CN203221513U - Servo control system for five-axis medium-speed full-automatic tin soldering robot - Google Patents

Abstract

The utility model discloses a servo control system for a five-axis medium-speed full-automatic tin soldering robot. The system comprises a power supply, a control unit, a plurality of motors and a tin soldering robot, wherein the power supply is connected with the control unit; the control unit comprises a DSP (digital signal processor) and an LM629 motion control chip; the LM629 motion control chip is used for generating a pulse width modulated wave signal, and transmitting the pulse width modulated wave signal to the motors; and five motors are used for controlling the five-degree-of-freedom servo motions of the tin soldering robot, and the other motor is used for controlling the tin output of the tin soldering robot. According to the servo control system for the five-axis medium-speed full-automatic tin soldering robot, the DSP is freed from a complex servo algorithm by LM629, so that the calculation speed is greatly increased, a controller is easy to design, and the development cycle is shortened; and the influences of the running speed of the tin soldering robot and the temperature of a soldering bit on tin discharging system parameters in the whole tin soldering process are taken into full account, so that the completion of the soldering process is ensured.

Description

The full-automatic soldering robot serve control system of a kind of five middling speeds

Technical field

The utility model relates to soldering robot technical field, particularly relates to the full-automatic soldering robot serve control system of a kind of five middling speeds.

Background technology

As everyone knows, soldering processing is the work that a kind of working condition is poor, flue dust is many, heat radiation is big, danger is high, also requires the welder that skilled operative skill, rich practice experience, stable weld horizontal will be arranged.Welder's welding technical ability, speed of welding and anxious state of mind simultaneously has certain influence to welding quality, also can't quantize to use every day the welding auxiliary material, therefore manually improved production cost greatly and prolonged weld interval concerning factory, this produces novel automation welding will to become the new century to accept the important way of market challenges.

General soldering processing needs five degree of freedom soldering robot, and a complete five degree of freedom soldering robot comprises motor, algorithm and microprocessor several sections substantially, but existing automatic soldering robot long-play exists a lot of safety problems:

What (1) automatically the power supply of soldering robot adopted is dc source after the general AC power rectification, and whole soldering campaign is failed.

(2) mostly the main control chip of soldering robot is 8 single-chip microcomputer if adopting, computing capability is not enough, causes the welding system speed of service slower.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 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.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.For the pinpoint welding procedure of five degree of freedom soldering robot, the general pwm control signal of five 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.

(3) 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.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.

(4) actuating motor as automatic soldering robot adopts stepper motor more, runs into pulse-losing through regular meeting and causes the motor desynchronizing phenomenon to take place, and causes system inconsistent for the solder joint tin output amount.Stepper motor makes organism fever more serious, needs sometimes motor body is dispelled the heat.Stepper motor increases the mechanical noise of system's running greatly, is unfavorable for environmental protection.The body of stepper motor 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, make the pulsating torque of system increase, be unfavorable for the raising of dynamic performance.

(5) 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.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.

The utility model content

The technical problem that the utility model mainly solves provides the full-automatic soldering robot serve control system of a kind of five middling speeds, can improve arithmetic speed, guarantees stability and the reliability of soldering robot system.

For solving the problems of the technologies described above, the technical scheme that the utility model adopts is: provide a kind of five middling speeds full-automatic soldering robot serve control system, comprise power supply, control module, first motor, second motor, the 3rd motor, the 4th motor, the 5th motor, the 6th motor and soldering robot, described power supply is connected with described control module, described control module comprises digital signal processing chip and LM629 motion control chip, described LM629 motion control chip production burst width modulated ripple signal also sends to described first motor, described second motor, described the 3rd motor, described the 4th motor, described the 5th motor and described the 6th motor, described first motor, described second motor, described the 3rd motor, described the 4th motor and described the 5th motor are connected with five positions in the described soldering robot respectively, and described the 6th motor is connected with the tin position that goes out in the described soldering robot.

In preferred embodiment of the utility model, described digital signal processing chip is connected with the I/O control module with human and machine interface unit, path reading unit, the default unit of trajectory parameters, temperature detecting unit, data storage cell.

In preferred embodiment of the utility model, described first motor, described second motor, described the 3rd motor, described the 4th motor, described the 5th motor and described the 6th motor are the DC servomotors that 512 linear lights electricity coding disk is housed.

In preferred embodiment of the utility model, described power supply is AC power or lithium ion battery.

The beneficial effects of the utility model are: the full-automatic soldering robot serve control system of five middling speeds of the present utility model, employing is based on the double-core control model of DSP and LM629, LM629 frees DSP from the servo algorithm of complexity, improved arithmetic speed greatly, also make described controller simplicity of design, it is short to have shortened the construction cycle, in whole soldering process, take 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.

Description of drawings

Fig. 1 is the schematic diagram of soldering robot serve control system in the utility model prior art;

Fig. 2 is the schematic diagram of full-automatic soldering robot serve control system one preferred embodiment of five middling speeds of the utility model;

Fig. 3 is the flow chart of five full-automatic soldering robot serve control systems' of middling speed controller described in Fig. 2;

Fig. 4 is the system block diagram of five full-automatic soldering robot serve control systems of middling speed described in Fig. 2.

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.

Digital signal processing chip (DSP) has computing capability fast, and wherein TMS320F2812 is the fixed point 32 bit DSP chips on the C2000 platform released of American TI company.The dsp operation clock can reach 150MHz, handling property can reach 150MIPS, every instruction cycle 6.67ns, the IO mouth is abundant, general application to the user is enough, have the SRAM of the in-chip FLASH of AD conversion, 128k * 16 of 0 ~ 3.3v of 12 and 18K * 16, general application system can not wanted outer extension memory.Have independently ALU, have 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, its operating frequency is 6MHz and 8MHz, operating temperature range is-40 ℃ ~ 85 ℃, use the 5V power supply, have 32 bit positions, speed and acceleration storage, the PWM pulsewidth modulation output of 8 bit resolutions, 16 programmable digital PID controllers and inner trapezoidal rate generator.But LM629 motion control chip real time modifying speed, target location and pid control parameter, in real time programmable Interrupt, differential term sampling interval able to programme and the increment code wheel signal carried out quadruple can be arranged at two kinds of duties of speed or position servo.

See also Fig. 2, the utility model provides a kind of five middling speeds full-automatic soldering robot serve control system, comprises power supply, control module, motor X, motor Z, motor U, motor R, motor W, motor Y and soldering robot.Described power supply is connected with described control module; described power supply is AC power or lithium ion battery; when servo-control system runs 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; avoid the generation of big electric current, fundamentally solved big electric current to the impact of lithium ion battery.

Described control module comprises digital signal processing chip and LM629 motion control chip, described LM629 motion control chip production burst width modulated ripple signal also sends to described motor X, described motor Z, described motor U, described motor R, described motor W and described motor Y, described motor X, described motor Z, described motor U, described motor R and described motor W control the five degree of freedom servo motion of described soldering robot, and described motor Y controls the tin output amount of described soldering robot.Described DSP is 32, described DSP is connected with the I/O control module with human and machine interface unit, path reading unit, the default unit of trajectory parameters, temperature detecting unit, data storage cell, thereby realized the division of labor of DSP and LM629, also can carry out exchanges data in real time and call between the two simultaneously.

Described controller adopts paster components and parts material, has realized veneer control, has saved control panel and has taken up room, and is conducive to alleviating of the long-pending and weight of soldering machine human body.

Described motor X, described motor Z, described motor U, described motor R, described motor W and described motor Y are the DC servomotors, adopt the DC servomotor to make speed adjustable range wideer, speed ratio is more steady, described DC servomotor has adopted 512 linear lights electricity coding disk, substituted the stepper motor of using always in the legacy system, make operational precision improve greatly, efficient is also higher relatively.

See also Fig. 3 and Fig. 4, the concrete function of described five degree of freedom high speed soldering robot serve control system is embodied as: 1, operating personnel are installed in processing component on the anchor clamps, opening power, can judge the supply voltage source at opening power moment DSP, when determining to be storage battery power supply, if cell voltage low pressure, to forbid all LM629 work, motor X, motor Z, motor U, motor R, motor W and motor Y can not work, voltage sensor will be worked simultaneously, and controller can send the low pressure alarming signal.

2, the people's automatic control program that starts the machine by controller 232 serial ports input soldering task, moves to the starting point top with the soldering robot, adjusts pose.

3, five LM629 enter real-time communication by I/O mouth and DSP, control it by DSP and turn on and off.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.For the system based on LM629, resetting also is important step in the LM629 servos manipulate, after resetting, check the status word of LM629, if be not equal to 84H or C4H, the hardware reset failure is described, must reset again, otherwise LM629 cannot operate as normal.

4, in automatic soldering robot motion process, DSP can constantly store the distance of process or the solder joint of process, and calculate the automatic soldering robot motor of next relatively solder joint X according to these range informations by DSP, motor Z, motor U, the distance that motor R and motor W will move, speed and acceleration, DSP and LM629 communication, transmit these parameters and give LM629, generate motor X by LM629, motor Z, motor U, motor R, motor W and speed motion ladder diagram, this trapezoidal area that comprises is exactly soldering robot motor X, motor Z, motor U, motor R and the motor W distance that relative and previous quintuple space solder joint will move in quintuple space, again according to motor X, motor Z, motor U, the electric current of motor R and motor W and photoelectric coded disk information generate control motor X, motor Z, motor U, PWM ripple and the direction of motion signal of motor R and motor W operation.

5, as motor X, motor Z, motor U, after motor R helps the soldering robot to arrive predetermined quintuple space 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 enter secondary and confirm, be converted into out the distance that tin system motor Y need move, 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 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 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 again.

6, 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, self-locking immediately, flatiron and go out the tin system and move at the tin welding spot in the next quintuple space under the effect of motor X, motor Z, motor U, motor R and motor W together.

If 7, in motion process 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, motor U, the motor R of soldering robot and the motor Y that goes out the tin system are with the original place self-locking, prevent maloperation, send a warning artificial detection failure by DSP.

8, the photoelectric coded disk that is contained on motor X, motor Z, motor U, motor R 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 1 or subtract 1 according to the traffic direction of motor X, motor Z, motor U, motor R and motor Y; When position signalling A pulse, B pulse and the Z pulse of photoelectric coded disk is 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 the solder joint quintuple space and the physical length that goes out tin.

9, DSP is according to the particular location of soldering robot in the quintuple space 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.

10, 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 PWM ripple signal in conjunction with motor position decoding, is used for realizing the automatic soldering five degree of freedom servo-drive system motor X of robot, motor Z, motor U, motor R, motor W and goes out the accurate SERVO CONTROL of tin system motor Y.

When if 11 automatic soldering robots run into unexpected outage in running, 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, thereby had avoided the generation of high-rate battery discharge effectively.

12, in order to estimate the residual tin on quality of welding spot and the cleaning solder horn, system has added the automatic pause function in man-machine interface, if in the soldering process, read the automatic pause point that man-machine interface arranges, DSP can control LM629 stops motor X, motor Z, motor U, motor R and motor W with the acceleration of maximum, flatiron enters resting state, motor Y self-locking, and storage current information, the residual scolding tin of artificial cleaning 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.

13, in motion process, pulsation appears if detect the torque of motor, and controller is compensation automatically, has reduced the influence of motor torque to the soldering process.Automatically the soldering robot can detect cell voltage constantly at running, and when low pressure appearred in system, sensor meeting notification controller was opened and sent alarm, has protected lithium ion battery effectively.

14, 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, through a time-delay, walk out movement locus, the soldering robot resets position zero point, waits for the task of following one-period.

The beneficial effect that the five degree of freedom high speed soldering robot serve control system that the utility model discloses has is:

1, adopt high performance 32 bit DSPs that system handles speed is increased greatly, the fine requirement of satisfying soldering system rapidity.LM529 can free DSP from the servo algorithm of complexity, improved arithmetic speed greatly, also makes the controller simplicity of design to have shortened the construction cycle weak point.

2, in the soldering process, send tin speed control to regulate automatically, temperature sensor sends DSP to after the operating temperature collection of solder horn, 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.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 scolding tin needs.

3, 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, controller accesses the information of next solder joint in the memory immediately, DSP can adjust and send tin motor Y speed and the distance of operation according to the speed of the spot size of welded article and the operation of current scolding tin robot.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.

4, adopt LM629 processing lot of data and algorithm that DSP is freed from the hard work amount, prevented " race flies " of program effectively, antijamming capability strengthens greatly.

5, to be LM629 obtain according to predeterminated position, speed and acceleration parameter and the photoelectric coded disk information of DSP the PWM ripple of control motor rotation, not only simplified interface circuit, and saved DSP and write position, speed control program, and the trouble of various pid algorithms, make that the debugging of system is simple.

6, in control, DSP adjusts the pid parameter of LM629 inside 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 the middling speed operation.Double-damping structure is adopted in PID control and the instruction of 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.

7, 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.

8, in whole soldering process, added the breakpoint setting, be conducive to the solder joint that range estimation has been welded in motion process 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.

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 (4)

1. full-automatic soldering robot serve control system of five middling speeds, it is characterized in that, comprise power supply, control module, first motor, second motor, the 3rd motor, the 4th motor, the 5th motor, the 6th motor and soldering robot, described power supply is connected with described control module, described control module comprises digital signal processing chip and LM629 motion control chip, described LM629 motion control chip production burst width modulated ripple signal also sends to described first motor, described second motor, described the 3rd motor, described the 4th motor, described the 5th motor and described the 6th motor, described first motor, described second motor, described the 3rd motor, described the 4th motor and described the 5th motor are connected with five positions in the described soldering robot respectively, and described the 6th motor is connected with the tin position that goes out in the described soldering robot.

2. the full-automatic soldering robot serve control system of five middling speeds according to claim 1, it is characterized in that described digital signal processing chip is connected with the I/O control module with human and machine interface unit, path reading unit, the default unit of trajectory parameters, temperature detecting unit, data storage cell.

3. the full-automatic soldering robot serve control system of five middling speeds according to claim 1, it is characterized in that described first motor, described second motor, described the 3rd motor, described the 4th motor, described the 5th motor and described the 6th motor are the DC servomotors that 512 linear lights electricity coding disk is housed.

4. the full-automatic soldering robot serve control system of five middling speeds according to claim 1 is characterized in that described power supply is AC power or lithium ion battery.

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