Chip mounter lead screw motion control method, system, medium and equipment

Abstract

The invention relates to the technical field of chip mounter production equipment, in particular to a chip mounter lead screw motion control method and system, a medium and device.Motion parameters of a chip mounter lead screw in the suction action are obtained, and the motion parameters comprise a material taking point coordinate, a jerk value and a maximum acceleration value; the maximum acceleration position of the lead screw is obtained according to the motion parameters; obtaining a maximum acceleration position dispersion strategy, and obtaining adjustment motion parameters according to the maximum acceleration position dispersion strategy; and controlling the suction action of a lead screw of the chip mounter according to the adjustment motion parameters. According to the maximum acceleration position dispersion strategy, the adjustment motion parameters are obtained, so that the maximum acceleration position is not fixed, long-term abrasion to one position is avoided, and the service life is prolonged.

Description

Technical Field

[0001] The present application relates to the technical field of chip placement machine production equipment, and in particular to a method, system, medium and equipment for controlling the motion of a lead screw of a chip placement machine. Background Art

[0002] The basic process of the mounting action of the existing SMT equipment is to absorb the mounting object at a fixed position, and then mount the mounting object at a variable position after the control movement. Due to the high working frequency and fast mounting speed of the mounting equipment, the speed and acceleration of the mounting movement are getting larger and larger. Since the absorption position of the mounting object is fixed, the maximum acceleration point at the absorption position under large acceleration will produce relatively greater mechanical wear, that is, the maximum wear point that causes the scrapping of parts will be produced at the maximum acceleration point of the guide rail and the lead screw at the absorption position, and the practical life of this point is the service life of the control module. When the motion parameter speed, maximum acceleration, and maximum speed are fixed, the maximum acceleration generation point is also fixed. During long-term operation, the maximum acceleration generation point is subjected to repeated impacts and causes mechanical damage. When the maximum acceleration is above 3g, mechanical damage often occurs within 3-5 years, causing vibration and abnormal noise, and the entire lead screw and guide rail need to be replaced.

[0003] Therefore, finding an appropriate method for controlling the motion of the lead screw of a placement machine is an urgent problem to be solved by those skilled in the art. Summary of the invention

[0004] Based on this, the present application proposes a method, system, medium and equipment for controlling the screw motion of a placement machine to solve the problem of screw wear caused by the fixed maximum acceleration point in the prior art, and to reduce screw wear and extend its service life by adjusting the screw motion.

[0005] In a first aspect, a method for controlling the motion of a lead screw of a placement machine comprises:

[0006] Obtaining motion parameters of the lead screw of the placement machine during the suction action, wherein the motion parameters include the coordinates of the material taking point, the jerk value and the maximum acceleration value;

[0007] Obtaining the maximum acceleration position of the lead screw according to the motion parameters;

[0008] Obtaining a maximum acceleration position dispersion strategy, and obtaining and adjusting motion parameters according to the maximum acceleration position dispersion strategy;

[0009] The suction action of the lead screw of the placement machine is controlled according to the adjustment motion parameters.

[0010] In one embodiment, the step of obtaining the maximum acceleration position of the lead screw according to the motion parameter comprises:

[0011]

[0012] Wherein, Pt represents the maximum acceleration position; amax represents the maximum acceleration, and Jk represents the jerk.

[0013] In one embodiment, the step of obtaining the maximum acceleration position dispersion strategy includes:

[0014] The first maximum value and the first minimum value of the acceleration value are obtained, and the equal difference of the acceleration value is obtained according to the working time cycle of the placement machine. The working jerk value changes from the first minimum value to the first maximum value according to the sequence of the equal difference of the acceleration value.

[0015] In one embodiment, the step of obtaining the maximum acceleration position dispersion strategy includes:

[0016] The second maximum value and the second minimum value of the maximum acceleration value are obtained, and the maximum acceleration equal difference value is obtained according to the working time cycle of the placement machine. The maximum acceleration value changes from the second minimum value to the second maximum value according to the maximum acceleration equal difference value sequence.

[0017] In one embodiment, the step of obtaining the maximum acceleration position dispersion strategy includes:

[0018] Obtain a first maximum value and a first minimum value of the jerk value, and obtain a second maximum value and a second minimum value of the maximum acceleration value;

[0019] Obtain the acceleration equal difference and the maximum acceleration equal difference according to the working time cycle of the placement machine;

[0020] The working jerk value changes from the first minimum value to the first maximum value in accordance with the order of equal jerk differences, and the maximum acceleration value changes from the second maximum value to the second minimum value in accordance with the order of equal maximum acceleration differences;

[0021] Alternatively, the working jerk value changes from a first minimum value to a first maximum value in a sequence of equal jerk differences, and the maximum acceleration value changes from a second minimum value to a second maximum value in a sequence of equal maximum acceleration differences.

[0022] In one of the embodiments, it is characterized in that the wear points of the screw rod are obtained through daily detection, the wear acceleration interval and / or the wear maximum acceleration value interval are eliminated based on the daily detection wear points, and the damage avoidance maximum acceleration position dispersion strategy is obtained, and the adjustment motion parameters are obtained based on the damage avoidance maximum acceleration position dispersion strategy.

[0023] In a second aspect, a lead screw motion control system for a placement machine is provided, comprising:

[0024] The first acquisition module acquires the motion parameters of the lead screw of the placement machine during the suction action, wherein the motion parameters include the coordinates of the material taking point, the jerk value and the maximum acceleration value;

[0025] A second acquisition module acquires the maximum acceleration position of the lead screw according to the motion parameters;

[0026] A dispersion strategy module obtains the maximum acceleration position dispersion strategy, and obtains and adjusts motion parameters according to the maximum acceleration position dispersion strategy;

[0027] The suction module controls the suction action of the lead screw of the placement machine according to the adjustment motion parameters.

[0028] In a third aspect, a readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the processor executes the steps of the lead screw motion control method for a placement machine as described in any one of the first aspects.

[0029] In a fourth aspect, a device is provided, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the lead screw motion control method for a placement machine as described in any one of the first aspects.

[0030] According to the method, system, medium and equipment for controlling the motion of the lead screw of the placement machine provided by the present application, the beneficial effects are: by obtaining the motion parameters of the lead screw of the placement machine in the suction action, wherein the motion parameters include the coordinates of the material picking point, the jerk value and the maximum acceleration value; obtaining the maximum acceleration position of the lead screw according to the motion parameters; then obtaining the maximum acceleration position dispersion strategy, and obtaining the adjustment motion parameters according to the maximum acceleration position dispersion strategy; and controlling the suction action of the lead screw of the placement machine according to the adjustment motion parameters. The adjustment motion parameters are obtained according to the maximum acceleration position dispersion strategy, so that the maximum acceleration position is not fixed, and long-term wear will not be caused to one place, thereby improving the service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 A schematic diagram of a flow chart of a method for controlling the movement of a lead screw of a placement machine in one embodiment;

[0033] Figure 2 It is a schematic diagram of the structure of the lead screw motion control system of a placement machine in one embodiment. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of this application.

[0035] The basic process of the mounting action of the existing SMT equipment is to absorb the mounting object at a fixed position, and then mount the mounting object at a variable position after the control movement. Due to the high working frequency and fast mounting speed of the mounting equipment, the speed and acceleration of the mounting movement are getting larger and larger. Since the absorption position of the mounting object is fixed, the maximum acceleration point at the absorption position under large acceleration will produce relatively greater mechanical wear, that is, the maximum wear point that causes the scrapping of parts will be produced at the maximum acceleration point of the guide rail and the lead screw at the absorption position, and the practical life of this point is the service life of the control module. When the motion parameter speed, maximum acceleration, and maximum speed are fixed, the maximum acceleration generation point is also fixed. During long-term operation, the maximum acceleration generation point is subjected to repeated impacts and causes mechanical damage. When the maximum acceleration is above 3g, mechanical damage often occurs within 3-5 years, causing vibration and abnormal noise, and the entire lead screw and guide rail need to be replaced.

[0036] In one embodiment, refer to Figure 1 As shown, a method for controlling the motion of a lead screw of a placement machine is provided, comprising:

[0037] Obtaining motion parameters of the lead screw of the placement machine during the suction action, wherein the motion parameters include the coordinates of the material taking point, the jerk value and the maximum acceleration value;

[0038] Obtaining the maximum acceleration position of the lead screw according to the motion parameters;

[0039] Obtaining a maximum acceleration position dispersion strategy, and obtaining and adjusting motion parameters according to the maximum acceleration position dispersion strategy;

[0040] The suction action of the lead screw of the placement machine is controlled according to the adjustment motion parameters.

[0041] It should be noted that jerk, also known as jerk, is a measure of the rate of change of acceleration, that is, the amount of change in acceleration per unit time. In screw control, jerk describes the smoothness of the acceleration change. Smaller jerk means smoother acceleration changes, which helps reduce mechanical vibration, improve positioning accuracy and extend equipment life. The maximum acceleration position can be calculated from the jerk and maximum acceleration values. After obtaining the maximum acceleration position, adjust the motion parameters according to the maximum acceleration position dispersion strategy to control the suction action of the SMT screw. Avoid wear caused by long-term fixed maximum acceleration position.

[0042] According to the method, system, medium and equipment for controlling the motion of the lead screw of the placement machine provided by the present application, the beneficial effects are: by obtaining the motion parameters of the lead screw of the placement machine in the suction action, wherein the motion parameters include the coordinates of the material picking point, the jerk value and the maximum acceleration value; obtaining the maximum acceleration position of the lead screw according to the motion parameters; then obtaining the maximum acceleration position dispersion strategy, and obtaining the adjustment motion parameters according to the maximum acceleration position dispersion strategy; and controlling the suction action of the lead screw of the placement machine according to the adjustment motion parameters. The adjustment motion parameters are obtained according to the maximum acceleration position dispersion strategy, so that the maximum acceleration position is not fixed, and long-term wear will not be caused to one place, thereby improving the service life.

[0043] In one embodiment, the step of obtaining the maximum acceleration position of the lead screw according to the motion parameter comprises:

[0044]

[0045] Wherein, Pt represents the maximum acceleration position; amax represents the maximum acceleration, and Jk represents the jerk.

[0046] It should be noted that the Pt position is the position where the maximum acceleration is reached. Assuming that the position of the placement equipment picking point is 0, the jerk is Jk, and the maximum acceleration is amax, it can be calculated in It can be calculated Working for 24 hours a day, each hour generates a different Jk value. Assuming that the minimum jerk of the system is Jmin and the maximum jerk is Jmax, Where h is 0 to 2 3; the position range of the point where the maximum acceleration is generated in a day can be calculated as arrive

[0047] In one embodiment, the step of obtaining the maximum acceleration position dispersion strategy includes:

[0048] The first maximum value and the first minimum value of the acceleration value are obtained, and the equal difference of the acceleration value is obtained according to the working time cycle of the placement machine. The working jerk value changes from the first minimum value to the first maximum value according to the sequence of the equal difference of the acceleration value.

[0049] It should be noted that the first maximum and first minimum values ​​of the jerk value are obtained to determine the range of the jerk. The jerk is the derivative of the acceleration with respect to time and describes the speed of the acceleration change. By obtaining the maximum and minimum values ​​of the jerk, we can understand the extreme conditions of the acceleration change, and divide the jerk change range into several equal differences according to the working time cycle of the placement machine, which are used for subsequent control of the change of the jerk value to achieve the dispersion of the maximum acceleration position. It should be noted that "sequential change" does not mean that the jerk value must increase or decrease continuously. Furthermore, it may change according to the equal difference in each working cycle or a specific time period.

[0050] In one embodiment, the step of obtaining the maximum acceleration position dispersion strategy includes:

[0051] The second maximum value and the second minimum value of the maximum acceleration value are obtained, and the maximum acceleration equal difference value is obtained according to the working time cycle of the placement machine. The maximum acceleration value changes from the second minimum value to the second maximum value according to the maximum acceleration equal difference value sequence.

[0052] It should be noted that the second maximum value and the second minimum value of the maximum acceleration value are obtained, the range of the maximum acceleration is determined, and the maximum acceleration position is dispersed during the operation of the placement machine, thereby reducing the wear of key components such as the guide rail and the lead screw, and improving the stability and service life of the equipment. At the same time, this control method is also helpful to improve the placement accuracy and production efficiency.

[0053] In one embodiment, the step of obtaining the maximum acceleration position dispersion strategy includes:

[0054] Obtain a first maximum value and a first minimum value of the jerk value, and obtain a second maximum value and a second minimum value of the maximum acceleration value;

[0055] Obtain the acceleration equal difference and the maximum acceleration equal difference according to the working time cycle of the placement machine;

[0056] The working jerk value changes from the first minimum value to the first maximum value in accordance with the order of equal jerk differences, and the maximum acceleration value changes from the second maximum value to the second minimum value in accordance with the order of equal maximum acceleration differences;

[0057] Alternatively, the working jerk value changes from a first minimum value to a first maximum value in a sequence of equal jerk differences, and the maximum acceleration value changes from a second minimum value to a second maximum value in a sequence of equal maximum acceleration differences.

[0058] It should be noted that the working jerk value starts from the first minimum value and increases to the first maximum value in the order of equal jerk differences; at the same time, the maximum acceleration value starts from the second maximum value and decreases to the second minimum value in the order of equal jerk differences. It is suitable for scenarios where it is necessary to quickly decelerate to a lower acceleration level and gradually reduce the acceleration change rate during the deceleration process. The working jerk value still starts from the first minimum value and increases to the first maximum value in the order of equal jerk differences; the maximum acceleration value starts from the second minimum value and increases to the second maximum value in the order of equal jerk differences. It is suitable for scenarios where it is necessary to gradually accelerate to a higher acceleration level and keep the acceleration change rate relatively stable during the acceleration process. This ensures uniform distribution within the working cycle and improves the stability and service life of the equipment.

[0059] In one of the embodiments, it is characterized in that the wear points of the screw rod are obtained through daily detection, the wear acceleration interval and / or the wear maximum acceleration value interval are eliminated based on the daily detection wear points, and the damage avoidance maximum acceleration position dispersion strategy is obtained, and the adjustment motion parameters are obtained based on the damage avoidance maximum acceleration position dispersion strategy.

[0060] It should be noted that the information of wear points on the screw is obtained through sensor monitoring or visual inspection. These wear points may be formed due to long-term high acceleration impact, uneven force or material fatigue. Based on the daily detection of wear points, the wear acceleration interval and / or the wear maximum acceleration value interval are eliminated to achieve the maximum acceleration position dispersion strategy for damage avoidance.

[0061] Second, see Figure 2 , providing a lead screw motion control system for a placement machine, comprising:

[0062] The first acquisition module 100 acquires the motion parameters of the lead screw of the placement machine in the suction action, wherein the motion parameters include the coordinates of the material taking point, the jerk value and the maximum acceleration value;

[0063] A second acquisition module 200 acquires the maximum acceleration position of the lead screw according to the motion parameter;

[0064] Dispersion strategy module 3 0 0, obtains the maximum acceleration position dispersion strategy, and obtains and adjusts motion parameters according to the maximum acceleration position dispersion strategy;

[0065] The suction module 400 controls the suction action of the lead screw of the placement machine according to the adjustment motion parameters.

[0066] It should be noted that

[0067] According to the SMT lead screw motion control system provided by the present application, the beneficial effects are: by obtaining the motion parameters of the SMT lead screw in the suction action, wherein the motion parameters include the material picking point coordinates, the jerk value and the maximum acceleration value; obtaining the maximum acceleration position of the lead screw according to the motion parameters; then obtaining the maximum acceleration position dispersion strategy, and obtaining the adjustment motion parameters according to the maximum acceleration position dispersion strategy; and controlling the suction action of the SMT lead screw according to the adjustment motion parameters. By obtaining the adjustment motion parameters according to the maximum acceleration position dispersion strategy, the maximum acceleration position is not fixed, and long-term wear will not be caused to one place, thereby improving the service life.

[0068] In a third aspect, a readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the processor executes the steps of the lead screw motion control method for a placement machine as described in any one of the first aspects.

[0069] It should be noted that

[0070] In a fourth aspect, a device is provided, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the lead screw motion control method for a placement machine as described in any one of the first aspects.

[0071] It should be noted that

[0072] It should be noted that when an element is referred to as being "fixed on" or "set on" another component, it can be directly on the other component or indirectly set on the other component; when a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component.

[0073] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "multiple" and "several" mean two or more, unless otherwise clearly and specifically defined.

[0074] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions under which this application can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in this application without affecting the effects and purposes that can be achieved by this application.

[0075] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling the motion of a lead screw of a placement machine, characterized in that: include: Obtaining motion parameters of the lead screw of the placement machine during the suction action, wherein the motion parameters include the coordinates of the material taking point, the jerk value and the maximum acceleration value; Obtaining the maximum acceleration position of the lead screw according to the motion parameters; Obtaining a maximum acceleration position dispersion strategy, and obtaining and adjusting motion parameters according to the maximum acceleration position dispersion strategy; The suction action of the lead screw of the placement machine is controlled according to the adjustment motion parameters.

2. The method for controlling the movement of a lead screw of a placement machine according to claim 1, characterized in that: The step of obtaining the maximum acceleration position of the lead screw according to the motion parameters comprises: Wherein, Pt represents the maximum acceleration position; amax represents the maximum acceleration, and Jk represents the jerk.

3. The method for controlling the movement of a lead screw of a placement machine according to claim 2, characterized in that: The step of obtaining the maximum acceleration position dispersion strategy comprises: The first maximum value and the first minimum value of the jerk value are obtained, and the jerk equal difference is obtained according to the working time cycle of the placement machine. The working jerk value changes from the first minimum value to the first maximum value according to the jerk equal difference sequence.

4. The method for controlling the movement of a lead screw of a placement machine according to claim 2, characterized in that: The step of obtaining the maximum acceleration position dispersion strategy comprises: The second maximum value and the second minimum value of the maximum acceleration value are obtained, and the maximum acceleration equal difference value is obtained according to the working time cycle of the placement machine. The maximum acceleration value changes from the second minimum value to the second maximum value according to the maximum acceleration equal difference value sequence.

5. The method for controlling the movement of a lead screw of a placement machine according to claim 2, characterized in that: The step of obtaining the maximum acceleration position dispersion strategy comprises: Obtain a first maximum value and a first minimum value of the jerk value, and obtain a second maximum value and a second minimum value of the maximum acceleration value; Obtain the acceleration equal difference and the maximum acceleration equal difference according to the working time cycle of the placement machine; The working jerk value changes from the first minimum value to the first maximum value in the order of equal jerk difference, and the maximum acceleration value changes from the second maximum value to the second minimum value in the order of equal maximum acceleration difference; Alternatively, the working jerk value changes from a first minimum value to a first maximum value in a sequence of equal jerk differences, and the maximum acceleration value changes from a second minimum value to a second maximum value in a sequence of equal maximum acceleration differences.

6. The method for controlling the movement of a lead screw of a placement machine according to any one of claims 3 to 5, characterized in that: Obtain the daily detection wear points of the screw rod, eliminate the wear acceleration interval and / or the wear maximum acceleration value interval based on the daily detection wear points, and obtain the damage avoidance maximum acceleration position dispersion strategy, and obtain the adjustment motion parameters based on the damage avoidance maximum acceleration position dispersion strategy.

7. A lead screw motion control system for a chip placement machine, characterized in that: include: The first acquisition module acquires the motion parameters of the lead screw of the placement machine during the suction action, wherein the motion parameters include the coordinates of the material taking point, the jerk value and the maximum acceleration value; A second acquisition module acquires the maximum acceleration position of the lead screw according to the motion parameters; A dispersion strategy module obtains the maximum acceleration position dispersion strategy, and obtains and adjusts motion parameters according to the maximum acceleration position dispersion strategy; The suction module controls the suction action of the lead screw of the placement machine according to the adjustment motion parameters.

8. A readable storage medium, characterized in that: A computer program is stored, and when the computer program is executed by a processor, the processor executes the steps of the lead screw motion control method for a placement machine as described in any one of claims 1 to 6.

9. A device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the lead screw motion control method for a placement machine as described in any one of claims 1 to 6.

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