TWI721872B - Automatic control system and method for automatic machine having conveyer - Google Patents

Abstract

The present disclosure provides automatic control system and method for an automatic machine having a conveyer, where the automatic control method includes operations as follows. The track device of the machine is commanded to operate from a zero speed to a first track speed through a preset acceleration; after a first sensor senses a device under test, the track device is commanded to perform a trapezoidal acceleration and deceleration. The trapezoidal acceleration and deceleration operates from the first track speed to a second track speed through the preset acceleration and operates from the second track speed to the zero speed after the duration during which the track device is maintained at the second track speed, so that the device under test can be stopped at a target position.

Description

Automatic control system and method suitable for automatic machine with conveyor belt

The present invention relates to a system and method, and particularly relates to an automatic control system and method suitable for an automatic machine with a conveyor belt.

At present, the traditional machine adopts the upper controller and the speed loop control, and the stop position is not accurate. It will rebound when it collides with the stopping mechanism, and then slowly push the board to be tested against the stopping mechanism. The rebound and top return condition causes the instability of the board feed time, and the loss of the board stop mechanism affects the accuracy of the board stop position.

In addition, the current traditional machines currently use upper-level controllers, and the track speed when entering the board is different from that of the previous station. When the board to be tested is brought in, it may cause slippage, making the boarding time unstable. Furthermore, the current board feed speed needs to be adjusted, which varies with the size and weight of the board to be tested, and manual adjustment is required.

The present invention proposes an automated machine suitable for a conveyor belt The automatic control system and method to improve the problems of the prior art.

In an embodiment of the present invention, the automatic control system proposed by the present invention is suitable for an automatic machine with a conveyor belt. The automatic control system includes a driver, a shaft control device, a controller, and a first sensor. The driver is electrically connected The track device of the automation machine, the axis control device is electrically connected to the driver, the controller is electrically connected to the axis control device, and the first sensor is electrically connected to the axis control device. The controller sends a single command to the axis control device, so that the driver drives the track device to operate at a preset acceleration from zero speed to the first track speed. After the first sensor detects the object to be measured, the axis control device causes the track device to perform trapezoidal acceleration and deceleration. The trapezoidal acceleration and deceleration system increases from the first track speed to the second track speed at a preset acceleration, and then maintains it on the track device. During the second orbital speed, the predetermined deceleration is reduced to zero speed, so that the object to be measured stops at the target position after experiencing the moving distance.

In an embodiment of the present invention, the first sensor is adjacent to the input end of the track device of the automation machine, and the input end is adjacent to the previous automation machine, and the track device of the previous automation machine sets the to-be-measured at the first track speed The object is fed into the input end of the track device of the automated machine, and the track device of the automated machine receives the object to be measured at the first track speed.

In an embodiment of the present invention, after the first sensor senses the object to be measured, when the first sensor senses that the object to be measured is separated from the first sensor, the axis control device makes the track device Trapezoidal acceleration and deceleration are performed based on the preset acceleration and the time to increase from zero speed to the first track speed, correspondingly extending the period during which the track device maintains the second track speed, so as to compensate the initial moving distance in the moving distance.

In an embodiment of the present invention, the automatic control system further includes a second sensor, the second sensor is electrically connected to the shaft control device, and the second sensor is disposed on the track device. The second sensor senses whether the object to be measured stops at the target position.

In an embodiment of the present invention, the axis control device is a field programmable logic gate array (FPGA) or a special application integrated circuit (ASIC), and the controller is a programmable logic controller (PLC).

In an embodiment of the present invention, the automatic control method proposed by the present invention is applicable to an automatic machine with a conveyor belt, and the automatic control method includes the following operations. The track device of the automated machine is made to operate at a preset acceleration from zero speed to the first track speed; after the first sensor detects the object to be measured, the track device is made to perform trapezoidal acceleration and deceleration. The trapezoidal acceleration and deceleration system is increased from the first orbital speed to the second orbital speed at a preset acceleration, and then the preset deceleration is reduced to zero speed while the track device is maintained at the second orbital speed, so that the object to be measured stops at the target position.

In an embodiment of the present invention, the first sensor is adjacent to the input end of the track device of the automation machine, and the input end is adjacent to the previous automation machine, and the track device of the previous automation machine sets the to-be-measured at the first track speed The object is fed into the input end of the track device of the automated machine, and the track device of the automated machine receives the object to be measured at the first track speed.

In an embodiment of the present invention, the automatic control method further includes: after the first sensor detects the object to be measured, when the first sensor senses that the object to be measured has separated from the first sensor, Make the track device perform trapezoidal acceleration and deceleration. The trapezoidal acceleration and deceleration is based on the preset acceleration and the time from zero speed to the first track speed, and the track device maintains the second track speed accordingly. During this period, the initial movement distance is compensated in the movement distance.

In an embodiment of the present invention, the automatic control method further includes: sensing whether the object to be measured stops at the target position through the second sensor.

In an embodiment of the present invention, the automatic control method further includes: in the automatic adjustment process, determining the moving distance according to the size of the object to be measured; determining the acceleration time according to the weight of the object to be measured and the starting torque of the driver; Set the multiple relationship between the deceleration time and the acceleration time; determine the maximum track speed according to the weight of the object to be measured and the maximum torque of the drive; according to the acceleration time, deceleration time and the maximum track speed, adjust the preset acceleration, Preset deceleration and second orbital speed.

In summary, the technical solution of the present invention has obvious advantages and beneficial effects compared with the prior art. With the technical solution of the present invention, the controller sends a single integrated command to the axis control device, which simplifies the object to be tested from being brought into the track to moving into position, thereby reducing the problem of the object to be tested colliding with the baffle, and reducing the loss and reduction of the stop mechanism Short time to place improves the test speed. In addition, the technical solution of the present invention solves the problem of the object to be tested slipping due to inconsistent speeds at the junction of the track of the previous automated machine and the automated machine, which in turn affects the unstable test time. Furthermore, with the technical solution of the present invention, after the size and weight of the object to be measured are input, the time difference between the first sensor and the second sensor is analyzed through a stable and accurate position movement command, and the system It can automatically adjust the machine and calculate the best acceleration and deceleration curve.

Hereinafter, the above description will be described in detail by way of implementation, and a further explanation will be provided for the technical solution of the present invention.

In order to make the above and other objects, features, advantages and embodiments of the present invention more comprehensible, the description of the attached symbols is as follows:

10: Automation machine

20: The previous automation machine

100: automatic control system

110: drive

120: Axis control device

130: Controller

140: The first sensor

150: second sensor

190: Orbital device

210: DUT

220: input

250: target location

260: baffle

270: Conveyor belt

290: Track Device

310: Trapezoidal acceleration and deceleration

400: automatic control method

S401~S403: steps

A: Triangle area

A’: Compensation area

D: moving distance

V1: The first orbital speed

V2: Second orbital speed

In order to make the above and other objectives, features, advantages and embodiments of the present invention more comprehensible, the description of the accompanying drawings is as follows:

Figure 1 is a block diagram of an automatic control system according to an embodiment of the present invention;

Figure 2 is a schematic diagram of an automatic control system transporting an object to be tested according to an embodiment of the present invention;

Figure 3 is a diagram showing the relationship between speed and time of a track device in operation according to an embodiment of the present invention; and

Figure 4 is a flowchart of an automatic control method according to an embodiment of the present invention.

In order to make the description of the present invention more detailed and complete, please refer to the attached drawings and the various embodiments described below. The same numbers in the drawings represent the same or similar elements. On the other hand, well-known elements and steps are not described in the embodiments to avoid unnecessary limitations on the present invention.

In the embodiments and the scope of patent application, the description of "connection" can generally refer to a component that is indirectly coupled to another component through other components, or that one component is directly connected to another component without going through other components.

In the implementation and the scope of the patent application, the description of "connection" can generally refer to a component that indirectly communicates with another component through wired and/or wireless communication through other components, or that a component does not need to be physically connected through other components. Connect to another component.

In the implementation mode and the scope of the patent application, unless the article is specifically limited in the context, "一" and "the" can generally refer to a single or plural.

The "about", "approximately" or "approximately" used in this article are used to modify any amount that can be changed slightly, but such slight changes will not change its essence. If there is no special description in the embodiment, it means that the error range of the value modified with "about", "approximately" or "approximately" is generally allowed within 20%, preferably less than 10%. Within, and preferably within 5%.

FIG. 1 is a block diagram of an automatic control system 100 according to an embodiment of the present invention. As shown in FIG. 1, the automatic control system 100 is suitable for an automatic machine 10, and the automatic control system 100 includes a driver 110, an axis control device 120, a controller 130, a first sensor 140 and a second sensor 150. In terms of architecture, the driver 110 is electrically connected to the track device 190 of the automation machine 10, the axis control device 120 is electrically connected to the driver 110, the controller 130 is electrically connected to the axis control device 120, and the first sensor 140 is electrically connected to the axis control The device 120 and the second sensor 150 are electrically connected to the shaft control device 120.

For example, the track device 190 may include a motor and a conveyor belt 270 (as shown in Figure 2), the driver 110 may be a motor controller, and the axis control device 120 may be a field programmable logic gate array (FPGA) or a special application product. ASIC, and the controller 130 is a programmable logic controller (PLC).

In practice, the programmable logic controller control board (PLC Control Board) can reduce the cost of in-line automation machine control, Improve the required performance. Independent on-site programmable logic gate array (FPGA-based) motor upper axis control can develop instruction sets and functions in response to the In-Line environment. Within the limited resources of on-site programmable logic gate arrays, 6-8 axis control outputs have been developed, which can be connected with stepper and servo motors. The development of functions also considers the use of resources to optimize the cost effect.

In terms of architecture, the first sensor 140 and the second sensor 150 can be directly connected to the axis control device 120 without going through the controller 130, that is, the first sensor 140 and the second sensor 150 can be connected to the control The device 130 is electrically isolated. In this way, the communication time between the controller 130 and the axis control device 120 is reduced, and the response is rapid.

In order to further explain the operation of the above-mentioned automatic control system 100, please refer to Figures 1 to 3 at the same time. Figure 2 is a schematic diagram of an automatic control system 100 transporting an object to be tested 210 according to an embodiment of the present invention. FIG. 3 is a diagram showing the relationship between speed and time of a track device 190 in operation according to an embodiment of the present invention. For example, the test object 210 may be a circuit board, a wafer, a display panel, or other items.

During operation, the controller 130 sends a single command (such as a single integrated command) to the axis control device 120, so that the driver 110 drives the track device 190 to operate at a predetermined acceleration from zero speed to the first track speed V1. After the first sensor 140 detects the object 210, the axis control device 120 causes the track device 190 to perform a trapezoidal acceleration/deceleration 310. The trapezoidal acceleration/deceleration 310 is increased from the first track speed V1 to the second track at a preset acceleration Speed V2, and then during the period when the orbital device 190 is maintained at the second orbital speed V2 The predetermined deceleration is reduced to zero speed, so that the object under test 210 stops at the target position 250 after experiencing the moving distance D. The second sensor 150 senses whether the object under test 210 is stopped at the target position 250; if so, the testing device of the automated machine 10 tests the object under test 210. Thereby, the automatic control system 100 integrates and simplifies the object 210 to be tested from being brought into the track device 190 until it is moved into position, thereby reducing the problem of the object 210 colliding with the baffle 260, reducing the loss of the stop mechanism and shortening the time to place. Improve the test speed.

In Figure 2, the first sensor 140 is adjacent to the input terminal 220 of the track device 190 of the automation machine 10, and the input terminal 220 is adjacent to the previous automation machine 20. The track device 290 of the previous automation machine 20 is first The track speed feeds the object 210 to be tested into the input terminal 220 of the track device 190 of the automated machine 10, and the track device 190 of the automated machine 10 receives the object to be measured 210 at the first track speed. In this way, the automatic control system 100 solves the problem that the test object 210 slips due to the inconsistent speed at the track junction of the previous automatic machine 20 and the automatic machine 10, which affects the instability of the test time.

Please refer to FIGS. 1 to 3 at the same time. In an embodiment of the present invention, after the first sensor 140 senses the object 210, when the first sensor 140 senses that the object 210 is separated In the case of the first sensor 140, the axis control device 120 causes the track device 190 to perform a trapezoidal acceleration/deceleration 310. The trapezoidal acceleration/deceleration 310 is based on the preset acceleration and the time from zero speed to the first track speed V1, and the track device is extended accordingly 190 is maintained at the second orbital speed V2, so as to compensate the initial moving distance in the moving distance D.

It should be understood that when the automatic control system 100 is operating, the trapezoidal acceleration/deceleration 310 has an initial speed (first track speed V1), and the same trapezoidal curve Offline, the displacement (trapezoidal area) will be less than the triangle area A (ie, the initial movement distance) formed during the initial speed acceleration. Therefore, this case uses resources to minimize the initial speed trapezoidal acceleration and deceleration calculation capability, that is, use the same pre-speed Set acceleration so that the initial acceleration slope is equal to the trapezoidal acceleration slope, so the number of pulse commands during the initial acceleration (that is, the track movement caused by the motor rotation) can be compensated in the trapezoidal constant velocity section, thereby greatly reducing the hardware computing complexity; in other words, The compensation area A′ is equal to the triangle area A, and the area in the trapezoidal acceleration/deceleration 310 is the moving distance D.

In order to further explain the automatic control method of the automatic control system 100, please refer to FIGS. 1 to 4 at the same time. FIG. 4 is a flowchart of an automatic control method 400 according to an embodiment of the present invention. As shown in Figure 2, the automatic control method 400 includes steps S401 to S403 (it should be understood that the steps mentioned in this embodiment, unless the order is specifically stated, can be adjusted according to actual needs. , It can even be executed simultaneously or partially simultaneously).

In step S401, the orbit device 190 of the automated machine 10 is made to operate at a predetermined acceleration from zero speed to the first orbit speed V1. In step S402, after the first sensor 140 detects the object 210, the track device 190 is made to perform trapezoidal acceleration and deceleration 310. The trapezoidal acceleration/deceleration 310 is increased from the first orbital speed V1 to the second orbital speed V2 at a preset acceleration, and then the preset deceleration is reduced to zero speed while the orbital device 190 is maintained at the second orbital speed V2, so that the waiting The measured object 210 stops at the target position 250. In step S403, it is sensed through the second sensor 150 whether the object under test 210 is stopped at the target position 250; if so, the test device of the automated machine 10 is the object under test 210 carry out testing. In this way, the automatic control method 400 integrates and simplifies the object 210 to be tested from being brought into the track device 190 until it is moved into position, thereby reducing the problem of the object 210 colliding with the baffle plate 260, reducing the loss of the stop mechanism and shortening the time to place. Improve the test speed.

In the automatic control method 400, the first sensor 140 is adjacent to the input terminal 220 of the track device 190 of the automation machine 10, and the input terminal 220 is adjacent to the previous automation machine 20. The track device 290 of the previous automation machine 20 is A track speed V1 feeds the object to be measured into the input terminal 220 of the track device 190 of the automated machine 10, and the track device 190 of the automated machine 10 receives the object to be measured 210 at the first track speed V1.

In the automatic control method 400, after the first sensor 140 senses the object 210, when the first sensor 140 detects that the object 210 has been separated from the first sensor 140, the track device 190 performs trapezoidal acceleration/deceleration 310. The trapezoidal acceleration/deceleration 310 is based on the preset acceleration and the time to increase from zero speed to the first track speed V1, correspondingly extending the period during which the track device 190 is maintained at the second track speed V2, so as to move the distance Compensate the initial moving distance in D.

It should be understood that in the automatic control method 400, the trapezoidal acceleration/deceleration 310 has an initial speed (first track speed V1), and under the same trapezoidal curve, the displacement (trapezoidal area) will be less than the triangle formed by the initial speed acceleration. Area A (that is, the initial movement distance), so this case uses resources to minimize the initial speed trapezoidal acceleration and deceleration calculation capability, that is, use the same preset acceleration, so that the initial acceleration slope is equal to the trapezoidal acceleration slope, so the pulse command during the initial acceleration The quantity (i.e. the orbital movement caused by the rotation of the motor) can be Compensation is in the constant velocity section of the trapezoid, thereby greatly reducing the hardware computing complexity; in other words, the compensation area A'is equal to the triangular area A, and the area in the trapezoidal acceleration/deceleration 310 is the moving distance D.

In an embodiment of the present invention, the automatic control method 400 further includes an automatic adjustment process, and the automatic adjustment process includes formula application and automatic learning. The main calculations of the automatic adjustment process can be implemented by the axis control device 120 and/or the controller 130, or the automatic control system 100 can be connected to an external computer for collaborative operation.

In the application of the formula, determine the moving distance D according to the size of the object under test (such as length); determine the acceleration time according to the weight of the object 210 and the starting torque of the driver 110; set the difference between the deceleration time and the acceleration time The multiple relationship, the multiple relationship can be determined according to empirical values; according to the weight of the test object 210 and the maximum torque of the driver 110, the maximum orbital speed is determined.

In this way, the basic acceleration and deceleration curve can ensure that the driver 110 (eg, the motor driver does not lose step), but it does not mean that the object under test 210 and the track device 190 do not slip due to inertia or friction. Therefore, according to the acceleration time, the deceleration time and the maximum orbital speed, the preset acceleration, the preset deceleration and the second orbital speed V2 are adjusted through automatic learning.

Regarding the actual learning acceleration time, after the basic acceleration and deceleration curve is established, the second sensor 150 is used to detect whether the object 210 is in place. The automatic control system 100 will continue to increase the acceleration and deceleration time, and the maximum speed will not change until the second sensor 150 detects it correctly.

Regarding the actual learning deceleration time, when the acceleration time correction is completed, the movement distance is reduced slightly. At this time, the second sensor 150 is completed after the movement instruction is completed. Object 210 should not be detected. The automatic control system 100 can continuously reduce the deceleration time until the second sensor 150 detects it, which is the limit of the deceleration time.

Next, the hardware calculates and calculates the number of pulses required for acceleration and deceleration according to the acceleration time, deceleration time, and maximum speed. The total displacement is used to calculate the number of pulses in the constant velocity section.

For example, input the size and weight of the test object 210 to complete the acceleration and deceleration curve of the motor driver to ensure that the motor of the track device 190 does not lose step. The deceleration time is temporarily set to twice the acceleration time. According to the acceleration and deceleration curve, if the second sensor 150 does not detect the object 210, the acceleration and deceleration time will be increased by 10% at the same time. At the same time, the reason for increasing the deceleration time is to make the deceleration state more stable and will not affect the adjustment of the acceleration time. The acceleration time is fixed, and the moving distance is reduced by 1mm. The deceleration time is automatically and continuously reduced by 10% until the second sensor 150 detects the object 210 under test. The last deceleration time after completion is the limit value. Actually use 90% of the maximum speed, 110% of the acceleration time, and 110% of the deceleration time as safety values. It should be understood that the above numerical values are only examples and are not intended to limit the present invention. Those familiar with the art should flexibly adjust various parameters according to actual applications.

In summary, the technical solution of the present invention has obvious advantages and beneficial effects compared with the prior art. With the technical solution of the present invention, the controller sends a single integrated command to the axis control device, which simplifies the object 210 from being brought into the track device 190 until it moves into position, thereby reducing the problem of the object 210 colliding with the baffle plate 260 and reducing stoppage. The board structure loss and shorten the time to place, improve the test speed. In addition, the technical solution of the present invention solves the problem of the previous automatic machine At the junction of the track of the station 20 and the automated machine station 10, the object under test 210 slips due to the inconsistent speed, which affects the problem of unstable test time. Furthermore, with the technical solution of the present invention, after inputting the size and weight of the test object 210, the time between the first sensor 140 and the second sensor 150 is analyzed through stable and accurate position movement commands. However, the automatic control system 100 and/or the automatic control method 400 can automatically adjust the machine and calculate the best acceleration and deceleration curve.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention. Anyone familiar with the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection of the present invention The scope shall be subject to the definition of the attached patent application scope.

10: Automation machine

100: automatic control system

110: drive

120: Axis control device

130: Controller

140: The first sensor

150: second sensor

190: Orbital device

Claims (10)

An automatic control system suitable for an automatic machine with a conveyor belt. The automatic control system includes: A driver, which is electrically connected to a track device of the automation machine; One-axis control device, electrically connected to the driver; A controller is electrically connected to the axis control device, the controller sends a single command to the axis control device, so that the driver drives the track device to operate at a predetermined acceleration from a zero speed to a first track speed ;as well as A first sensor is electrically connected to the axis control device. After the first sensor detects an object to be measured, the axis control device causes the track device to perform a trapezoidal acceleration/deceleration. The trapezoidal acceleration/deceleration system Increase from the first orbital speed to a second orbital speed at the predetermined acceleration, and then reduce to the zero speed by a predetermined deceleration while the orbital device is maintained at the second orbital speed, so that the under-test The object stops at a target position after experiencing a moving distance. The automatic control system according to claim 1, wherein the first sensor is adjacent to an input end of the track device of the automatic machine, and the input end is adjacent to a previous automatic machine, and the A rail device sends the object to be tested into the input end of the rail device of the automated machine at the first rail speed, and the rail device of the automated machine receives the object to be tested at the first rail speed. The automatic control system according to claim 2, wherein after the first sensor detects the object to be measured, when the first sensor senses that the object to be measured is separated from the first sensor When the axis control device causes the track device to perform the trapezoidal acceleration/deceleration, the trapezoidal acceleration/deceleration is based on the preset acceleration and the time from the zero speed to the first track speed, correspondingly extending the track device to maintain the track speed During this period of the second orbital speed, an initial moving distance is compensated for in the moving distance. The automatic control system described in claim 3 further includes: A second sensor is electrically connected to the axis control device, and the second sensor senses whether the object to be measured stops at the target position. The automatic control system according to claim 1, wherein the axis control device is a field programmable logic gate array (FPGA) or a special application integrated circuit (ASIC), and the controller is a programmable logic controller ( PLC). An automatic control method suitable for an automatic machine with a conveyor belt. The automatic control method includes: Enabling a track device of the automated machine to operate at a predetermined acceleration from a zero speed to a first track speed; After a first sensor detects an object to be measured, the track device is made to perform a trapezoidal acceleration and deceleration. The trapezoidal acceleration and deceleration are based on the first track speed. The predetermined acceleration is increased to a second orbital speed, and the predetermined deceleration is reduced to a zero speed while the orbital device is maintained at the second orbital speed, so that the object under test stops at a target position . The automatic control method according to claim 6, wherein the first sensor is adjacent to an input end of the track device of the automatic machine, and the input end is adjacent to a previous automatic machine, and the A rail device sends the object to be tested into the input end of the rail device of the automated machine at the first rail speed, and the rail device of the automated machine receives the object to be tested at the first rail speed. The automatic control method described in claim 7 further includes: After the first sensor detects the object to be measured, when the first sensor senses that the object to be measured has separated from the first sensor, the track device is made to perform the trapezoidal acceleration and deceleration, The trapezoidal acceleration/deceleration is based on the preset acceleration and the time to increase from the zero speed to the first orbital speed, correspondingly extending the period during which the orbital device is maintained at the second orbital speed, so as to compensate for the movement distance. Initial movement distance. The automatic control method described in claim 8, further including: A second sensor is used to sense whether the object under test stops at the target position. The automatic control method described in claim 9 further includes: In an automatic adjustment process, determine the moving distance according to the size of the object to be tested; Determine an acceleration time according to the weight of the object to be measured and the starting torque of the drive; Set a multiple relationship between the deceleration time and the acceleration time; Determine a maximum orbital speed according to the weight of the object to be measured and the maximum torque of the drive; According to the acceleration time, the deceleration time and the maximum orbital speed, the preset acceleration, the preset deceleration and the second orbital speed are adjusted through automatic learning.

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