Pressure driving control method, driving control system and storage medium

Abstract

The invention discloses a pressure driving control method, a driving control system and a storage medium, and the pressure driving control method comprises the steps: a driving controller controls a driving execution mechanism to move close to a to-be-executed workpiece at a speed greater than or equal to a first speed until a first position; the driving controller controls the driving execution mechanism to continuously approach the to-be-executed workpiece to run at a speed less than or equal to a second speed until a second position; wherein the second speed is smaller than the first speed; and the driving controller is switched into a torque control mode, and the driving execution mechanism is continuously controlled to operate until the driving execution mechanism abuts against the to-be-executed workpiece with the preset pressure. Due to the fact that the driving controller controls the driving executing mechanism to move close to the to-be-executed workpiece at the high-speed stage and the low-speed stage, the situation that the to-be-executed workpiece is collided at the high speed is prevented, and meanwhile the executing efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of drive control, and in particular to a pressure drive control method, a drive control system and a storage medium. Background Art

[0002] In the semiconductor, 3C and other industries, the torque control mode of the servo motor driver is required for the detection or placement of chips and components. When the actuator contacts the surface of the workpiece, the servo motor output torque is controlled to complete the contact and pressing of the workpiece to meet the requirements of chip detection or device placement and bonding. In the current main method, when the actuator touches and contacts the processing parts at high speed, the high-speed touch may cause damage to the processing parts. Summary of the invention

[0003] The main technical problem solved by the present invention is that the actuator in the related technology touches the workpiece at high speed, which easily causes damage to the workpiece.

[0004] In one embodiment, a pressure drive control method is provided, which is applied to a drive execution system, wherein the drive execution system includes a drive controller and a drive execution mechanism; the pressure drive control method includes: The drive controller controls the drive actuator to run at a speed greater than or equal to a first speed close to the workpiece to be executed until it reaches a first position; The drive controller controls the drive actuator to continue to move close to the workpiece to be executed at a speed less than or equal to a second speed until it reaches a second position; wherein the second speed is less than the first speed; The drive controller is switched to a torque control mode, and the drive actuator is continuously controlled to operate until the drive actuator is pressed against the workpiece to be executed with a preset pressure.

[0005] In one embodiment, the switching of the drive controller to the torque control mode and the continuous control of the drive actuator to operate until the drive actuator presses against the workpiece to be executed with a preset pressure further includes: After pressing the workpiece to be executed for a preset time, the drive controller controls the drive actuator to move away from the workpiece to be executed to a third position at a speed less than or equal to a third speed; the third speed is less than the first speed; The drive controller controls the drive actuator to continue to move away from the workpiece to be executed to an initial position at a speed greater than or equal to a fourth speed; the fourth speed is greater than the third speed.

[0006] In one embodiment, the drive controller controls the drive actuator to run at a speed greater than or equal to a first speed close to the workpiece to be executed until the first position, and further includes: Based on a self-learning algorithm and in combination with the historical operation status of the drive execution system, the first position, the second position and the third position are determined.

[0007] In one embodiment, the switching of the drive controller to the torque control mode and the continuous control of the drive actuator to operate until the drive actuator is pressed against the workpiece to be executed with a preset pressure, wherein the drive actuator is pressed against the workpiece to be executed with a preset pressure comprises: Detecting the pressure applied by the driving actuator to the workpiece to be executed by a pressure sensor; According to the detection result of the pressure sensor, the drive controller controls the drive actuator to maintain the preset pressure value to press the workpiece to be executed.

[0008] In one embodiment, according to the detection result of the pressure sensor, the drive controller controls the drive actuator to maintain the preset pressure value to press the workpiece to be executed, including: The drive controller controls the drive actuator based on PID control, so that the drive actuator maintains the preset pressure value to press the workpiece to be executed.

[0009] In one embodiment, the drive controller controls the drive actuator to continue to move closer to the workpiece to be executed at a speed less than or equal to the second speed until the second position includes: The drive controller controls the drive actuator to run close to the workpiece to be executed at a speed less than or equal to the second speed until it reaches a fourth position; The drive controller continues to control the drive actuator to continue to run close to the workpiece to be executed at a speed less than or equal to a fifth speed until the second position; wherein the fifth speed is less than the second speed.

[0010] In one embodiment, before switching the drive controller to the torque control mode, the method further includes: the drive controller is in a position control mode or a speed control mode.

[0011] In one embodiment, the drive controller controls the drive actuator to run at a speed greater than or equal to a first speed close to the workpiece to be executed until the first position, and further includes: The drive controller receives control parameters written via SDO or PDO; the control parameters correspond to at least one of the operating speed, operating acceleration, target operating position, target pressure value and pressure holding time of the drive actuator.

[0012] In one embodiment, a drive control system is also provided, including a drive controller and a drive actuator; the drive controller is used to control the drive actuator according to the above-mentioned pressure drive control method to perform a pressing operation on the workpiece to be executed.

[0013] In one embodiment, a computer-readable storage medium is further provided, wherein one or more computer programs are stored in the computer-readable storage medium, and the computer programs can be executed to implement the steps of the above-mentioned pressure drive control method.

[0014] According to the pressure drive control method, drive control system and storage medium of the above-mentioned embodiments, since the drive controller controls the drive actuator to approach the workpiece to be executed in two stages, fast and slow, high-speed collision with the workpiece to be executed is prevented and the execution efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a flow chart of the pressure drive control method in an embodiment of the present application.

[0016] Figure 2 Schematic diagram of the drive control system in the embodiment of the present application.

[0017] Figure 3 Schematic diagram of the operation process of the driving actuator in the embodiment of the present application.

[0018] Figure 4 Schematic diagram of the speed and position curves in the approach stage in the embodiment of the present application.

[0019] Figure 5 It is a schematic diagram of the speed curve, position curve, pressure feedback curve and preset pressure curve in the entire pressure drive control process in the embodiment of the present application. DETAILED DESCRIPTION

[0020] The present invention is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are for making the present application better understood. However, those skilled in the art can easily recognize that some features can be omitted in different situations, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present application are not shown or described in the specification, this is to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

[0021] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0022] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0023] In order to solve the problem in related technologies that the actuator may touch or contact the processing parts at high speed, which may cause damage to the processing parts, please refer to Figures 1 to 3 As shown, a pressure drive control method is provided in an embodiment of the present application. The pressure drive control method is applied to a drive control system, wherein the specific components of the drive control system include a drive controller 1 and a drive actuator 2, and the drive controller 1 is used to control the drive actuator 2 according to the pressure drive control method in the embodiment of the present application to perform a pressing operation on a workpiece 4 to be executed; the pressure drive control method includes: S101, the driving controller 1 controls the driving actuator 2 to run close to the workpiece 4 to be executed at a speed greater than or equal to a first speed until it reaches a first position; S102, the driving controller 1 controls the driving actuator 2 to continue to move closer to the workpiece 4 to be executed at a speed less than or equal to a second speed until a second position; wherein the second speed is less than the first speed; S103 , switching the drive controller 1 to the torque control mode, and continuing to control the drive actuator 2 to operate until the drive actuator 2 presses against the workpiece 4 to be executed with a preset pressure.

[0024] The drive control system is a system that uses a drive controller 1 to drive a drive actuator 2 to achieve the purpose of pressing the workpiece 4 to be executed, so as to achieve the purpose of detecting and mounting the workpiece. The drive actuator 2 includes a motor and other necessary structures for pressing the workpiece 4 to be executed. In order to achieve the above purpose, the drive controller 1 in the embodiment of the present application controls the drive actuator 2 to allow the drive actuator 2 to run close to the workpiece 4 to be executed until it presses against the workpiece 4 to be executed, so as to achieve the purpose of operating the workpiece 4 to be executed.

[0025] The drive controller 1 controls the drive actuator 2 to run at a speed greater than or equal to the first speed close to the workpiece 4 to be executed until the first position, which means that during this process, the drive actuator 2 runs at a relatively high speed so that the drive actuator 2 can quickly approach the workpiece 4 based on the running process, that is, the fast stage. However, during the fast approach process, the destination of the fast movement of the drive actuator 2 still maintains a certain distance from the workpiece 4 to be executed, in order to prevent the drive actuator 2 from colliding with the workpiece 4 due to the fast movement, thereby causing damage to the workpiece 4.

[0026] Then, the drive controller 1 controls the drive actuator 2 to continue to run close to the workpiece 4 to be executed at a speed less than or equal to the second speed until the second position, which is the slow stage. The second speed is less than the first speed, so in the process of driving the actuator 2 from the first position to the second position, the running speed of the drive actuator 2 is less than that from the starting position to the first position. In this process, the drive actuator 2 switches from fast movement to slow movement to avoid the drive actuator 2 hitting the workpiece 4 to be executed at high speed. Obviously, the second position is closer to the workpiece 4 to be executed than the first position, and the second position is generally very close to the workpiece 4 to be executed, and the usual value is about 2 mm or less.

[0027] It is worth mentioning that the driving actuator 2 moves from the starting position to the first position at a speed greater than or equal to the first speed, and then moves from the first position to the second position at a speed less than or equal to the second speed, wherein the actual operating speed of the driving actuator 2 in each operation process is not limited to a constant value, and the driving actuator 2 can accelerate or decelerate arbitrarily within the allowable range as needed, thereby achieving the effect of variable speed operation.

[0028] After the driving actuator 2 runs to the second position, the driving actuator 2 is close enough to the workpiece 4 to be executed, so it can continue to run close to the workpiece 4 to be executed based on the position of the workpiece 4 to be executed; in this process, the driving controller 1 switches to the torque control mode, and controls the driving actuator 2 in the form of output torque, so that the driving actuator 2 can better press the workpiece 4 to be executed, that is, the pressing stage. Specifically, the driving actuator 2 needs to press the workpiece 4 to be executed with a preset pressure for a required period of time. After the pressing is completed, the basic process required by the pressure drive control method is met. According to the control type of the driving controller 1, it is roughly divided into three categories: position control mode, speed control mode and torque control mode; among them, in the position control mode, the system accurately controls the position of the motor by receiving an external position command signal to make it reach the specified position. In the speed control mode, the system mainly adjusts the speed of the motor according to the external input speed command signal to achieve the required speed. The torque control mode mainly controls the load by controlling the output torque of the motor. In some occasions where torque needs to be precisely controlled, such as tension control, winding equipment, etc., the torque control mode of the servo motor plays an important role. Therefore, when the driving actuator 2 needs to be pressed against the workpiece 4 to be executed, the torque control mode is generally used to control the driving actuator 2 to achieve precise pressure control. Figure 4 , which shows the position curve and speed curve of the driving actuator 2 approaching the workpiece 4 to be executed corresponding to the pressure driving control method of the embodiment of the present application.

[0029] After the pressing is completed, it is generally necessary to move the driving actuator 2 away from the workpiece 4 to be executed; in some optional embodiments, the driving controller 1 is switched to the torque control mode, and the driving actuator 2 is continued to be controlled to operate until the driving actuator 2 is pressed against the workpiece 4 to be executed with a preset pressure, which may also include: S104, after the workpiece 4 to be executed is pressed against the preset time, the driving controller 1 controls the driving actuator 2 to move away from the workpiece 4 to be executed to a third position at a speed less than or equal to a third speed; the third speed is less than the first speed; S105, the driving controller 1 controls the driving actuator 2 to continue to move away from the workpiece 4 to be executed to the initial position at a speed greater than or equal to the fourth speed; the fourth speed is greater than the third speed. Similar to the driving actuator 2 approaching the workpiece 4 to be executed, the driving actuator 2 first releases the pressure on the workpiece 4 to be executed at a slow speed until the third position in the process of moving away from the workpiece 4 to be executed, so as to avoid the vibration of the workpiece 4 to be executed due to rapid departure. Therefore, the third speed is less than the first speed at this time, that is, the slow return stage; then, when the driving actuator 2 is far enough away from the workpiece 4 to be executed, the driving actuator 2 can quickly move away from the workpiece 4 to be executed, that is, quickly move away from the workpiece 4 to be executed from the third position to the initial position, so as to facilitate the next pressure drive control process, that is, the fast return stage. Therefore, the fourth speed is greater than the third speed at this time. It is worth mentioning that in the embodiment of the present application, in the process of the driving actuator 2 approaching and moving away from the workpiece 4 to be executed, the speed of the fast approaching stage and the fast return stage of moving away can be the same or different, and similarly, the slow approaching stage and the slow return stage of moving away can also be the same or different. Moreover, the second position and the third position may overlap each other, or the third position may be farther away from the workpiece 4 to be executed than the second position, or the third position may be closer to the workpiece 4 to be executed than the second position. Figure 5 , which shows a graph of the operating speed, operating position, pressure feedback and preset pressure changing with time in the entire pressure-driven control process.

[0030] In some optional embodiments, in order to better determine the various positions of the driving actuator 2 during operation, the driving controller 1 controls the driving actuator 2 to run close to the workpiece 4 to be executed at a speed greater than or equal to the first speed until the first position, and may also include: Based on the self-learning algorithm, the first position, the second position and the third position are determined in combination with the historical operation of the drive execution system. In other words, the pressure drive control method in the embodiment of the present application can determine the appropriate specific positions in the current pressure drive control process, including the first position, the second position and the third position, etc., in a self-learning manner according to the historical operation conditions, and can shorten the operation time of the drive actuator 2 as much as possible under the premise of not colliding with the workpiece 4 to be executed at high speed. In addition, the self-learning algorithm can also be combined with the historical operation of the drive execution system to determine the reasonable operating speed, acceleration and other parameters of the drive actuator 2 at each stage.

[0031] Of course, default values ​​may be pre-set for the operating parameters of the drive actuator 2, and the drive execution system may be directly executed according to the default values; alternatively, the operator may input corresponding control instructions to the drive controller 1 at an appropriate time, so that the drive actuator 2 may operate according to the input control instructions.

[0032] In some optional embodiments, in order to accurately know the pressure applied by the driving actuator 2 to the workpiece 4 to be executed, so that the pressure meets the requirement of the driving actuator 2 pressing the workpiece 4 to be executed, the driving controller 1 is switched to the torque control mode, and the driving actuator 2 is continuously controlled to operate until the driving actuator 2 presses against the workpiece 4 to be executed with a preset pressure. The driving actuator 2 presses against the workpiece 4 to be executed with a preset pressure may include: The pressure applied by the driving actuator 2 to the workpiece 4 to be executed is detected by the pressure sensor 3; According to the detection result of the pressure sensor 3, the drive controller 1 controls the drive actuator 2 to maintain the preset pressure value to press the workpiece 4 to be executed. During the pressing process, the pressure value detected by the pressure sensor 3 is fed back to the drive controller 1 in real time, and the drive controller 1 adjusts the output torque based on the value detected by the pressure sensor 3 to ensure that the drive actuator 2 presses the workpiece 4 to be executed at the required preset pressure. In addition, the torque value inside the drive controller 1 can also be used as a pressure feedback signal.

[0033] In some optional embodiments, according to the detection result of the pressure sensor 3, the driving controller 1 controls the driving actuator 2 to maintain a preset pressure value to press the workpiece 4 to be executed, which may specifically include: The driving controller 1 controls the driving actuator 2 based on PID control so that the driving actuator 2 maintains a preset pressure value to press against the workpiece 4 to be executed. Based on PID control, the torque can be output stably so that the pressure value of the driving actuator 2 contacting the workpiece 4 to be executed can be stabilized at the preset pressure value.

[0034] In some optional embodiments, during the process of the driving actuator 2 approaching the workpiece 4 to be executed, especially during the process of the driving actuator 2 decelerating and approaching the driving actuator 2, the approaching speed of the driving actuator 2 may be variable; specifically, the driving controller 1 controls the driving actuator 2 to continue to approach the workpiece 4 to be executed at a speed less than or equal to the second speed until the second position may include: The driving controller 1 controls the driving actuator 2 to run close to the workpiece 4 to be executed at a speed less than or equal to the second speed until the fourth position; The drive controller 1 continues to control the drive actuator 2 to continue to approach the workpiece 4 to be executed at a speed less than or equal to the fifth speed until the second position; wherein the fifth speed is less than the second speed. That is to say, in the slow stage, the running speed of the drive actuator 2 can be further divided into two gears, namely, a gear less than or equal to the second speed, and a gear less than or equal to the fifth speed, wherein the fifth speed is smaller than the second speed. The drive actuator 2 first approaches the workpiece 4 to be executed to the fourth position at a relatively large slow speed, and then approaches the workpiece 4 to be executed to the second position at a relatively small slow speed. On the one hand, the transition between the fast stage and the slow stage can be realized more smoothly, and on the other hand, a smaller downward speed can be set to avoid the drive actuator 2 from colliding with the workpiece 4 to be executed at high speed.

[0035] In addition, the slow stage can also run at three or more speeds, which is not limited in the embodiments of the present application. In the process of switching from the fast stage to the slow stage, the motor does not need to stop, so the operating efficiency is improved under the premise of ensuring that there is no high-speed collision with the workpiece 4 to be executed. Accordingly, before switching the drive controller 1 to the torque control mode, it can also include: the drive controller 1 is in the position control mode or the speed control mode.

[0036] In some optional embodiments, before the drive controller 1 controls the drive actuator 2 to run close to the workpiece 4 to be executed at a speed greater than or equal to the first speed until the first position, the following may also be included: The drive controller 1 receives the control parameters written through SDO or PDO; the control parameters correspond to at least one of the running speed, running acceleration, target running position, target pressure value and pressure holding time of the drive actuator 2. Through the control parameters, the real-time operation of the drive actuator 2 can be specifically controlled. The main parameters involved in the control process, such as the target running position, running speed, acceleration, preset pressure value, pressure holding time, etc., as well as the control drive controller 1 operation instructions (such as downward operation, return operation, stop operation, etc.), operation status feedback information (such as pressure feedback value, control process start signal, control process end signal, etc.) can be opened in the form of the bus protocol object dictionary PDO or SDO. The controller can write and set the control parameters of the drive controller 1 and control the operation through SDO and PDO, and read the working status.

[0037] According to the pressure-driven control method in the embodiment of the present application, since the drive controller 1 controls the drive actuator 2 to approach the workpiece 4 to be executed in two stages, fast and slow, high-speed collision with the workpiece 4 to be executed is prevented, while the execution efficiency is improved.

[0038] In some optional embodiments, a computer-readable storage medium is also provided, in which one or more computer programs are stored. The computer programs can be executed to implement the steps of the pressure-driven control method in the embodiments of the present application, which will not be repeated here.

[0039] Some functions of the embodiments of the present application can be implemented by hardware or by computer programs. When all or part of the functions in the above-mentioned embodiments are implemented by computer programs, the program can be stored in a computer-readable storage medium, and the storage medium can include: read-only memory, random access memory, disk, CD, hard disk, etc., and the program is executed by a computer to implement the above-mentioned functions. For example, the program is stored in the memory of the device, and when the program in the memory is executed by the processor, all or part of the above-mentioned functions can be implemented. In addition, when all or part of the functions in the above-mentioned embodiments are implemented by computer programs, the program can also be stored in a storage medium such as a server, another computer, disk, CD, flash disk or mobile hard disk, and is saved in the memory of the local device by downloading or copying, or the system of the local device is updated, and when the program in the memory is executed by the processor, all or part of the functions in the above-mentioned embodiments can be implemented.

[0040] The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art, according to the concept of the present invention, some simple deductions, modifications or substitutions can be made.

Claims

1. A pressure drive control method, applied to a drive execution system, wherein the drive execution system comprises a drive controller and a drive execution mechanism; characterized in that: The pressure drive control method comprises: The drive controller controls the drive actuator to run at a speed greater than or equal to a first speed close to the workpiece to be executed until it reaches a first position; The drive controller controls the drive actuator to continue to run close to the workpiece to be executed at a speed less than or equal to a second speed until a second position; wherein the second speed is less than the first speed; The drive controller is switched to a torque control mode, and the drive actuator is continuously controlled to operate until the drive actuator is pressed against the workpiece to be executed with a preset pressure.

2. The pressure drive control method according to claim 1, characterized in that: The switching of the drive controller to the torque control mode and continuing to control the drive actuator to operate until the drive actuator presses against the workpiece to be executed with a preset pressure also includes: After pressing the workpiece to be executed for a preset time, the drive controller controls the drive actuator to move away from the workpiece to be executed to a third position at a speed less than or equal to a third speed; the third speed is less than the first speed; The drive controller controls the drive actuator to continue to move away from the workpiece to be executed to an initial position at a speed greater than or equal to a fourth speed; the fourth speed is greater than the third speed.

3. The pressure drive control method according to claim 2, characterized in that: The drive controller controls the drive actuator to run at a speed greater than or equal to the first speed close to the workpiece to be executed until the first position, and further includes: Based on a self-learning algorithm and in combination with the historical operation status of the drive execution system, the first position, the second position and the third position are determined.

4. The pressure drive control method according to any one of claims 1 to 3, characterized in that: The switching of the drive controller to the torque control mode, and continuing to control the drive actuator to operate until the drive actuator presses against the workpiece to be executed with a preset pressure, wherein the drive actuator presses against the workpiece to be executed with a preset pressure comprises: Detecting the pressure applied by the driving actuator to the workpiece to be executed by a pressure sensor; According to the detection result of the pressure sensor, the drive controller controls the drive actuator to maintain the preset pressure value to press the workpiece to be executed.

5. The pressure drive control method according to claim 4, characterized in that: According to the detection result of the pressure sensor, the driving controller controls the driving actuator to maintain the preset pressure value to press the workpiece to be executed, including: The drive controller controls the drive actuator based on PID control, so that the drive actuator maintains the preset pressure value to press the workpiece to be executed.

6. The pressure drive control method according to any one of claims 1 to 3, characterized in that: The drive controller controls the drive actuator to continue to move close to the workpiece to be executed at a speed less than or equal to the second speed until the second position includes: The drive controller controls the drive actuator to run close to the workpiece to be executed at a speed less than or equal to the second speed until it reaches a fourth position; The drive controller continues to control the drive actuator to continue to run close to the workpiece to be executed at a speed less than or equal to a fifth speed until the second position; wherein the fifth speed is less than the second speed.

7. The pressure drive control method according to any one of claims 1 to 3, characterized in that: Before switching the drive controller to the torque control mode, the step further includes: the drive controller is in a position control mode or a speed control mode.

8. The pressure drive control method according to any one of claims 1 to 3, characterized in that: Before the drive controller controls the drive actuator to run at a speed greater than or equal to the first speed close to the workpiece to be executed until the first position, the method further includes: The drive controller receives control parameters written via SDO or PDO; the control parameters correspond to at least one of the operating speed, operating acceleration, target operating position, target pressure value and pressure holding time of the drive actuator.

9. A drive control system, characterized in that: It comprises a driving controller and a driving actuator; the driving controller is used to control the driving actuator according to the pressure driving control method according to any one of claims 1 to 8, so as to perform a pressing operation on the workpiece to be executed.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more computer programs, and the computer programs can be executed to implement the steps of the pressure-driven control method according to any one of claims 1 to 8.

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