 is the flow chart based on the servo control device of DSP and LM629 Three Degree Of Freedom high speed soldering robot of the present utility model;

Fig. 4 is the system block diagram based on DSP and LM629 Three Degree Of Freedom high speed soldering robot of the present utility model;

The mark of each parts is as follows in the accompanying drawing: 1, DSP and LM629 double-core controller.

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. 2 to Fig. 4, the utility model embodiment comprises:

The servo control device of a kind of double-core Three Degree Of Freedom middling speed soldering robot comprises: DSP and LM629 double-core controller, the motor U, the motor Z that are used for Three Degree Of Freedom soldering robot servo-drive system and motor X, be used for Three Degree Of Freedom soldering robot and go out the motor Y of tin system and be used for temperature controlled temperature detecting module.

Wherein, described motor is the AC permanent magnet servomotor, is mounted with photoelectric coded disk on the described AC permanent magnet servomotor.

Described DSP is connected motor U, motor Z and motor X with LM629 double-core controller 1, and described DSP also is connected motor Y with LM629 double-core controller 1, and described DSP and LM629 double-core controller 1 interconnect with temperature detecting module.

Described DSP and LM629 double-core controller 1 comprise DSP digital signal processing chip and LM629 precision motion control chip:

Described LM629 precision motion control chip is used for the servo-drive system of control Three Degree Of Freedom soldering robot and goes out the tin system, and described DSP digital signal processing chip is used for that control man-machine interface, path read, trajectory parameters preset, temperature detection, data storage or I/O control.

Continuous development and maturation along with microelectric technique and computer integrated chip manufacturing technology, the DSP digital signal processing chip is because its computing capability fast, not only being widely used in communication handles with vision signal, also be applied in gradually in the various senior control systems, described DSP digital signal processing chip is the TMS320F2812 chip.

TMS320F2812 is 32 chips of fixed point on the C2000 platform released of American TI Company, is suitable for Industry Control, Electric Machine Control etc., and is of many uses.Its operation clock can reach 150MHz, and handling property can reach 150MIPS, every instruction cycle 6.67ns, and the I/O mouth is abundant, can satisfy the general application requirements of user, has the A/D conversion etc. of 0 ~ 3.3V of two serial ports and 12.

In addition, it also has the in-chip FLASH of 128k*16 position in the sheet, the SRAM of 18k*16 position, and general application system can not wanted outer extension memory, adds independently ALU, has powerful digital signal processing capability.In addition, jumbo RAM is integrated in this chip, can greatly simplify periphery circuit design, reduces system cost and system complexity, has also improved the stores processor ability of data greatly.

LM629 is a special chip for precise motion control that National semiconductor produces, 24 pin and two kinds of surface-mounted encapsulation of 28 pin are arranged, the integrated repertoire of digital motion control in a chip, make that one of design is quick, the task of kinetic control system becomes light accurately, easily, it has following characteristic: operating frequency is 6MHz and 8MHz, operating temperature range is-40 ℃ ~+85 ℃, use the 5V power supply, use 32 bit positions, speed and acceleration storage, the PWM pulsewidth modulation output of 8 bit resolutions, 16 programmable digital PID controllers, inner motion ladder diagram generator and motor position decoder, but this chip real time modifying speed, target location and pid control parameter, programmable Interrupt in the differential term sampling interval able to programme, is carried out quadruple to the increment code wheel signal in real time, can be arranged at two kinds of duties of speed or position servo, these characteristics make LM629 be particularly suitable in the servo motion control.

The utility model can not satisfy the stability of Three Degree Of Freedom soldering robot ambulation and the requirement of rapidity in order to overcome single single-chip microcomputer, given up the single single-chip microcomputer mode of operation that homemade automatic soldering robot adopts, under the prerequisite that absorbs external advanced control thought, autonomous utility model based on the brand-new control model of DSP and LM629, control panel is to handle core with LM629, realize the real-time processing of data signal, DSP is freed from the work of complexity, realize the signal processing algorithm of part and the control logic of LM629, and realization data communication and storage live signal are interrupted in response.

The utility model is in order to improve arithmetic speed, guarantee stability and the reliability of automatic soldering robot, in the controller based on DSP, introduced precise motion control special chip LM629, formation is based on the brand-new controller of DSP and LM629, this controller takes into full account battery in the effect of this system, the Three Degree Of Freedom soldering robot servo-drive system of workload maximum in the control system and tin output amount servo-drive system motor X, motor Z, the control of motor U and motor Y is given LM629 and is handled, give full play to the comparatively faster characteristics of LM629 data processing speed, and man-machine interface, read in the path, trajectory parameters is default, temperature detection, the data storage, functions such as I/O control are given DSP and are finished, so just realized the division of labor of DSP and LM629, also can carry out communication between the two simultaneously, carry out exchanges data in real time and call.

In the utility model, for the DSP that comprises LM629 precision motion control chip and DSP digital signal processing chip and LM629 double-core controller 1, its control principle figure as shown in Figure 2, control procedure is:

Under the state of power supply opening, automatically the soldering robot is introduced into self-locking state, automatic heating iron is to a steady temperature of program setting then, automatically soldering robot setting in motion is to starting point, the Actual path parameter that automatic soldering robot handle stores and spot size information are transferred to the dsp chip in the controller, dsp chip is converted into the automatic soldering motor X under the designated movement track of robot to these parameters, the distance that motor Z and motor U will move, speed and acceleration and go out the parameter that tin system motor Y will go out tin, DSp then with the LM629 communication, by LM629 according to these parameter processing motor X, motor Z, the SERVO CONTROL of motor U and motor Y, and give DSP the deal with data communication, system time is monitored flatiron temperature and the soldering robot speed of service, upgrades the parameter preset of tin system.

As shown in Figure 3 and Figure 4, the performing step of the utility model concrete function is as follows:

(1), operating personnel are installed in processing component on the anchor clamps of Three Degree Of Freedom soldering robot;

(2), opening power, can judge the source of supply voltage at the moment of opening power DSP: when determining to be storage battery power supply, if cell voltage is low pressure, to forbid all LM629 work, motor X, motor Z, motor U and motor Y can not work, voltage sensor will be worked simultaneously, and controller sends the low pressure alarming signal;

(3), start the automatic control program of Three Degree Of Freedom soldering robot, by the 232 serial ports input soldering task of controller;

(4), with the top that Three Degree Of Freedom soldering robot moves to starting point, adjust the position;

(5), the motion in order to drive Three Degree Of Freedom soldering robot motor X, motor Z, motor U and to go out the servomotor Y of tin system, this control system is introduced four LM629, enter real-time communication by I/O mouth and DSP then, control it by DSP and turn on and off;

(6), for the system based on LM629, the status detection of " hurrying " is the primary part of whole Servo System Design, detects this mode bit before each motion earlier, judges whether to be " hurrying ", if " hurrying " will carry out the software reset, make system can carry out data communication;

(7), for the system based on LM629, resetting also is important in a LM629 servos manipulate link, the status word of checking LM629 after resetting, if be not equal to 84H or C4H, illustrate hardware reset failure to reset again, otherwise LM629 cannot operate as normal;

(8), in Three Degree Of Freedom soldering robot motion process, DSP can constantly store the distance of process or the solder joint of process, and it is definite to the automatic soldering robot motor of next solder joint X according to these range informations, the distance that motor Z and motor U will move, speed and acceleration, DSP then with the LM629 communication, transmit these parameters and give LM629, generate motor X by LM629 then, motor Z and motor U speed motion ladder diagram, this trapezoidal area that comprises is exactly soldering robot motor X, the distance that motor Z and motor U will move with respect to previous three dimensions solder joint in three dimensions, and then according to motor X, the electric current of motor Z and motor U and photoelectric coded disk information generate control motor X, PWM ripple and the direction of motion signal of motor Z and motor U operation;

(9), as motor X, after motor Z and motor U help the soldering robot to arrive predetermined bond pad locations, flatiron begins butt welding point and heats in setting-up time, during heating, DSP meeting butt welding point information and flatiron temperature carry out secondary and confirm, be converted into out the distance that tin system motor Y need move then, parameter preset such as speed and acceleration and PID, DSP provides these parameter transmission the LM629 of tin system, generated the speed motion ladder diagram of tin system motor Y then by LM629, this trapezoidal area that comprises is exactly that the soldering robot goes out the distance that tin system motor Y will move, and then generates PWM ripple and the direction of motion signal that control motor Y moves according to photoelectric coded disk information and current of electric information;

(10), after finishing out tin system servo, in order to prevent the too high thawing again that causes scolding tin of flatiron temperature, motor Y generally under the control of LM629 counter motion solder stick is retracted a little distance, and record this value, motor Y self-locking immediately then, flatiron and to go out the tin system mobile automatically at the tin welding spot in the next three dimensions under the effect of motor X, motor Z and motor U together then;

(11), in motion process, if automatically the soldering robot find weld spacing from or go out the tin servo-drive system and find the solution and endless loop occurs and will send interrupt requests to DSP, DSP can be to interrupting doing very first time response, if the interrupt response of DSP does not have enough time to handle, automatically motor X, motor Z, the motor U of soldering robot and the motor Y that goes out the tin system are with the original place self-locking, prevent maloperation, give the alarm by DSP then, manually fix a breakdown;

(12), the photoelectric coded disk that is loaded on motor X, motor Z, motor U and the motor Y can be exported its position signalling A and position signalling B, the position signalling A pulse of photoelectric coded disk and the every variation of B pulse logic state once, the location register in the LM629 can add one or subtract one according to the traffic direction of motor X, motor Z, motor U and motor Y;

When (13), position signalling A pulse, B pulse and the Z pulse of photoelectric coded disk are low level simultaneously, just produce an INDEX signal and give the LM629 register, the absolute position of record motor is converted into the particular location of automatic soldering robot in solder joint then and goes out the physical length that the tin servo-drive system goes out tin;

(14), DSP can be according to the particular location of soldering robot in solder joint and the contrast of desired location automatically, after DSP calculates, send ladder diagram generator that corresponding acceleration, speed and position data etc. give LM629 as with reference to value, calculate actual acceleration, speed and the position signalling that automatic soldering robot need upgrade by ladder diagram;

(15), in the whole process of soldering, DSP can give LM629 ladder diagram generator by the pid parameter that the data/address bus transmission is upgraded, ladder diagram can upgrade the PWM signal in conjunction with the motor position decoder, is used for realizing the automatic soldering Three Degree Of Freedom servo-drive system motor X of robot, motor Z, motor U and goes out the accurate SERVO CONTROL of tin system motor Y;

(16) if the soldering robot runs into unexpected outage in running automatically, battery can be opened automatically and immediately the soldering robot be powered, when the flow currents of motor surpasses setting value, the interruptive command LPES of LM629 will send interrupt requests to controller, controller can be controlled LM629 immediately and quit work this moment, had avoided the generation of high-rate battery discharge;

(17), system's man-machine interface is provided with the automatic pause function, if in the scolding tin process, read the automatic pause point that man-machine interface arranges, DSP can control LM629 stops motor X, motor Z and motor U with the acceleration of maximum, flatiron enters resting state, motor Y self-locking is also stored current information, artificially clean residual scolding tin then, read up to controller and to press START button information again LM629 is reworked, and transfer storage information and open flatiron the soldering robot can be worked on from the breakpoint;

(18), in motion process, pulsation appears if detect the torque of any one motor, controller is compensation automatically, has reduced the influence of motor torque to the soldering process;

(19), automatically the soldering robot constantly detects cell voltage in running, when low pressure appearred in system, sensor can notification controller be opened also send alarm, has protected lithium ion battery effectively;

(20), after the soldering campaign of finishing whole processing component, motor Y generally under the control of LM629 counter motion solder stick is retracted a little distance, and record this value, self-locking immediately then through a time-delay, is walked out movement locus then;

(21), the soldering robot resets position zero point, waits for the task of following one-period.

The beneficial effect of the servo control device of the utility model double-core Three Degree Of Freedom middling speed soldering robot is:

One, owing to introduced high speed processing chip DSP, with respect to eight SCM system, the computing capability of DSP control soldering robot system improves greatly;

Two, in the process of transporting, taken into full account the effect of battery in this system has, constantly all the running status of soldering robot is being monitored and computing based on DSP and LM629 controller, when running into the AC power outage, 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;

Three, it is servo and go out the SERVO CONTROL of tin system to handle the Three Degree Of Freedom soldering robot of soldering robot by LM629, on the one hand DSP 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;

Four, the utility model is realized full paster components and parts material substantially, has realized veneer control, 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;

Five, in the soldering process, send the control of tin speed to regulate automatically, temperature sensor sends DSP to after the operating temperature of solder horn is just gathered, and DSP send tin motor Y the velocity magnitude of operation in conjunction with the speed adjustment of current spot welding operation again according to this temperature;

Six, in the soldering process, send the control of tin length to regulate automatically, finish the welding of a solder joint when the soldering robot after, DSP and LM629 double-core controller 1 access the information of next solder joint in the memory immediately, DSP gives LM629 the speed of the spot size of welded article, the operation of current scolding tin robot, finishes the servo closed-loop control of sending tin motor Y by LM629 then;

Seven, 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 ℃, and satisfying runs up melts the needs of scolding tin;

Eight, in order to improve movement velocity and precision, the soldering robot has adopted the AC permanent magnet servomotor that has 512 linear lights electricity coding disk to substitute the stepper motor of using always in the legacy system, makes operational precision improve greatly, and efficient is also higher relatively;

Nine, owing to adopt the AC permanent magnet servomotor, make speed adjustable range wideer, speed ratio is more steady;

Ten, because DSP of the present utility model and LM629 double-core controller 1 adopt LM629 to handle lot of data and algorithm, DSP is freed from the hard work amount, prevented " race flies " of program effectively, antijamming capability strengthens greatly;

11, the PWM ripple of control motor rotation, being LM629 obtains according to predeterminated position, speed and acceleration parameter and the photoelectric coded disk information of DSP, not only simplified interface circuit, and saved the trouble that DSP writes position, speed control program and various pid algorithms, make that the debugging of system is simple;

12, in control procedure, LM629 adjusts its inner pid parameter according to the peripheral ruuning situation of soldering robot in good time, realizes segmentation P, PD, PID control and nonlinear PID controller, the switching of speed when making system satisfy operation fast;

13, owing to have a memory function, this make after the power down of soldering robot or when running into fault and restarting system can transfer easily and put the routing information that welds, can finish uncompleted task from trouble point secondary spot welding easily then;

14, double-damping structure is adopted in the instruction of the PID controller motion control class of LM629, data at first write master register by DSP, the data of the master register work register of could further packing into after writing related command only, be easy to realize any control of Three Degree Of Freedom servo motion like this, also make the Synchronization Control of Three Degree Of Freedom become possibility;

15, in whole soldering process, added the breakpoint setting, be conducive to the solder joint that range estimation has been welded in motion process like this and find Welding Problems in advance, perhaps the memory record cleans solder horn mechanism behind the current information down, and minimizing produces failure welding or the problem of solder joint filth and takes place because of the residual scolding tin on the solder horn;

16, in whole soldering process, taken into full account the speed of service of soldering robot and solder horn temperature to going out the tin influence on system parameters, guaranteed finishing of welding process.

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 (5)

1. servo control device of double-core Three Degree Of Freedom middling speed soldering robot, it is characterized in that, comprise: DSP and LM629 double-core controller, motor U, motor Z and motor X, motor Y and temperature detecting module, described DSP is connected motor U, motor Z and motor X with LM629 double-core controller, described DSP also is connected motor Y with LM629 double-core controller, and described DSP and LM629 double-core controller and temperature detecting module interconnect.

2. the servo control device of double-core Three Degree Of Freedom middling speed soldering robot according to claim 1, it is characterized in that, described DSP and LM629 double-core controller comprise DSP digital signal processing chip and LM629 precision motion control chip, described LM629 precision motion control chip is used for the servo-drive system of control Three Degree Of Freedom soldering robot and goes out the tin system, and described DSP digital signal processing chip is used for that control man-machine interface, path read, trajectory parameters preset, temperature detection, data storage or I/O control.

3. the servo control device of double-core Three Degree Of Freedom middling speed soldering robot according to claim 2 is characterized in that described DSP digital signal processing chip is the TMS320F2812 chip.

4. the servo control device of double-core Three Degree Of Freedom middling speed soldering robot according to claim 2 is characterized in that described LM629 precision motion control chip comprises motion ladder diagram generator and motor position decoder.

5. the servo control device of double-core Three Degree Of Freedom middling speed soldering robot according to claim 1 is characterized in that described motor is the AC permanent magnet servomotor, is mounted with photoelectric coded disk on the described AC permanent magnet servomotor.

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