CN203224742U - Dual-core single-shaft high-speed soldering robot servo control system based on image acquisition - Google Patents
Dual-core single-shaft high-speed soldering robot servo control system based on image acquisition Download PDFInfo
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- CN203224742U CN203224742U CN 201320189919 CN201320189919U CN203224742U CN 203224742 U CN203224742 U CN 203224742U CN 201320189919 CN201320189919 CN 201320189919 CN 201320189919 U CN201320189919 U CN 201320189919U CN 203224742 U CN203224742 U CN 203224742U
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Abstract
The utility model discloses a dual-core single-shaft high-speed soldering robot servo control system based on image acquisition, comprising an execution device, a human-computer interface, a master control device, a servo device, an image control device, a temperature control device, and a battery device; wherein the execution device comprises a soldering iron and a tin output pipe, the master control device comprises a digital signal processing chip and a field programmable gate array chip, the servo device comprises a robot servo device and a tin output servo device, the image control device comprises an acquisition device and a control device, the battery device comprises an AC (Alternating Current) power supply and a battery, the field programmable gate array chip is connected with the servo device and the image control device, the digital signal processing chip is connected with the temperature control device and the human-computer interface, the field programmable gate array chip is connected with the digital signal processing chip, and the execution device is connected with the servo device. The dual-core single-shaft high-speed soldering robot servo control system of the utility model has the characteristics of high speed and high efficiency.
Description
Technical field
The utility model has related to a kind of servo controller, has particularly related to a kind of double-core single shaft high speed soldering robot serve control system based on image acquisition.
Background technology
As everyone knows, the classic method of soldering processing is can be in time to adjust the speed of position, attitude and the walking of welding gun according to the viewed actual bond pad locations of eyes by experienced welder, to adapt to the variation of solder joint and welding track, still can welding quality and the output of product be impacted like this; In addition, during manual welding, people do not quantize the cost accounting of producing product, are unable to estimate cost, can't guarantee the efficient of welding yet.
Now, the hi-tech fast development, automatically the soldering robot also arises at the historic moment, but operation for a long time, allows it is found that and exist a lot of safety problems, that is: only rely on human eye to carry out the correction of initial position during soldering, and degree of accuracy reduces greatly; Common machines human direct supply can make whole spot welding campaign failure during power failure; Mostly main control chip is 8 single-chip microcomputer if adopting, computing power is not enough, and system running speed is slower; Because the part of microprocessor software participation system servo-drive system is calculated, and makes that system-computed speed is low, and owing to adopted special-purpose motion control chip, can't expand design, also can't realize various advanced motion control arithmetics; What automatically the soldering robot adopted is stepper motor, through regular meeting's pulse-losing, mistake is appearred in the memory of position, and the stepper motor heating is more serious, and mechanical noise is big, is unfavorable for environmental protection, the control circuit more complicated, and the cost height, travelling speed is slow; The ordinary robot adopts the bigger plug-in unit components and parts of volume, makes that the volume of servo controller is bigger.
So 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 high speed, efficient soldering servomechanism.
The utility model content
The utility model mainly is the requirement at present market, and a kind of double-core single shaft high speed soldering robot serve control system based on image acquisition 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 double-core single shaft high speed soldering robot serve control system based on image acquisition, it comprises actuating unit, man-machine interface, the overhead control device, servomechanism installation, image control apparatus, temperature control equipment and cell apparatus, described actuating unit comprises flatiron and goes out tin-tube, described overhead control device comprises digital signal processing chip and field programmable gate array chip, described servomechanism installation comprises the robot servomechanism installation and goes out the tin servomechanism installation, described image control apparatus comprises harvester and control device, described cell apparatus comprises AC power and battery, described field programmable gate array chip is connected with image control apparatus with servomechanism installation, described digital signal processing chip is connected with described man-machine interface with described temperature control equipment, described field programmable gate array chip is connected with described digital signal processing chip, and described actuating unit is connected with described servomechanism installation.
In preferred embodiment of the utility model, described double-core single shaft high speed soldering robot serve control system based on image acquisition has adopted SMD components and parts.
In preferred embodiment of the utility model, described servomechanism installation has adopted the DC permanent magnet servomotor.
In preferred embodiment of the utility model, described servomechanism installation comprises photoelectric coded disk.
In preferred embodiment of the utility model, described battery has adopted lithium ion battery.
The beneficial effects of the utility model are: the double-core single shaft high speed soldering robot serve control system based on image acquisition described in the utility model, can effectively improve the precision of soldering robot motion, can also guarantee speed and the quality of welding job, in addition, can control and reduce production costs handled easily.
Description of drawings
Fig. 1 is that the utility model is based on the structural representation of double-core single shaft fully automatic high-speed soldering robot servo controller one preferred embodiment of image acquisition;
The mark of each parts is as follows in the accompanying drawing: 1, actuating unit, 2, man-machine interface, 3, image control apparatus, 4, temperature control equipment, 5, servomechanism installation, 6, digital signal processing chip, 7, field programmable gate array chip, 8, AC power, 9, battery.
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 double-core single shaft high speed soldering robot serve control system one preferred embodiment of image acquisition.
The utility model provides a kind of double-core single shaft high speed soldering robot serve control system based on image acquisition, it comprises actuating unit 1, man-machine interface 2, the overhead control device, servomechanism installation 5, image control apparatus 3, temperature control equipment 4 and cell apparatus, described actuating unit 1 comprises flatiron and goes out tin-tube, described overhead control device comprises digital signal processing chip 6 and field programmable gate array chip 7, described servomechanism installation 5 comprises the robot servomechanism installation and goes out the tin servomechanism installation, described image control apparatus 3 comprises harvester and control device, described cell apparatus comprises AC power 8 and battery 9, described field programmable gate array chip 7 is connected with described image control apparatus 3 with described servomechanism installation 5, described digital signal processing chip 6 is connected with described man-machine interface 2 with described temperature control equipment 4, described field programmable gate array chip 7 is connected with described digital signal processing chip 6, and described actuating unit 1 is connected with described servomechanism installation 5.
After the opening power, automatically the soldering robot is introduced into self-locking state, automatically open described flatiron power supply then it is heated to some stationary temperatures, described robot servomechanism installation is automatically moved to useless tin recovery place with described actuating unit 1, automatically open the described tin servomechanism installation that goes out then, and test described flatiron temperature, Deng test finish the back described go out the tin servomechanism installation automatically mobile described actuating unit 1 to starting point, this moment, described image control apparatus 3 was opened, and went out the position of tin-tube and starting point from normal moveout correction.Described digital signal processing chip 6 receives Actual path transmission parameter and the solder joint information that stores, and these environmental parameters are converted into automatic soldering robot described robot servomechanism installation and describedly go out the distance that the tin servomechanism installation will move under the designated movement track, described digital signal processing chip 6 carries out communication with described field programmable gate array chip 7 then, described field programmable gate array chip 7 according to these parameters again according to current of electric and photoelectric coded disk information processing apparatus people's servomechanism installation and the described servocontrol that goes out the tin servomechanism installation, give described digital signal processing chip 6 the deal with data communication again, continue to handle follow-up running status by described digital signal processing chip 6.
When described image control apparatus 3 was opened, described harvester obtained the current positional information that goes out tin-tube, and was sent to described control device and calculates and judge, if it is different with the position of starting point to go out tin-tube, then it was proofreaied and correct.
This automatic soldering robot has adopted high performance 32-bit number signal processing chip 6, 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 6 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 7 inside are 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 7 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, so described master controller adopts described field programmable gate array chip 7 to handle single-degree-of-freedom soldering robot and go out the servo-controlled data of tin and algorithm, described digital signal processing chip 6 is freed from the hard work amount, improved arithmetic speed greatly, make that also the controller design is fairly simple, it is short to have shortened the construction cycle, prevented " race flies " of program effectively, antijamming capability strengthens greatly.
Described double-core single shaft high speed soldering robot serve control system based on image acquisition has adopted SMD components and parts, 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.
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 the DC servomotor 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 servomechanism installation 5 has adopted the DC permanent magnet servomotor, and the DC permanent magnet servomotor can be so that speed adjustable range be wideer, and speed ratio is more steady, and noise is little, prevents from causing environmental pollution.
Described servomechanism installation 5 comprises photoelectric coded disk, in order to improve movement velocity and precision, this soldering robot has adopted the DC permanent magnet servomotor that has 1024 linear lights electricity code-wheel to substitute the stepper motor of using always in the legacy system, makes operational precision improve greatly, and efficient is also higher relatively.
Described battery 9 has adopted lithium ion battery; in motion process; 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, described overhead control device provides in the process of power supply at battery, and the moment is observed the electric current of battery 9 and protects; avoided the generation of big electric current, so fundamentally solved big electric current to the impact of lithium ion battery.
Double-core single shaft high speed soldering robot serve control system based on image acquisition described in the utility model, the precision of soldering robot motion can be effectively improved, speed and the quality of welding job can also be guaranteed, in addition, can control and reduce production costs handled easily.
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 instructions 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. double-core single shaft high speed soldering robot serve control system based on image acquisition, it is characterized in that: comprise actuating unit, man-machine interface, the overhead control device, servomechanism installation, image control apparatus, temperature control equipment and cell apparatus, described actuating unit comprises flatiron and goes out tin-tube, described overhead control device comprises digital signal processing chip and field programmable gate array chip, described servomechanism installation comprises the robot servomechanism installation and goes out the tin servomechanism installation, described image control apparatus comprises harvester and control device, described cell apparatus comprises AC power and battery, described field programmable gate array chip is connected with image control apparatus with servomechanism installation, described digital signal processing chip is connected with described man-machine interface with described temperature control equipment, described field programmable gate array chip is connected with described digital signal processing chip, and described actuating unit is connected with described servomechanism installation.
2. the double-core single shaft high speed soldering robot serve control system based on image acquisition according to claim 1 is characterized in that, described double-core single shaft high speed soldering robot serve control system based on image acquisition has adopted SMD components and parts.
3. the double-core single shaft high speed soldering robot serve control system based on image acquisition according to claim 1 is characterized in that described servomechanism installation has adopted the DC permanent magnet servomotor.
4. the double-core single shaft high speed soldering robot serve control system based on image acquisition according to claim 1 is characterized in that described servomechanism installation comprises photoelectric coded disk.
5. the double-core single shaft high speed soldering robot serve control system based on image acquisition 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 |
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| CN 201320189919 CN203224742U (en) | 2013-04-15 | 2013-04-15 | Dual-core single-shaft high-speed soldering robot servo control system based on image acquisition |
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| CN 201320189919 CN203224742U (en) | 2013-04-15 | 2013-04-15 | Dual-core single-shaft high-speed soldering robot servo control system based on image acquisition |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103203750A (en) * | 2013-04-15 | 2013-07-17 | 苏州工业园区职业技术学院 | Dual-core single-shaft high-speed tin soldering robot servo control system based on image acquisition |
| CN106734476A (en) * | 2016-11-15 | 2017-05-31 | 成都陵川特种工业有限责任公司 | A kind of energy-efficient spinning machine spinning control method |
-
2013
- 2013-04-15 CN CN 201320189919 patent/CN203224742U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103203750A (en) * | 2013-04-15 | 2013-07-17 | 苏州工业园区职业技术学院 | Dual-core single-shaft high-speed tin soldering robot servo control system based on image acquisition |
| CN103203750B (en) * | 2013-04-15 | 2016-03-02 | 苏州工业园区职业技术学院 | Based on the double-core single shaft high speed soldering robot serve control system of IMAQ |
| CN106734476A (en) * | 2016-11-15 | 2017-05-31 | 成都陵川特种工业有限责任公司 | A kind of energy-efficient spinning machine spinning control method |
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| Date | Code | Title | Description |
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| 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 |