High-precision patch machine gantry system and multi-axis coordinated control method

Abstract

The application discloses a high-precision patching machine gantry system and a multi-axis coordinated control method, relates to the technical field of patching machines, and comprises a gantry system and a control system. The gantry system comprises a device 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. The application simultaneously acquires the counterweight bearing coefficient of the device base and the load coefficient of the X-axis support based on the coordinate information of a load device and the weight data of the load device to analyze the load disturbance coefficient, simultaneously establishes a dynamics model of the patching machine gantry system, obtains simulation operation parameters by simulating a patching operation process, calculates a control precision coefficient according to the simulation operation parameters, evaluates the control precision coefficient, optimizes parameters that do not meet the operation precision requirement, and obtains high-precision operation parameters until the operation process is completed to finish patching processing.

Description

Technical Field

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

[0002] Fully automatic placement machines are used to automatically place components at high speed and high precision. They are the most critical and complex equipment in the entire SMT production line. They are the main equipment in the SMT production line. They have evolved from early low-speed mechanical placement machines to high-speed optical alignment placement machines, and are also developing towards multi-functional, flexible connection modularization.

[0003] The control method for the gantry system of a placement machine is a critical control technology in automated equipment. It involves precise control of the machine's motion to ensure that electronic components are accurately placed on PCBs (printed circuit boards). Gantry-type placement machines have a large operating range and typically utilize a gantry structure to support the motion system, requiring high precision. Within the overall control system, the use of two linear motors enables the system to achieve high thrust and speed, but this also increases uncertainty and control difficulty. This is primarily due to two factors: first, it is difficult to ensure that the two linear motors have identical mechanical parameters and electromechanical characteristics under realistic conditions; second, the synchronous motion of the mechanical crossbar and the load positioning motion interact with each other, resulting in complex coupled dynamics. Furthermore, the placement machine gantry system inevitably faces parameter uncertainty and unknown nonlinear disturbances, such as load variations, thrust fluctuations, and measurement noise. These can easily lead to 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 placement machine, simulate the placement operation process to obtain simulated operation parameters, calculate the control accuracy coefficient based on 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 placement processing.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions: 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 interior of the Y-axis linear guide is fixedly provided with an X-axis linear motor, the output end of the X-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 interior of the X-axis linear guide is fixedly provided with an X-axis linear motor, the interior of the X-axis linear guide is movably connected with an X-axis bearing carrier, and the outer surface of the output end of the X-axis linear motor is connected to the X-axis bearing carrier;

[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 obtain the load system data of the placement machine gantry system and establish a three-dimensional space model based on the load system data. After marking the coordinate position of the load device one by one in the three-dimensional space model, the load device is marked as Mk, where Mk is a natural number greater than 1. The coordinate information of the load device 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, as well as 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, including the placement path, placement frequency and placement time, and to 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 simulated operating parameters, calculating the control accuracy coefficient according to the simulated operating parameters, evaluating the control accuracy coefficient according to a preset accuracy evaluation range, obtaining an accuracy optimization signal or an accuracy qualification signal, sending the accuracy optimization signal to the data verification unit, and sending the accuracy qualification signal to the execution unit;

[0012] The data verification unit is used to obtain and process the precision optimization signal, 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 assessment range, and obtain the actual operating 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, while obtaining actual operation parameters and executing 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 placement machine gantry system, 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. Based on the weight data m0 of each load device, perform standard visualization processing on the load device to obtain a load device identifier. The load device identifier is specifically a circle. The area of ​​the load device identifier is calculated according to the following formula: S = d * m0;

[0019] S104. Select any corner of the coordinate system reference plane as the starting point, and visually mark each load device in the three-dimensional space model according to the position data of each load device in the load device list, and use the center of the load device identification 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. The expected maximum working load mx is the sum of the weights of all load devices.

[0022] The load factor Gi of the X-axis bracket is the ratio of the material ultimate bearing capacity Fg of the X-axis bracket to the expected maximum working load mg, that is, The material ultimate bearing capacity Fg is obtained by obtaining the main material of the X-axis bracket 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 assembled on the X-axis bracket.

[0023] S202. Mark 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 rail in the three-dimensional space model.

[0024] S203. Obtain the coordinate information M (xm, ym) of the load device and the weight data m0 of the load device, and calculate the load disturbance coefficient Wt of the load device Mk according to the following formula: , Among them, e1 and e2 are preset proportional coefficients, and the load disturbance coefficient Wt is used to reflect the degree of influence of the load equipment on the load fluctuation during equipment operation within the current structure. The larger the load disturbance coefficient Wt, 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 Wt, 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. Obtain equipment parameters of the placement machine gantry system, including component mass data, component posture parameters, elastic modulus and Poisson's ratio of equipment materials, contact model, and simulation parameters. Based on the data of the three-dimensional space model, import the equipment parameters into Simpack to establish a dynamic model of the placement machine gantry system.

[0027] S302: Simulate the patch operation process according to the rated operating parameters to obtain ideal operating parameters, obtain the load disturbance coefficient, load the load disturbance coefficient as a constraint condition of the dynamic model, and perform a secondary operation based on the ideal operating parameters to obtain simulated operating parameters, wherein the simulated operating 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, while vi is the rated moving speed of the X-axis carrier, Wi is the rated output power of the X-axis linear motor, and Wj is the rated output power of the X-axis linear motor. The control accuracy coefficient is used to evaluate the accuracy of the device during the simulated operation process. 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.

[0029] S304: Obtain a preset accuracy evaluation range (ηmin, ηmax). If the control accuracy coefficient is less than ηmin or greater than ηmax, generate 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 several time nodes, marking the several time nodes one by one on the time axis, and obtaining time parameters according to the corresponding time node t1, wherein 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: Obtain a load disturbance coefficient, increase the load disturbance coefficient according to a preset ratio, obtain the time parameter of time node t2 again, and calculate the control accuracy coefficient according to the time parameter of t2;

[0035] S404: Obtain a preset accuracy assessment range. If the control accuracy coefficient is within the accuracy assessment range, mark the time parameter t2 as the 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: Obtain the preset accuracy assessment range again. If the control accuracy coefficient is within the accuracy assessment range, mark the time parameter 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 for a high-precision placement machine gantry system, comprising the following steps:

[0040] Step 1: Obtain the load system data of the placement machine gantry system and build 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, mark the load devices as Mk, where Mk is a natural number greater than 1, and obtain the coordinate information of the load devices;

[0041] Step 2: Obtain the coordinate information and weight data of the payload, as well as the counterweight load factor of the device base and the load factor of the X-axis bracket, and calculate the load disturbance coefficient of the payload Mk;

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

[0043] Step 3: Obtain the rated operating parameters of the placement machine and 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 simulated operating parameters, calculate the control accuracy coefficient based on the simulated operating parameters, evaluate the control accuracy coefficient based on the preset accuracy evaluation range, and 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, and generate new moment parameters according to the interference trend until the control precision coefficient is within the precision assessment range, and obtain the actual operating parameters;

[0045] Step 6: Obtain a precision qualified signal, and execute the operation process according to the rated operating parameters to complete the patch processing. At the same time, obtain the actual operating parameters and execute the 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 placement machine gantry system and multi-axis coordinated control method ensure system accuracy by integrally casting the Y-axis linear guide and the equipment base and then fine-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 placement machine gantry system and multi-axis coordinated control method are based on the coordinate information and 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 placement machine gantry system is established, and the placement 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 placement processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 Shows a schematic diagram of the overall external structure of the present invention;

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

[0051] Figure 3 Shows a schematic diagram of the overall internal structure of the present invention;

[0052] Figure 4 Shows a schematic diagram of the control system structure of the present invention;

[0053] Figure 5 Shown is a schematic flow chart of the method of the present invention;

[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 clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0056] Example 1:

[0057] like Figure 1-3 As 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 X-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 to an X-axis bearing platform 8. The outer surface of the output end of the X-axis linear motor 7 is connected to the X-axis bearing platform 8.

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

[0059] The system accuracy is guaranteed by integrally casting the Y-axis linear guide 3 and the equipment base 2 and then fine-machining. 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 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 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 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.

[0060] Example 2:

[0061] like Figure 4 As shown, a high-precision placement machine gantry system includes a gantry system and a control system, 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 obtain the load system data of the placement machine gantry system and establish a three-dimensional space model based on the load system data. After marking the coordinate position of the load device one by one in the three-dimensional space model, the load device is marked as Mk, where Mk is a natural number greater than 1. The coordinate information of the load device is obtained and sent to the counterweight analysis unit;

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

[0064] S101. Establish a three-dimensional space model with the reference plane of the device 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 placement machine gantry system, the load system data including a load device list, weight data of each load device, and position data of each load device;

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

[0067] S104. Select any corner of the coordinate system reference plane as the starting point, and visually mark each load device in the three-dimensional space model according to the position data of each load device in the load device list, and use the center of the load device identification 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 load equipment 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, The material ultimate bearing capacity Fi is obtained by obtaining the main material of the equipment base 2 from the database. According to the corresponding maximum bearing data of the main material, it can be known that the expected maximum working load mx is the sum of the weight of all load equipment;

[0071] The load factor Gi of the X-axis bracket 5 is the ratio of the material ultimate bearing capacity Fg of the X-axis bracket 5 to the expected maximum working load mg, that is, The material ultimate bearing capacity Fg is obtained by obtaining the main material of the X-axis bracket 5 from the database and searching for its maximum bearing data according to the main material. The expected maximum working load mg is the sum of the weights of all load devices assembled on the X-axis bracket 5.

[0072] 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;

[0073] S203. Obtain the coordinate information M (xm, ym) of the load device and the weight data m0 of the load device, and calculate the load disturbance coefficient Wt of the load device Mk according to the following formula: , Among them, e1 and e2 are preset proportional coefficients, and the load disturbance coefficient Wt is used to reflect the degree of influence of the load equipment on the load fluctuation during equipment operation within the current structure. The larger the load disturbance coefficient Wt, 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 Wt, the smaller the influence of the current load equipment on the load stability of the equipment structure during equipment operation.

[0074] 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 time. At the same time, the actual operating parameters are obtained and replaced with new rated operating parameters for storage.

[0075] 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 simulated operating parameters, calculating the control accuracy coefficient according to the simulated operating parameters, evaluating the control accuracy coefficient according to a preset accuracy evaluation range, obtaining an accuracy optimization signal or an accuracy qualification signal, sending the accuracy optimization signal to the data verification unit, and sending the accuracy qualification signal to the execution unit;

[0076] The specific process of obtaining the precision optimized signal or the precision qualified signal is as follows:

[0077] S301. Obtain equipment parameters of the placement machine gantry system, including component mass data, component posture parameters, elastic modulus and Poisson's ratio of the equipment material, contact model, and simulation parameters. Based on the data of the three-dimensional space model, import the equipment parameters into Simpack to establish a dynamic model of the placement machine gantry system.

[0078] S302: Simulate the patch operation process according to the rated operating parameters to obtain the ideal operating parameters, obtain the load disturbance coefficient, load the load disturbance coefficient as a constraint condition of the dynamic model, and perform a secondary operation based on the ideal operating parameters to obtain simulated operating parameters, which 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;

[0079] S303. Calculate the control accuracy coefficient according to the following formula: , Wherein, e4, e5 and e3 are preset weight coefficients, 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 X-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.

[0080] S304, obtaining a preset accuracy evaluation range (ηmin, ηmax), and generating an accuracy optimization signal if the control accuracy coefficient is less than ηmin or greater than ηmax;

[0081] 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.

[0082] The data verification unit is used to obtain and process the precision optimization signal, 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, and generate new moment parameters according to the interference trend until the control precision coefficient is within the precision assessment range, and obtain the actual operating parameters and send them to the execution unit.

[0083] The specific process of obtaining the actual operating parameters is as follows:

[0084] S401, obtaining the total cycle of the simulated patch operation, and generating a time axis according to the total cycle;

[0085] S402, obtaining simulation operation parameters, disassembling the instruction steps of the rated operation parameters to obtain several time nodes, marking the several time nodes one by one on the time axis, and obtaining 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;

[0086] S403: Obtain a load disturbance coefficient, increase the load disturbance coefficient according to a preset ratio, obtain the time parameter of time node t2 again, and calculate the control accuracy coefficient according to the time parameter of t2;

[0087] S404: Obtain a preset accuracy assessment range. If the control accuracy coefficient is within the accuracy assessment range, mark the time parameter t2 as the actual operation parameter.

[0088] 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;

[0089] S406: Obtain the preset accuracy assessment range again. If the control accuracy coefficient is within the accuracy assessment range, mark the time parameter t3 as the actual operation parameter.

[0090] If the control accuracy coefficient exceeds the accuracy assessment range, the time parameter t1 is marked as an invalid operating parameter.

[0091] The execution unit is used to obtain the accuracy qualified signal and execute the operation process according to the rated operation parameters to complete the patch processing, while obtaining the actual operation parameters and executing the operation process to complete the patch processing.

[0092] Example 3:

[0093] like Figure 5 As shown, a multi-axis coordinated control method for a high-precision placement machine gantry system includes the following steps:

[0094] Step 1: Obtain the load system data of the placement machine gantry system and build 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, mark the load devices as Mk, where Mk is a natural number greater than 1, and obtain the coordinate information of the load devices;

[0095] 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;

[0096] Step 3: storing the rated operating parameters of the placement machine and classifying and storing the rated operating parameters, and obtaining the actual operating parameters and replacing them with the new rated operating parameters for storage;

[0097] Step 3: Obtain the rated operating parameters of the placement machine and 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 simulated operating parameters, calculate the control accuracy coefficient based on the simulated operating parameters, evaluate the control accuracy coefficient based on the preset accuracy evaluation range, and obtain an accuracy optimization signal or an accuracy qualified signal;

[0098] 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, and generate new moment parameters according to the interference trend until the control precision coefficient is within the precision assessment range, and obtain the actual operating parameters;

[0099] Step 6: Obtain a qualified accuracy signal, and execute the operation process according to the rated operating parameters to complete the patch processing. At the same time, obtain the actual operating parameters and execute the operation process to complete the patch processing.

[0100] 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 set of sample data; as long as it does not affect the proportional relationship between the parameter and the quantized value.

[0101] The above formulas are all dimensionless and numerical calculations. The formulas are obtained by collecting a large amount of data and performing software simulation to obtain the most recent real situation. The preset parameters in the formulas are set by those skilled in the art according to actual conditions.

[0102] In the two embodiments provided in this 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 merely illustrative. For example, the module division is merely a logical function division. In actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not implemented. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interface, and the indirect coupling or communication connection of devices or modules may be electrical, mechanical or other forms.

[0103] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection 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 provided inside the Y-axis linear guide (3), an X-axis bracket (5) is fixedly provided 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 provided inside the X-axis linear guide (6), an X-axis bearing platform (8) is movably connected inside the X-axis linear guide (6), and the outer surface of the output end of the X-axis linear motor (7) is connected to the X-axis bearing platform (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 obtain the load system data of the placement machine gantry system and establish a three-dimensional space model based on the load system data. After marking the coordinate position of the load device one by one in the three-dimensional space model, the load device is marked as Mk, where Mk is a natural number greater than 1. The coordinate information of the load device 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, including the placement path, placement frequency and placement time, and to 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 simulated operating parameters, calculating the control accuracy coefficient according to the simulated operating parameters, evaluating the control accuracy coefficient according to a preset accuracy evaluation range, obtaining an accuracy optimization signal or an accuracy qualification signal, sending the accuracy optimization signal to the data verification unit, and sending the accuracy qualification signal to the execution unit; The data verification unit is used to obtain and process the precision optimization signal, 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 assessment range, and obtain the actual operating 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 is as follows: 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; S102, obtaining load system data of the placement machine gantry system, wherein the load system data includes a load device list, weight data of each load device, and position data of each load device; S103, performing standard visualization processing on the load device according to the weight data m0 of each load device to obtain a load device identifier, which is specifically a circle; S104. Select any corner of the coordinate system reference plane as the starting point, and visually mark each load device in the three-dimensional space model according to the position data of each load device in the load device list, and use the center of the load device identification 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 load equipment 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, , wherein 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, and the expected maximum working load mx is the sum of the weights of all load devices; The load factor Gi of the X-axis bracket (5) is the ratio of the material ultimate bearing capacity Fg of the X-axis bracket (5) to the expected maximum working load mg, that is, , wherein the material ultimate bearing capacity Fg is obtained by obtaining the main material of the X-axis bracket (5) from the database, and searching for the maximum bearing data corresponding to the main material, and the expected maximum working load mg is the sum of the weights of all load devices assembled on the X-axis bracket (5); 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. Obtain the coordinate information M (xm, ym) of the load device and calculate the load disturbance coefficient Wt 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. Obtain equipment parameters of the placement machine gantry system, including component mass data, component posture parameters, elastic modulus and Poisson's ratio of equipment materials, contact model, and simulation parameters. Based on the data of the three-dimensional space model, import the equipment parameters into Simpack to establish a dynamic model of the placement machine gantry system. S302, simulating the patch operation process according to the rated operating parameters, obtaining the ideal operating parameters, obtaining the load disturbance coefficient, loading the load disturbance coefficient as a constraint condition of the dynamic model, and performing a secondary operation based on the ideal operating parameters to obtain the simulated operating parameters, wherein the simulated operating 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, vi is the rated moving speed of the X-axis carrier (8), Wi is the rated output power of the X-axis linear motor (7), and Wj is the rated output power of the X-axis linear motor (4); S304, obtaining a preset accuracy evaluation range (ηmin, ηmax), and generating an accuracy optimization signal if the control accuracy coefficient is less than ηmin or greater than ηmax; 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 number of time nodes, marking the time nodes one by one on the time axis, and obtaining time parameters according to the corresponding time node t1, wherein 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; S403: Obtain a load disturbance coefficient, increase the load disturbance coefficient according to a preset ratio, obtain the time parameter of time node t2 again, and calculate the control accuracy coefficient according to the time parameter of t2; S404: Obtain a preset accuracy assessment range. If the control accuracy coefficient is within the accuracy assessment range, mark the time parameter t2 as the 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: Obtain the preset accuracy assessment range again. If the control accuracy coefficient is within the accuracy assessment range, mark the time parameter 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, applied to the high-precision placement machine gantry system according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step 1: Obtain the load system data of the placement machine gantry system and build 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, mark the load devices as Mk, where Mk is a natural number greater than 1, and obtain the coordinate information of the load devices; 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 classifying and storing the rated operating parameters, and obtaining the actual operating parameters and replacing them with the new rated operating parameters for storage; Step 3: Obtain the rated operating parameters of the placement machine and 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 simulated operating parameters, calculate the control accuracy coefficient based on the simulated operating parameters, evaluate the control accuracy coefficient based on the preset accuracy evaluation range, and 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, and generate new moment parameters according to the interference trend until the control precision coefficient is within the precision assessment range, and obtain the actual operating parameters; Step 6: Obtain a qualified accuracy signal, and execute the operation process according to the rated operating parameters to complete the patch processing. At the same time, obtain the actual operating parameters and execute the operation process to complete the patch processing.

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