High-precision chip mounter gantry system and multi-axis coordination control method

Abstract

The invention discloses a high-precision chip mounter gantry system and a multi-axis coordination control method, and relates to the technical field of chip mounters, the high-precision chip mounter gantry system comprises a gantry system and a control system, the gantry system comprises an equipment base, an X-axis linear guide rail and a Y-axis linear guide rail, the control system comprises a data acquisition unit, a counterweight analysis unit, a parameter storage unit, a load analysis unit, a data approval unit and an execution unit. Based on coordinate information of load equipment and weight data of the load equipment, a counterweight bearing coefficient of an equipment base and a load coefficient of an X-axis support are obtained at the same time to analyze a load disturbance coefficient, a dynamic model of a gantry system of the chip mounter is established at the same time, and a chip mounting operation process is simulated to obtain simulation operation parameters; and calculating a control precision coefficient according to the simulation operation parameters, evaluating the control precision coefficient, optimizing the parameters which do not meet the operation precision requirement until high-precision operation parameters are obtained, and executing the operation process to complete patch processing.

Description

Technical Field

[0001] The present invention relates to the technical field of chip mounters, and in particular to a high-precision chip mounter gantry system and a multi-axis coordinated control method. Background Art

[0002] Fully automatic chip mounters are used to place components automatically at high speed and high precision. They are the most critical and complex equipment in the entire SMT production. Chip mounters are the main equipment in the SMT production line. Chip mounters have developed from early low-speed mechanical chip mounters to high-speed optical centering chip mounters, and have developed towards multi-functional, flexible connection modularization;

[0003] The control method of the SMT gantry system is an important control technology in automation equipment. It involves precise control of the movement of the equipment to ensure that the electronic components can be accurately placed on the PCB (printed circuit board). The gantry SMT machine has a large working range and usually uses a gantry structure to support the motion system. It has high precision requirements. In the entire control system, the two linear motor drive methods can enable the system to obtain greater thrust and speed, but at the same time, it also increases the uncertainty risk and control difficulty of the system. This is mainly due to two factors. First, it is difficult to ensure that the two linear motors have exactly the same mechanical parameters and electromechanical characteristics under realistic conditions; second, the synchronous movement of the mechanical crossbeam and the load positioning movement affect each other and have a complex coupling dynamic relationship. In addition, there will inevitably be problems of parameter uncertainty and unknown nonlinear disturbances from the outside world in the SMT gantry platform system, such as load changes, thrust fluctuations, measurement noise, etc., which can easily cause large motion errors and system oscillations.

[0004] In view of the above technical defects, a solution is now proposed. Summary of the invention

[0005] The purpose of the present invention is to establish a dynamic model of the gantry system of a patch machine, simulate the patch operation process to obtain simulated operation parameters, calculate the control accuracy coefficient according to the simulated operation parameters, evaluate the control accuracy coefficient, optimize the parameters that do not meet the operation accuracy requirements until high-precision operation parameters are obtained, and execute the operation process to complete the patch processing.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a high-precision placement machine gantry system, including a gantry system and a control system, the gantry system including an equipment base, an X-axis linear guide and a Y-axis linear guide, the two Y-axis linear guides are relatively arranged on the top surface of the equipment base, the Y-axis linear guide is fixedly provided with an axis linear motor inside, the output end of the axis linear motor is fixedly provided with an X-axis bracket, the two X-axis linear guides are relatively arranged on the outer two side surfaces of the X-axis bracket, the X-axis linear guide is fixedly provided with an X-axis linear motor inside, the X-axis linear guide is movably connected with an X-axis bearing platform inside, and the outer surface of the output end of the X-axis linear motor is connected to the X-axis bearing platform;

[0007] The control system includes a data acquisition unit, a counterweight analysis unit, a parameter storage unit, a load analysis unit, a data verification unit and an execution unit;

[0008] The data acquisition unit is used to acquire the load system data of the gantry system of the placement machine, and establish a three-dimensional space model according to the load system data. After marking the coordinate positions of the load devices one by one in the three-dimensional space model, the load devices are marked as Mk, where Mk is a natural number greater than 1, and the coordinate information of the load devices is obtained and sent to the counterweight analysis unit;

[0009] The counterweight analysis unit is used to obtain the coordinate information and weight data of the load device, and at the same time obtain the counterweight bearing coefficient of the device base and the load coefficient of the X-axis bracket, calculate the load disturbance coefficient of the load device Mk and send it to the load demand analysis unit;

[0010] The parameter storage unit is used to store the rated operating parameters of the placement machine and classify and store the rated operating parameters, wherein the operating parameters include placement path, placement frequency and placement duration, and at the same time, obtain the actual operating parameters and replace them with new rated operating parameters for storage;

[0011] The load analysis unit includes obtaining the rated operating parameters of the placement machine, obtaining the equipment parameters of the placement machine gantry system to establish a dynamic model of the placement machine gantry system, simulating the placement operation process to obtain the simulated operation parameters, calculating the control accuracy coefficient according to the simulated operation parameters, evaluating the control accuracy coefficient according to the preset accuracy evaluation range, obtaining an accuracy optimization signal or an accuracy qualified signal, sending the accuracy optimization signal to the data verification unit, and sending the accuracy qualified signal to the execution unit;

[0012] The data verification unit is used to obtain and process the accuracy optimization signal, obtain the simulated operation parameters, disassemble the simulated operation parameters according to the instruction steps of the rated operation parameters to obtain the moment parameters, analyze the interference trend of the load disturbance coefficient on the moment parameters one by one, generate new moment parameters according to the interference trend, until the control accuracy coefficient is within the accuracy evaluation range, and obtain the actual operation parameters and send them to the execution unit.

[0013] Furthermore, a plurality of feet are evenly distributed on the bottom surface of the equipment base, and the feet can be adjusted to keep the equipment base level and stable.

[0014] Furthermore, the execution unit is used to obtain a precision qualified signal, and execute an operation process according to rated operation parameters to complete the patch processing, and at the same time obtain actual operation parameters and execute an operation process to complete the patch processing.

[0015] Furthermore, the specific process of obtaining the coordinate information of the payload device is as follows:

[0016] S101, establish a three-dimensional space model with the reference plane of the equipment base as the reference plane of the coordinate system, the direction of the X-axis linear guide as the X-axis, the direction of the Y-axis linear guide as the Y-axis, and the central axis perpendicular to the coordinate system base surface as the Z-axis;

[0017] S102, obtaining load system data of the gantry system of the placement machine, wherein the load system data includes a load device list, weight data of each load device, and position data of each load device;

[0018] S103, according to the weight data m0 of each load device, the load device is subjected to standard visualization processing to obtain a load device identifier, which is specifically a circle, and the area of ​​the load device identifier is calculated according to the following formula: S=d*m0;

[0019] S103, select any corner of the coordinate system reference plane as the starting point, visually mark each load device in the load device list one by one in the three-dimensional space model according to the position data, and use the load device identification center as the coordinate point to obtain the coordinate information of the load device.

[0020] Furthermore, the specific process of calculating the load disturbance coefficient of the load device Mk is as follows:

[0021] S201, obtaining the counterweight bearing coefficient Di of the equipment base and the load coefficient Gi of the X-axis bracket, wherein the counterweight bearing coefficient Di is the ratio of the material ultimate bearing capacity Fi of the equipment base to the expected maximum working load mx, that is, The material ultimate bearing capacity Fi is obtained by obtaining the main material of the equipment base from the database, and searching for the maximum bearing data of the main material. It can be known that the expected maximum working load mx is the sum of the weights of all load equipment;

[0022] The load factor Gi of the X-axis linear guide is the ratio of the material ultimate bearing capacity Fg of the equipment base to the expected maximum working load mg, that is, The material limit bearing capacity Fg is obtained by obtaining the main material of the X-axis linear guide from the database, and the maximum bearing data corresponding to the main material is found. The expected maximum working load mg is the sum of the weights of all load devices assembled on the X-axis linear guide.

[0023] S202, marking the center point coordinates D (xd, yd) of the device base and the center point coordinates G (xg, yg) of the X-axis linear guide in the three-dimensional space model;

[0024] S203, obtaining the coordinate information M (xm, ym) of the load device and the weight data m0 of the load device, and calculating the load disturbance coefficient Wi of the load device Mk according to the following formula: Among them, e1 and e2 are preset proportional coefficients, and the load disturbance coefficient Wi is used to reflect the influence of the load equipment in the current structure on the load fluctuation during equipment operation. The larger the load disturbance coefficient Wi, the greater the influence of the current load equipment on the load stability of the equipment structure during equipment operation. Conversely, the smaller the load disturbance coefficient Wi, the smaller the influence of the current load equipment on the load stability of the equipment structure during equipment operation.

[0025] Furthermore, the specific process of obtaining the precision optimized signal or the precision qualified signal is as follows:

[0026] S301, obtaining equipment parameters of the gantry system of the placement machine, wherein the equipment parameters include mass data of parts, posture parameters of parts, elastic modulus and Poisson's ratio of equipment materials, contact model and simulation parameters, and based on the data of the three-dimensional space model, importing the equipment parameters into Simpack to establish a dynamic model of the gantry system of the placement machine;

[0027] S302, simulating the patch operation process according to the rated operation parameters, obtaining the ideal operation parameters, obtaining the load disturbance coefficient, loading the load disturbance coefficient as the constraint condition of the dynamic model, and performing a secondary operation based on the ideal operation parameters to obtain the simulated operation parameters, wherein the simulated operation parameters include the real-time moving speed vt of the X-axis carrier, the real-time output power Wx of the X-axis linear motor, and the real-time output power Wy of the Y-axis linear motor;

[0028] S303. Calculate the control accuracy coefficient according to the following formula: Among them, e4, e5 and e3 are preset weight coefficients, and vi is the rated moving speed of the X-axis carrier, Wi is the rated output power Wx of the X-axis linear motor, and Wj is the rated output power of the Y-axis linear motor. The control accuracy coefficient is used to evaluate the accuracy of the equipment during the simulated operation. The larger the control accuracy coefficient, the higher the accuracy of the equipment operation. Conversely, the smaller the control accuracy coefficient, the lower the accuracy of the equipment operation.

[0029] S304, obtaining a preset accuracy evaluation range (ηmin, ηmax), and if the control accuracy coefficient is less than ηmin or greater than ηmax, generating an accuracy optimization signal;

[0030] If the control accuracy coefficient is greater than or equal to ηmin and greater than or equal to ηmax, a qualified accuracy signal is generated.

[0031] Furthermore, the specific process of obtaining the actual operating parameters is as follows:

[0032] S401, obtaining the total cycle of the simulated patch operation, and generating a time axis according to the total cycle;

[0033] S402, obtaining simulation operation parameters, disassembling the instruction steps of the rated operation parameters to obtain a number of time nodes, marking the time nodes one by one on the time axis, and obtaining the time parameters according to the corresponding time node t1, the time parameters are the real-time moving speed vt′ of the X-axis carrier at t1, the real-time output power Wx′ of the X-axis linear motor at t1, and the real-time output power Wy′ of the Y-axis linear motor at t1;

[0034] S403, obtaining a load disturbance coefficient, increasing the load disturbance coefficient according to a preset ratio, obtaining a time parameter of time node t2 again, and calculating a control accuracy coefficient according to the time parameter of t2;

[0035] S404, obtaining a preset accuracy assessment range, and if the control accuracy coefficient is within the accuracy assessment range, marking the time parameter t2 as an actual operation parameter;

[0036] S405: If the control accuracy coefficient exceeds the accuracy assessment range, the load disturbance coefficient is reduced according to a preset ratio, the time parameter of the time node t3 is obtained again, and the control accuracy coefficient is calculated according to the time parameter of t3;

[0037] S406, obtaining the preset accuracy evaluation range again, and if the control accuracy coefficient is within the accuracy evaluation range, marking the time parameter of t3 as the actual operation parameter;

[0038] If the control accuracy coefficient exceeds the accuracy assessment range, the time parameter t1 is marked as an invalid operating parameter.

[0039] The present invention also provides a multi-axis coordinated control method of a high-precision placement machine gantry system, comprising the following steps:

[0040] Step 1: Obtain the load system data of the gantry system of the placement machine, and establish a three-dimensional space model based on the load system data. After marking the coordinate positions of the load devices one by one in the three-dimensional space model, the load devices are marked as Mk, where Mk is a natural number greater than 1, and the coordinate information of the load devices is obtained;

[0041] Step 2: Obtain the coordinate information and weight data of the load device, and at the same time obtain the counterweight bearing coefficient of the device base and the load coefficient of the X-axis bracket, and calculate the load disturbance coefficient of the load device Mk;

[0042] Step 3: storing the rated operating parameters of the placement machine and storing the rated operating parameters by categories, and obtaining the actual operating parameters and replacing them with new rated operating parameters for storage;

[0043] Step 3: Obtain the rated operating parameters of the placement machine, and obtain the equipment parameters of the placement machine gantry system to establish a dynamic model of the placement machine gantry system, simulate the placement operation process to obtain the simulated operating parameters, calculate the control accuracy coefficient according to the simulated operating parameters, and evaluate the control accuracy coefficient according to the preset accuracy evaluation range to obtain an accuracy optimization signal or an accuracy qualified signal;

[0044] Step 5: After obtaining the precision optimization signal and processing it, obtain the simulated operating parameters, disassemble the simulated operating parameters according to the instruction steps of the rated operating parameters to obtain the moment parameters, analyze the interference trend of the load disturbance coefficient on the moment parameters one by one, generate new moment parameters according to the interference trend, until the control precision coefficient is within the precision evaluation range, and obtain the actual operating parameters;

[0045] Step 6: Obtain a qualified accuracy signal, and perform an operation process according to rated operating parameters to complete the patch processing, while obtaining actual operating parameters and performing an operation process to complete the patch processing.

[0046] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0047] 1. The high-precision SMT gantry system and multi-axis coordinated control method ensure the system accuracy by integrally casting the Y-axis linear guide and the equipment base and then finely machining. At the same time, the Y-axis linear guide is designed with a positioning installation surface to ensure accuracy at the installation position of the equipment base. The Y-axis movement direction relies on the high-precision guidance of the linear guide and the high-precision and high-efficiency operation of the linear motor. Finite element analysis is used to reduce the weight of the X-axis bracket while ensuring strength, which not only ensures function and accuracy, but also reduces the load of the Y-axis system. At the same time, the X-axis movement direction relies on the high-precision guidance of the linear guide and the high-precision and high-efficiency operation of the linear motor.

[0048] 2. The high-precision SMT gantry system and multi-axis coordinated control method are based on the coordinate information of the load device and the weight data of the load device, and simultaneously obtain the counterweight bearing coefficient of the equipment base and the load coefficient of the X-axis bracket to analyze the load disturbance coefficient. At the same time, a dynamic model of the SMT gantry system is established, and the SMT operation process is simulated to obtain simulated operation parameters. The control accuracy coefficient is calculated according to the simulated operation parameters, the control accuracy coefficient is evaluated, and the parameters that do not meet the operation accuracy requirements are optimized until high-precision operation parameters are obtained, and the operation process is executed to complete the SMT processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 The overall external structure schematic diagram of the present invention is shown;

[0050] Figure 2 Another schematic diagram of the overall external structure of the present invention is shown;

[0051] Figure 3 The overall internal structure schematic diagram of the present invention is shown;

[0052] Figure 4 A schematic diagram of the control system structure of the present invention is shown;

[0053] Figure 5 A schematic diagram of the method flow of the present invention is shown;

[0054] Legend: 1. Anchor; 2. Equipment base; 3. Y-axis linear guide; 4. Y-axis linear motor; 5. X-axis bracket; 6. X-axis linear guide; 7. X-axis linear motor; 8. X-axis bearing platform. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] Embodiment 1:

[0057] like Figure 1-3As shown, a high-precision placement machine gantry system includes a gantry system and a control system. The gantry system includes an equipment base 2, an X-axis linear guide 6 and a Y-axis linear guide 3. The two Y-axis linear guides 3 are relatively arranged on the top surface of the equipment base 2. The Y-axis linear guide 3 is fixedly provided with an X-axis linear motor, and the output end of the Y-axis linear motor is fixedly provided with an X-axis bracket 5. The two X-axis linear guides 6 are relatively arranged on the outer two side surfaces of the X-axis bracket 5. The X-axis linear guide 6 is fixedly provided with an X-axis linear motor 7. The X-axis linear guide 6 is movably connected with an X-axis bearing stage 8. The outer surface of the output end of the X-axis linear motor 7 is connected to the X-axis bearing stage 8.

[0058] A plurality of feet 1 are evenly distributed on the bottom surface of the equipment base 2, and the feet 1 can be adjusted to keep the equipment base 2 level and stable.

[0059] The system accuracy is ensured by integrally casting the Y-axis linear guide 3 and the equipment base 2 and then finely machining them. At the same time, the Y-axis linear guide 3 is designed with a positioning installation surface to ensure accuracy at the installation position of the equipment base 2. The movement direction of the Y-axis relies on the high-precision guidance of the linear guide and the high-precision and high-efficiency operation of the linear motor. Finite element analysis is used to reduce the weight of the X-axis bracket 5 while ensuring strength, which not only ensures function and accuracy, but also reduces the load of the Y-axis system. At the same time, the movement direction of the X-axis relies on the high-precision guidance of the linear guide and the high-precision and high-efficiency operation of the linear motor.

[0060] Embodiment 2:

[0061] like Figure 4 As shown, a high-precision placement machine gantry system includes a gantry system and a control system, and the control system includes a data acquisition unit, a counterweight analysis unit, a parameter storage unit, a load analysis unit, a data verification unit and an execution unit;

[0062] The data acquisition unit is used to acquire the load system data of the gantry system of the placement machine, and establish a three-dimensional space model according to the load system data. After marking the coordinate positions of the load devices one by one in the three-dimensional space model, the load devices are marked as Mk, where Mk is a natural number greater than 1, and the coordinate information of the load devices is obtained and sent to the counterweight analysis unit;

[0063] The specific process of obtaining the coordinate information of the payload device is as follows:

[0064] S101, establish a three-dimensional space model with the reference plane of the equipment base 2 as the reference plane of the coordinate system, the direction of the X-axis linear guide 6 as the X-axis, the direction of the Y-axis linear guide 3 as the Y-axis, and the central axis perpendicular to the coordinate system base surface as the Z-axis;

[0065] S102, obtaining load system data of the gantry system of the placement machine, the load system data including a load device list, weight data of each load device and position data of each load device;

[0066] S103, according to the weight data m0 of each load device, the load device is subjected to standard visualization processing to obtain a load device identifier, which is specifically a circle, and the area of ​​the load device identifier is calculated according to the following formula: S=d*m0;

[0067] S103, select any corner of the coordinate system reference plane as the starting point, visually mark each load device in the load device list one by one in the three-dimensional space model according to the position data, and use the load device identification center as the coordinate point to obtain the coordinate information of the load device.

[0068] The counterweight analysis unit is used to obtain the coordinate information and weight data of the load device, and at the same time obtain the counterweight bearing coefficient of the device base 2 and the load coefficient of the X-axis bracket 5, calculate the load disturbance coefficient of the load device Mk and send it to the load demand analysis unit;

[0069] The specific process of calculating the load disturbance coefficient of the load device Mk is as follows:

[0070] S201, obtain the counterweight bearing coefficient Di of the equipment base 2 and the load coefficient Gi of the X-axis bracket 5, the counterweight bearing coefficient Di is the ratio of the material ultimate bearing capacity Fi of the equipment base 2 to the expected maximum working load mx, that is, Among them, the material ultimate bearing capacity Fi is obtained by obtaining the main

[0071] According to the maximum load-bearing data of the main material, the expected maximum working load mx is the sum of the weight of all load equipment;

[0072] The load factor Gi of the X-axis linear guide 6 is the ratio of the material limit bearing capacity Fg of the equipment base 2 to the expected maximum working load mg, that is, Among them, the material ultimate bearing capacity Fg is obtained from the database

[0073] Take the main material of the X-axis linear guide 6, and find its maximum load data according to the main material. It can be known that the expected maximum working load mg is the sum of the weight of all load devices assembled on the X-axis linear guide 6

[0074] S202, marking the center point coordinates D (xd, yd) of the device base 2 and the center point coordinates G (xg, yg) of the X-axis linear guide rail 6 in the three-dimensional space model;

[0075] S203, obtaining the coordinate information M (xm, ym) of the load device and the weight data m0 of the load device, and calculating the load disturbance coefficient Wi of the load device Mk according to the following formula: Among them, e1 and e2 are preset proportional coefficients, and the load disturbance coefficient Wi is used to reflect the influence of the load equipment in the current structure on the load fluctuation during equipment operation. The larger the load disturbance coefficient Wi, the greater the influence of the current load equipment on the load stability of the equipment structure during equipment operation. Conversely, the smaller the load disturbance coefficient Wi, the smaller the influence of the current load equipment on the load stability of the equipment structure during equipment operation.

[0076] The parameter storage unit is used to store the rated operating parameters of the placement machine and classify and store the rated operating parameters, the operating parameters include placement path, placement frequency and placement duration, and at the same time obtain the actual operating parameters and replace them with new rated operating parameters for storage;

[0077] The load analysis unit includes obtaining the rated operating parameters of the placement machine, obtaining the equipment parameters of the placement machine gantry system to establish a dynamic model of the placement machine gantry system, simulating the placement operation process to obtain the simulated operation parameters, calculating the control accuracy coefficient according to the simulated operation parameters, evaluating the control accuracy coefficient according to the preset accuracy evaluation range, obtaining an accuracy optimization signal or an accuracy qualified signal, sending the accuracy optimization signal to the data verification unit, and sending the accuracy qualified signal to the execution unit;

[0078] The specific process of obtaining the precision optimized signal or the precision qualified signal is as follows:

[0079] S301, obtaining equipment parameters of the gantry system of the placement machine, the equipment parameters including mass data of parts, posture parameters of parts, elastic modulus and Poisson's ratio of equipment materials, contact model and simulation parameters, and importing the equipment parameters into Simpack based on the data of the three-dimensional space model to establish a dynamic model of the gantry system of the placement machine;

[0080] S302, simulating the patch operation process according to the rated operation parameters, obtaining the ideal operation parameters, obtaining the load disturbance coefficient, loading the load disturbance coefficient as the constraint condition of the dynamic model, and performing a secondary operation based on the ideal operation parameters to obtain the simulated operation parameters, wherein the simulated operation parameters include the real-time moving speed vt of the X-axis carrier 8, the real-time output power Wx of the X-axis linear motor 7, and the real-time output power Wy of the Y-axis linear motor 4;

[0081] S303. Calculate the control accuracy coefficient according to the following formula: Wherein, e4, e5 and e3 are preset weight coefficients, and vi is the rated moving speed of the X-axis carrier 8, Wi is the rated output power Wx of the X-axis linear motor 7, and Wj is the rated output power of the Y-axis linear motor 4. The control accuracy coefficient is used to evaluate the accuracy of the device during the simulated operation. The larger the control accuracy coefficient, the higher the accuracy of the device operation. Conversely, the smaller the control accuracy coefficient, the lower the accuracy of the device operation.

[0082] S304, obtaining a preset accuracy evaluation range (ηmin, ηmax), and if the control accuracy coefficient is less than ηmin or greater than ηmax, generating an accuracy optimization signal;

[0083] If the control accuracy coefficient is greater than or equal to ηmin and greater than or equal to ηmax, a qualified accuracy signal is generated.

[0084] The data verification unit is used to obtain and process the precision optimization signal, obtain the simulated operation parameters, disassemble the simulated operation parameters according to the instruction steps of the rated operation parameters to obtain the moment parameters, analyze the interference trend of the load disturbance coefficient on the moment parameters one by one, generate new moment parameters according to the interference trend, until the control precision coefficient is within the precision evaluation range, and obtain the actual operation parameters and send them to the execution unit.

[0085] The specific process of obtaining the actual operating parameters is as follows:

[0086] S401, obtaining the total cycle of the simulated patch operation, and generating a time axis according to the total cycle;

[0087] S402, obtaining simulation operation parameters, disassembling the instruction steps of the rated operation parameters to obtain a number of time nodes, marking the time nodes one by one on the time axis, and obtaining the time parameters according to the corresponding time node t1, the time parameters are the real-time moving speed vt′ of the X-axis carrier 8 at t1, the real-time output power Wx′ of the X-axis linear motor 7 at t1, and the real-time output power Wy′ of the Y-axis linear motor 4 at t1;

[0088] S403, obtaining a load disturbance coefficient, increasing the load disturbance coefficient according to a preset ratio, obtaining a time parameter of time node t2 again, and calculating a control accuracy coefficient according to the time parameter of t2;

[0089] S404, obtaining a preset accuracy assessment range, and if the control accuracy coefficient is within the accuracy assessment range, marking the time parameter t2 as an actual operation parameter;

[0090] S405: If the control accuracy coefficient exceeds the accuracy assessment range, the load disturbance coefficient is reduced according to a preset ratio, the time parameter of the time node t3 is obtained again, and the control accuracy coefficient is calculated according to the time parameter of t3;

[0091] S406, obtaining the preset accuracy evaluation range again, and if the control accuracy coefficient is within the accuracy evaluation range, marking the time parameter of t3 as the actual operation parameter;

[0092] If the control accuracy coefficient exceeds the accuracy assessment range, the time parameter t1 is marked as an invalid operating parameter.

[0093] The execution unit is used to obtain a precision qualified signal, and execute an operation process according to rated operation parameters to complete the patch processing, and at the same time obtain actual operation parameters and execute an operation process to complete the patch processing.

[0094] Embodiment 3:

[0095] like Figure 5 As shown, a multi-axis coordinated control method for a high-precision placement machine gantry system includes the following steps:

[0096] Step 1: Obtain the load system data of the gantry system of the placement machine, and establish a three-dimensional space model based on the load system data. After marking the coordinate positions of the load devices one by one in the three-dimensional space model, the load devices are marked as Mk, where Mk is a natural number greater than 1, and the coordinate information of the load devices is obtained;

[0097] Step 2: Obtain the coordinate information and weight data of the load device, and at the same time obtain the counterweight bearing coefficient of the device base 2 and the load coefficient of the X-axis bracket 5, and calculate the load disturbance coefficient of the load device Mk;

[0098] Step 3: storing the rated operating parameters of the placement machine and storing the rated operating parameters by categories, and obtaining the actual operating parameters and replacing them with new rated operating parameters for storage;

[0099] Step 3: Obtain the rated operating parameters of the placement machine, and obtain the equipment parameters of the placement machine gantry system to establish a dynamic model of the placement machine gantry system, simulate the placement operation process to obtain the simulated operating parameters, calculate the control accuracy coefficient according to the simulated operating parameters, and evaluate the control accuracy coefficient according to the preset accuracy evaluation range to obtain an accuracy optimization signal or an accuracy qualified signal;

[0100] Step 5: After obtaining the precision optimization signal and processing it, obtain the simulated operating parameters, disassemble the simulated operating parameters according to the instruction steps of the rated operating parameters to obtain the moment parameters, analyze the interference trend of the load disturbance coefficient on the moment parameters one by one, generate new moment parameters according to the interference trend, until the control precision coefficient is within the precision evaluation range, and obtain the actual operating parameters;

[0101] Step 6: Obtain a qualified accuracy signal, and perform an operation process according to rated operating parameters to complete the patch processing, while obtaining actual operating parameters and performing an operation process to complete the patch processing.

[0102] The size of the interval and threshold is set to facilitate comparison. The size of the threshold depends on the amount of sample data and the number of bases set by technical personnel in this field for each group of sample data; as long as it does not affect the proportional relationship between the parameter and the quantized value.

[0103] The above formulas are all dimensionless and numerical calculations. The formula is a formula obtained by collecting a large amount of data and performing software simulation to obtain the most recent real situation. The preset parameters in the formula are set by technicians in this field according to actual conditions.

[0104] In the two embodiments provided in the present application, it should be understood that the disclosed devices and systems can be implemented in other ways; for example, the device embodiments described above are only schematic, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed; another point, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, the indirect coupling or communication connection of devices or modules can be electrical, mechanical or other forms;

[0105] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A high-precision placement machine gantry system, comprising a gantry system and a control system, characterized in that: The gantry system comprises an equipment base (2), an X-axis linear guide (6) and a Y-axis linear guide (3); the two Y-axis linear guides (3) are arranged relative to each other on the top surface of the equipment base (2); an X-axis linear motor is fixedly arranged inside the Y-axis linear guide (3); an X-axis bracket (5) is fixedly arranged at the output end of the X-axis linear motor; the two X-axis linear guides (6) are arranged relative to each other on the outer two side surfaces of the X-axis bracket (5); an X-axis linear motor (7) is fixedly arranged inside the X-axis linear guide (6); an X-axis bearing carrier (8) is movably connected inside the X-axis linear guide (6); and the outer side surface of the output end of the X-axis linear motor (7) is connected to the X-axis bearing carrier (8); The control system includes a data acquisition unit, a counterweight analysis unit, a parameter storage unit, a load analysis unit, a data verification unit and an execution unit; The data acquisition unit is used to acquire the load system data of the gantry system of the placement machine, and establish a three-dimensional space model according to the load system data. After marking the coordinate positions of the load devices one by one in the three-dimensional space model, the load devices are marked as Mk, where Mk is a natural number greater than 1, and the coordinate information of the load devices is obtained and sent to the counterweight analysis unit; The counterweight analysis unit is used to obtain the coordinate information of the load device and the weight data of the load device, and simultaneously obtain the counterweight bearing coefficient of the device base (2) and the load coefficient of the X-axis bracket (5), calculate the load disturbance coefficient of the load device Mk and send it to the load demand analysis unit; The parameter storage unit is used to store the rated operating parameters of the placement machine and classify and store the rated operating parameters, wherein the operating parameters include placement path, placement frequency and placement duration, and at the same time, obtain the actual operating parameters and replace them with new rated operating parameters for storage; The load analysis unit includes obtaining the rated operating parameters of the placement machine, obtaining the equipment parameters of the placement machine gantry system to establish a dynamic model of the placement machine gantry system, simulating the placement operation process to obtain the simulated operation parameters, calculating the control accuracy coefficient according to the simulated operation parameters, evaluating the control accuracy coefficient according to the preset accuracy evaluation range, obtaining an accuracy optimization signal or an accuracy qualified signal, sending the accuracy optimization signal to the data verification unit, and sending the accuracy qualified signal to the execution unit; The data verification unit is used to obtain and process the accuracy optimization signal, obtain the simulated operation parameters, disassemble the simulated operation parameters according to the instruction steps of the rated operation parameters to obtain the moment parameters, analyze the interference trend of the load disturbance coefficient on the moment parameters one by one, generate new moment parameters according to the interference trend, until the control accuracy coefficient is within the accuracy evaluation range, and obtain the actual operation parameters and send them to the execution unit.

2. The high-precision placement machine gantry system according to claim 1, characterized in that: A plurality of feet (1) are evenly distributed on the bottom surface of the equipment base (2), and the feet (1) can be adjusted so that the equipment base (2) remains horizontal and stable.

3. The high-precision placement machine gantry system according to claim 1, characterized in that: The execution unit is used to obtain a precision qualified signal, and execute an operation process according to rated operation parameters to complete the patch processing, and at the same time obtain actual operation parameters and execute the operation process to complete the patch processing.

4. The high-precision placement machine gantry system according to claim 1, characterized in that: The specific process of obtaining the coordinate information of the payload device is as follows: S101, establishing a three-dimensional space model with the reference plane of the equipment base (2) as the reference plane of the coordinate system, the direction of the X-axis linear guide (6) as the X-axis, the direction of the Y-axis linear guide (3) as the Y-axis, and the central axis perpendicular to the coordinate system base surface as the Z-axis; S102, obtaining load system data of the gantry system of the placement machine, wherein the load system data includes a load device list, weight data of each load device, and position data of each load device; S103, according to the weight data m0 of each load device, the load device is subjected to standard visualization processing to obtain a load device identifier, which is specifically a circle, and the area of ​​the load device identifier is calculated according to the following formula: S=d*m0; S103, select any corner of the coordinate system reference plane as the starting point, visually mark each load device in the load device list one by one in the three-dimensional space model according to the position data, and use the load device identification center as the coordinate point to obtain the coordinate information of the load device.

5. The high-precision placement machine gantry system according to claim 1, characterized in that: The specific process of calculating the load disturbance coefficient of the load device Mk is as follows: S201, obtaining the counterweight bearing coefficient Di of the equipment base (2) and the load coefficient Gi of the X-axis bracket (5), wherein the counterweight bearing coefficient Di is the ratio of the material ultimate bearing capacity Fi of the equipment base (2) to the expected maximum working load mx, that is, The material ultimate bearing capacity Fi is obtained by obtaining the main material of the equipment base (2) from the database, and searching for the maximum bearing data of the main material. It can be known that the expected maximum working load mx is the sum of the weights of all load equipment; The load factor Gi of the X-axis linear guide rail (6) is the ratio of the material limit bearing capacity Fg of the equipment base (2) to the expected maximum working load mg, that is, The material limit bearing capacity Fg is obtained by obtaining the main material of the X-axis linear guide (6) from the database, and searching for the maximum bearing data of the main material. The expected maximum working load mg is the sum of the weights of all load devices installed on the X-axis linear guide (6). S202, marking the center point coordinates D (xd, yd) of the device base (2) and the center point coordinates G (xg, yg) of the X-axis linear guide rail (6) in the three-dimensional space model; S203, obtaining the coordinate information M (xm, ym) of the load device and the weight data m0 of the load device, and calculating the load disturbance coefficient Wi of the load device Mk according to the following formula: Where e1 and e2 are preset proportional coefficients.

6. The high-precision placement machine gantry system according to claim 5, characterized in that: The specific process of obtaining the precision optimized signal or the precision qualified signal is as follows: S301, obtaining equipment parameters of the gantry system of the placement machine, wherein the equipment parameters include mass data of parts, posture parameters of parts, elastic modulus and Poisson's ratio of equipment materials, contact model and simulation parameters, and based on the data of the three-dimensional space model, importing the equipment parameters into Simpack to establish a dynamic model of the gantry system of the placement machine; S302, simulating the patch operation process according to the rated operation parameters, obtaining the ideal operation parameters, obtaining the load disturbance coefficient, loading the load disturbance coefficient as the constraint condition of the dynamic model, and performing a secondary operation based on the ideal operation parameters to obtain the simulated operation parameters, wherein the simulated operation parameters include the real-time moving speed vt of the X-axis carrier (8), the real-time output power Wx of the X-axis linear motor (7), and the real-time output power Wy of the Y-axis linear motor (4); S303. Calculate the control accuracy coefficient according to the following formula: Wherein, e4, e5 and e3 are preset weight coefficients, and vi is the rated moving speed of the X-axis carrier (8), Wi is the rated output power Wx of the X-axis linear motor (7), and Wj is the rated output power of the Y-axis linear motor (4); S304, obtaining a preset accuracy evaluation range (ηmin, ηmax), and if the control accuracy coefficient is less than ηmin or greater than ηmax, generating an accuracy optimization signal; If the control accuracy coefficient is greater than or equal to ηmin and greater than or equal to ηmax, a qualified accuracy signal is generated.

7. The high-precision placement machine gantry system according to claim 6, characterized in that: The specific process of obtaining the actual operating parameters is as follows: S401, obtaining the total cycle of the simulated patch operation, and generating a time axis according to the total cycle; S402, obtaining simulation operation parameters, disassembling the instruction steps of the rated operation parameters to obtain a plurality of time nodes, marking the plurality of time nodes one by one on the time axis, and obtaining time parameters according to the corresponding time node t1, the time parameters being the real-time moving speed vt′ of the X-axis carrier (8) at t1, the real-time output power Wx′ of the X-axis linear motor (7) at t1, and the real-time output power Wy′ of the Y-axis linear motor (4) at t1; S403, obtaining a load disturbance coefficient, increasing the load disturbance coefficient according to a preset ratio, obtaining a time parameter of time node t2 again, and calculating a control accuracy coefficient according to the time parameter of t2; S404, obtaining a preset accuracy assessment range, and if the control accuracy coefficient is within the accuracy assessment range, marking the time parameter t2 as an actual operation parameter; S405: If the control accuracy coefficient exceeds the accuracy assessment range, the load disturbance coefficient is reduced according to a preset ratio, the time parameter of the time node t3 is obtained again, and the control accuracy coefficient is calculated according to the time parameter of t3; S406, obtaining the preset accuracy evaluation range again, and if the control accuracy coefficient is within the accuracy evaluation range, marking the time parameter of t3 as the actual operation parameter; If the control accuracy coefficient exceeds the accuracy assessment range, the time parameter t1 is marked as an invalid operating parameter.

8. A multi-axis coordinated control method for a high-precision placement machine gantry system, characterized in that: The following steps are involved: Step 1: Obtain the load system data of the gantry system of the placement machine, and establish a three-dimensional space model based on the load system data. After marking the coordinate positions of the load devices one by one in the three-dimensional space model, the load devices are marked as Mk, where Mk is a natural number greater than 1, and the coordinate information of the load devices is obtained; Step 2: Obtain the coordinate information and weight data of the load device, and simultaneously obtain the counterweight bearing coefficient of the device base (2) and the load coefficient of the X-axis bracket (5), and calculate the load disturbance coefficient of the load device Mk; Step 3: storing the rated operating parameters of the placement machine and storing the rated operating parameters by categories, and obtaining the actual operating parameters and replacing them with new rated operating parameters for storage; Step 3: Obtain the rated operating parameters of the placement machine, and obtain the equipment parameters of the placement machine gantry system to establish a dynamic model of the placement machine gantry system, simulate the placement operation process to obtain the simulated operating parameters, calculate the control accuracy coefficient according to the simulated operating parameters, and evaluate the control accuracy coefficient according to the preset accuracy evaluation range to obtain an accuracy optimization signal or an accuracy qualified signal; Step 5: After obtaining the precision optimization signal and processing it, obtain the simulated operating parameters, disassemble the simulated operating parameters according to the instruction steps of the rated operating parameters to obtain the moment parameters, analyze the interference trend of the load disturbance coefficient on the moment parameters one by one, generate new moment parameters according to the interference trend, until the control precision coefficient is within the precision evaluation range, and obtain the actual operating parameters; Step 6: Obtain a qualified accuracy signal, and perform an operation process according to rated operating parameters to complete the patch processing, while obtaining actual operating parameters and performing an operation process to complete the patch processing.

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