Servo control system for four-axis intermediate speed full-automatic soldering robot

Abstract

The invention discloses a servo control system for a four-axis intermediate speed full-automatic soldering robot, which comprises a control module, four motors, a motion module and an image collecting module, wherein the control module comprises a digital signal processing chip and an LM 629 motion control chip; the digital signal processing chip is connected with point welding positions on the motion module through the image collecting module; the LM 629 motion control chip generates pulse-width modulation wave signals and sends the signals to the four motors; and the four motors are connected with the motion module respectively. According to the servo control system for the four-axis intermediate speed full-automatic soldering robot, provided by the invention, through the adoption of the scheme, the degree of automation and the operational precision are greatly improved, the positioning is extremely precise, the soldering efficiency of the robot can be greatly improved, the requirement for motion synchronous control of the four-axis servo motors is met, the all-digital control of a tin discharge system is realized, the space occupied by a special motion chip is reduced, and the micromation development is facilitated.

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 medium-speed 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 comple...

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) In the initial stage of soldering, the soldering robot is manually moved to the initial position, and the initial position is corrected only by human eyes, which greatly reduces the welding accuracy

[0005] (2) The power supply of the automatic soldering robot is a DC power supply rectified by a general AC power supply. When a sudden power failure occurs, the entire soldering movement will fail

[0006] (3) The main control chip of the soldering robot is mostly an 8-bit single-chip microcomputer, and the computing power is not enough, resulting in a 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.

Interferenced by unstable factors in the surrounding environment, the microcontroller controller often has abnormalities, causing the soldering robot to lose control and have poor anti-interference ability

[0007] (4) Most of the actuators of automatic soldering robots use 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 stepping motor will cause the body to heat up more seriously. Sometimes it is necessary to dissipate heat from the motor body, and the mechanical noise of the system operation will greatly increase, which is not conducive to environmental protection.

Stepper motors generally have a 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, and the pulsating torque of the system increases due to the back and forth switching between multiple phases. Large, not conducive to the improvement of system dynamic performance

[0008] (5) Affected by the capacity and algorithm of the single-chip microcomputer, ordinary soldering robots do not store the information of the soldering points that have passed, and all the information will disappear when encountering a power failure or fault restart, which makes the entire soldering process have to be restarted or Manually update route information

[0009] (6) 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 tip of the soldering iron is neglected, which often leads to poor soldering or dirty solder joints due to residual solder

During the soldering process, the tip of the soldering iron is manually cleaned. Due to the high temperature of the tip of the soldering iron, sometimes it may accidentally injure people.

During the welding process, if any solder joints are found to have welding quality problems, you need to turn on the pause point setting on the man-machine interface, and then manually repair the welding twice, which greatly reduces the degree of automation

[0010] (7) For the spot welding process of the four-degree-of-freedom soldering robot, in order to meet the fast requirements, the minimum requirement is that the PWM control signals of the three motors that control its trajectory movement must be synchronized. Due to the limitation of the computing power of the single-chip computer, a single SCM servo system is difficult to meet this condition

[0011] (8) Due to the large number of plug-in components with large volume, the volume of the servo controller is large

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