Servo control system of single-degree-of-freedom medium-speed automatic soldering robot based on image processing

Abstract

The invention discloses an image processing based servo control system for an SDOF medium-speed full-automatic soldering robot. The servo control system comprises a welding unit, a tin discharge unit, a manual operation unit, a control unit, a servo motor, a correction unit and a battery unit. The welding unit comprises a soldering iron, a heating device and a detection device. The control unit comprises a digital signal processing chip and two digital dedicated motion control chips. The servo motor comprises a welding servo motor and a tin discharge servo motor. The digital dedicated motion control chips are connected with the servo motor; digital signals are connected with a chip processing and correction unit, the welding unit, the tin discharge unit and the manual operation unit; the digital dedicated motion control chips are connected with the digital signal processing chip; and the soldering iron is connected with the tin discharge unit and the servo motor. The image processing based servo control system for the SDOF medium-speed full-automatic soldering robot has the advantages of high stability and high calculation power.

Description

technical field [0001] The invention relates to a servo controller, in particular to a single-degree-of-freedom medium-speed automatic soldering robot servo control system based on image processing. Background technique [0002] As we all know, on the one hand, soldering requires welders to have skilled operation skills, rich practical experience, and stable welding level; Work, so with the advancement of science and technology, people began to develop and use fully automatic soldering robots to replace people in soldering work. [0003] However, due to the small number of domestic research and development units of this robot, the relative research and development level is relatively backward, and there are many safety problems in the current automatic soldering robot: low welding accuracy; insufficient computing power, slow operation of the welding system; due to the use of stepping motor , its body is generally a multi-phase structure, and the control circuit needs to use...

AI Technical Summary

Problems solved by technology

[0003] However, due to the lack of domestic research and development units of this robot, the relative research and development level is relatively backward, and there are many safety problems in the current automatic soldering robot: low welding accuracy; insufficient computing power, and the welding system runs slowly; due to the use of stepper motors , its body is generally multi-phase structure, the control circuit needs to use multiple power tubes, which makes the control circuit relatively complicated, and increases the price of the controller, and due to the back and forth switching between the multi-phase, the pulsating torque of the system increases Large, which is not conducive to the improvement of the dynamic performance of the system, and the loss of pulse causes the phenomenon of motor out of step; the position and amount of tin output from the solder joint are not fixed and inconsistent, so people need a soldering robot servo controller that can better meet people's requirements

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