Servo control system of four-axis full-automatic tin soldering robot

Abstract

The invention discloses a servo control system of a four-axis full-automatic tin soldering robot. The servo control system comprises a control module, a first motor, five motors, an action module, a tin discharging module and a temperature sensor, wherein the control module comprises a digital signal processing chip and a field programmable gate array chip, the digital signal processing chip is connected with a spot soldering position on the action module through the temperature sensor, the field programmable gate array chip generates a pulse width modulated wave signal to be transmitted to the five motors, four electrodes are respectively connected with the action module, and the fifth motor is connected with the tin discharging module. According to the servo control system of the four-axis full-automatic tin soldering robot, the processing speed of the servo control system is greatly increased through the control module based on the digital signal processing chip and the field programmable gate array chip, the rapidness requirement of the tin soldering system can be well met, the design is simple, the development period is shortened, the program runaway can be effectively prevented, and the interference resistance is greatly enhanced.

Description

technical field [0001] The invention relates to the technical field of soldering robots, in particular to a servo control system of a four-axis fully automatic soldering robot. Background technique [0002] In the soldering processing industry, manual welding requires the welder to adjust the position, posture and walking speed of the welding torch in a timely manner according to the actual position of the solder joint observed by the eyes, so as to adapt to the change of the solder joint and the welding track, so the welder must be proficient Excellent operating skills, rich practical experience and stable welding level. At the same time, welding is a job with poor working conditions, a lot of smoke and dust, large heat radiation, and high risk. Therefore, new automatic welding production will become an important way to accept market challenges in the new century. [0003] General soldering processing requires a four-degree-of-freedom soldering robot. A complete five-degre...

AI Technical Summary

Problems solved by technology

[0003] General soldering processing requires a four-degree-of-freedom soldering robot. A complete five-degree-of-freedom soldering robot basically includes motors, algorithms, and microprocessors. question:

[0004] (1) As the power supply of the automatic soldering robot, the DC power supply after the rectification of the general AC power supply is used. When a sudden power failure occurs, the entire soldering movement will fail

[0005] (2) As the main control chip of the soldering robot, most of them are 8-bit single-chip microcomputers, and the computing power is not enough, which leads to the slow operation of the welding system

Due to the frequent spot welding between the solder joints of the automatic soldering robot, frequent braking and starting are required, which increases the workload of the single-chip microcomputer. A single single-chip microcomputer cannot meet the requirements of the automatic soldering robot to quickly start and stop.

Due to the interference of unstable factors in the surrounding environment, the microcontroller controller often appears abnormal, causing the soldering robot to lose control and have poor anti-interference ability

[0006] (3) The control mode based on the microprocessor and the special motion control chip. Generally, the microprocessor calculates the various presets required by the motor according to the preset position, and then sends it to the special chip for secondary calculation to generate the PWM wave for controlling the motor. Signal, although the development of this type of motion controller is simple and reliable, but because the microprocessor software participates in the calculation of the system servo system, the calculation speed of the system is generally not very high, and due to the use of a dedicated motion control chip, Unable to expand the design and implement various advanced motion control algorithms

[0008] (5) Most of the actuators of automatic soldering robots are stepping motors, which often encounter the phenomenon of motor out-of-step caused by missing pulses, resulting in inconsistent tin output by the system for solder joints

The use of stepper motors greatly increases the mechanical noise of the system operation, which is not conducive to environmental protection

Due to the use of stepping motors, its body is generally multi-phase structure, and the control circuit needs to use multiple power tubes, which makes the control circuit relatively complicated and increases the price of the controller. The pulsating torque increases, which is not conducive to the improvement of the dynamic performance of the system

[0009] (6) Due to the influence of the capacity and algorithm of the single-chip microcomputer, ordinary soldering robots do not store the information of the solder joints that have passed, and all the information will disappear when encountering a power failure or a fault restart, which makes the entire soldering process restart Or manually update the path information

For the spot welding process of a four-degree-of-freedom soldering robot, it is generally required to synchronize the PWM control signals of the four motors that control its trajectory movement. Due to the limitation of the computing power of the single-chip computer, it is difficult for a single-chip servo system to meet this condition.

[0010] (7) Although the amount of tin feeding can be adjusted according to the size of the solder joint of the object to be welded during welding, the temperature of the solder joint is not considered, resulting in inconsistent solder joints

During the soldering process, the cleaning of the soldering iron tip is neglected, which often leads to poor soldering or dirty solder joints due to the residual solder on the soldering iron tip

Due to the large number of plug-in components with large volume, the volume of the servo controller is large

Images