A centralized power feed method and system for SMT pick-and-place machines

Abstract

The application relates to a centralized power feeding method and system for an SMT patch machine, and relates to the technical field of SMT (Surface Mount Technology). The method comprises the following steps: collecting a target feeder number and feeding parameters; controlling a preset switching structure to couple a preset non-powered feeder with a preset feeder propulsion device according to the target feeder number, and collecting a coupling verification signal; controlling a preset centralized power source to transmit power to the non-powered feeder according to the feeding parameters, the coupling verification signal and a preset smooth acceleration and deceleration curve, and collecting a feeding detection signal and a next target feeder number; and controlling the switching structure and the centralized power source to switch and transmit power to the non-powered feeder according to the feeding detection signal, the next target feeder number and the target feeder number. The application has the effects of reducing feeding cost and improving feeding stability.

Description

Technical Field

[0001] This application relates to the technical field of SMT surface mount technology, and in particular to a centralized power supply method and system for an SMT pick and place machine. Background Technology

[0002] SMT placement machines are devices used to automatically place tiny surface mount components (SMD) such as resistors, capacitors, and chips onto designated pads on printed circuit boards (PCBs) at high speed and with high precision. They are mainly divided into two categories: electric feeders and pneumatic feeders. Each feeder in an electric feeder comes with its own motor, drive board, and encoder, and has high precision. Pneumatic feeders are driven by compressed air and have the advantages of simple structure and low cost.

[0003] In related technologies, SMT pick-and-place machine feeding technology refers to the technology that can control the SMT pick-and-place machine to complete orderly material storage, quantitative feeding, posture correction, precise stepping conveying, and station switching feeding. When using an electric feeder for feeding, the motor of the electric feeder rotates at a corresponding angle according to the set motion curve, causing the ratchet to push the material belt forward by a specified step distance, thereby enabling the component to reach the pickup position, and the position is confirmed by the encoder. The electric feeder is powered by an independent stepper motor or servo motor, which transmits power to the feeding ratchet through a reduction gear. The transmission mechanism synchronously drives the material belt to be conveyed, and the encoder detects the angular displacement of the motor rotor or the rotation angle of the feeding ratchet in real time, feeding the position signal back to the microcontroller on the drive board, thereby ensuring that the step distance accuracy of each feeding meets the pickup tolerance requirements of small components.

[0004] Regarding the aforementioned technologies, when using electric feeders for material feeding, each feeder requires an independent drive and control unit, resulting in high equipment costs when multiple material stations are configured. When using pneumatic feeders for material feeding, air pressure fluctuations cause large feeding impacts and uncontrollable acceleration and deceleration. Small components of 0402 and below are prone to problems such as uprighting, throwing, or misalignment, resulting in low placement yield. Consequently, it is impossible to simultaneously meet the requirements of low cost and high stability during the material feeding process, and there is still room for improvement. Summary of the Invention

[0005] To reduce material supply costs and improve material supply stability, this application provides a centralized power supply method and system for SMT pick and place machines.

[0006] In a first aspect, this application provides a centralized power feeding method for an SMT pick-and-place machine, employing the following technical solution: A centralized power feeding method for an SMT pick and place machine includes: Collect the target feeder number and feeding parameters; Based on the target feeder number, the preset switching structure is controlled to couple the preset unpowered feeder with the preset feeder propulsion device, and the coupling verification signal is collected. Based on the feeding parameters, coupling verification signal and preset smooth acceleration and deceleration curve, the preset centralized power source is controlled to transmit power to the unpowered feeder, and the feeding detection signal and the next target feeder number are collected. The switching structure and centralized power source control the switching and power transmission operations of the unpowered feeder based on the feed detection signal, the next target feeder number, and the target feeder number.

[0007] Optionally, the step of controlling a preset switching structure to couple a preset unpowered feeder with a preset feeder propulsion device according to the target feeder number, and collecting the coupling verification signal includes: Based on the target carrier number, the target carrier position and non-target carrier position are found in the preset carrier number position correspondence relationship; The unpowered flyer is disengaged according to the non-target flyer position control switching structure, and the unpowered flyer is coupled with the flyer propulsion device according to the target flyer position control switching structure, and the coupling torque current at the target flyer position is collected. Determine whether the coupling torque current meets the preset coupling success requirements; If the conditions are not met, the coupling operation of the unpowered feeder is re-controlled according to the target feeder position, and the coupling torque current is continuously collected for cyclic judgment. If the conditions are met, the preset successful coupling signal will be used as the coupling verification signal.

[0008] Optionally, the step of controlling a preset centralized power source to transmit power to the unpowered flyer based on feed parameters, coupling verification signals, and a preset smooth acceleration / deceleration curve includes: Find the feed step distance, number of feed steps, maximum jerk, maximum acceleration, and maximum uniform feed speed in the feed parameters; The smooth acceleration / deceleration curve, feed step distance, number of feed steps, maximum jerk, maximum acceleration, and maximum uniform feed speed are analyzed to generate a smooth acceleration / deceleration feed motion curve. Based on the coupling verification signal and the smooth acceleration / deceleration feeding motion curve, the centralized power source is controlled to transmit power to the unpowered feeder.

[0009] Optionally, the steps for analyzing the smooth acceleration / deceleration curve, feed step distance, number of feed steps, maximum jerk, maximum acceleration, and maximum uniform feed speed to generate a smooth acceleration / deceleration feed motion curve include: The target jerk correction parameters are retrieved from the preset jerk correction parameter relationship based on the target flyer number. Calculate the product between the target jerk correction parameter and the maximum jerk to generate the target maximum jerk; Calculate the quotient between the maximum acceleration and the target maximum acceleration to generate the duration of the acceleration change segment; Calculate the difference between the quotient of the maximum uniform feeding speed and the maximum acceleration and the duration of the acceleration change segment, in order to generate the duration of the uniform acceleration segment; Determine whether the duration of the uniform acceleration segment is less than the preset minimum duration of the uniform acceleration segment; If it is not less than, then the target maximum acceleration is substituted into the smooth acceleration / deceleration curve for calculation to generate a smooth acceleration / deceleration feed motion curve; If it is less than, then the feed step distance, the number of feed steps and the target maximum jerk are analyzed to generate a smooth acceleration and deceleration feed motion curve.

[0010] Optionally, the steps of analyzing the feed step distance, number of feed steps, and target maximum jerk to generate a smooth acceleration / deceleration feed motion curve include: Calculate the product between the feed step distance and the number of feed steps to generate the target total displacement; The total displacement of the target and the maximum jerk of the target are substituted into the preset acceleration segment duration calculation formula to generate the acceleration segment duration; Calculate the product between the acceleration phase duration and the target maximum jerk to generate the actual maximum acceleration; Calculate the product between the acceleration phase duration and the actual maximum acceleration to generate the maximum speed during the acceleration phase duration; The acceleration phase duration, target maximum acceleration, and target maximum speed are analyzed based on the smooth acceleration and deceleration curves to generate smooth acceleration and deceleration feed motion curves.

[0011] Optionally, the steps for switching and power transmission of the unpowered feeder based on the feed detection signal, the next target feeder number, and the target feeder number, using the control switching structure and centralized power source, include: Determine whether the feed detection signal and the next target feeder number meet the preset no-task requirements; If the conditions are met, the control switching structure is released, and the centralized power source is reset according to the preset initial position. If the condition is not met, then determine whether the next target carrier number is consistent with the target carrier number; If they match, then collect the previous smooth acceleration / deceleration feed motion curve; Based on the previous smooth acceleration and deceleration feeding motion curve, the centralized power source is controlled to transmit power, and the feeding detection signal and the next target feeder number are collected for cyclic judgment. If they are inconsistent, then collect the current location of the centralized power source and the remaining target flight numbers; Based on the current location of the centralized power source and the remaining target flyer numbers, the control switching structure and centralized power source are used to switch and transfer power to the unpowered flyers.

[0012] Optionally, the steps for controlling the switching structure and the centralized power source to switch and transfer power to the unpowered flyers based on the current location of the centralized power source and the remaining target flyer numbers include: The remaining target flyer positions are located in the preset non-powered flyer position relationship based on the remaining target flyer numbers; Calculate the distance between the current location of the concentrated power source and the remaining target reach location to generate the distance the remaining power source needs to move; The remaining power source needs to move a certain distance, the remaining target's destination, and the remaining target's destination number are mapped one by one to generate a relationship between the moving distance number and the location. Sort the positions of the remaining power sources according to the distances they need to move, in order to generate the order in which the remaining power sources need to be moved. The switching structure controls the unpowered flyer to switch according to the order in which the remaining power sources need to be moved, and controls the movement of the centralized power source to transfer power to the unpowered flyer.

[0013] Optionally, the steps for switching the unpowered feeder according to the required movement sequence of the remaining power sources include: The remaining power source needs to move in the order of movement. The ratio between the remaining power source moving distance and the preset coupling lock time is calculated to generate the remaining feeder switching coupling speed. The remaining feeder switching coupling speed is compared with the preset maximum moving speed of the power source and the preset switching structure engagement speed to generate the remaining maximum moving speed of the power source. The quotient between the distance the remaining power source needs to move and the maximum speed of the remaining power source is calculated based on the order in which the remaining power sources need to move, in order to generate the movement time of the remaining power sources; The unpowered feeder is switched based on the smooth acceleration / deceleration curve and the remaining power source travel time control switching structure.

[0014] Secondly, this application provides a centralized power feeding system for an SMT pick-and-place machine, employing the following technical solution: A centralized power feeding system for an SMT pick and place machine includes: The data acquisition module is used to acquire the target feeder number, feeding parameters, coupling verification signal, feeding detection signal, and the next target feeder number; A memory for storing a program for a centralized power supply method for an SMT pick and place machine as described in any of the preceding claims; The processor and the program in the memory can be loaded and executed by the processor to implement a centralized power supply method for an SMT pick and place machine as described in any of the above.

[0015] In summary, this application includes at least one of the following beneficial technical effects: 1. By controlling the switching structure according to the target feeder number to couple the unpowered feeder with the feeder propulsion device, and controlling the centralized power source to transmit power to the unpowered feeder according to the feeding parameters, coupling verification signal and smooth acceleration and deceleration curve, the switching structure and centralized power source are controlled to switch and transmit power to the unpowered feeder according to the feeding detection signal, the next target feeder number and the target feeder number, thereby reducing the feeding cost of the chip mounter and improving the feeding stability; 2. By finding the feeding step distance, number of feeding steps, maximum jerk, maximum acceleration, and maximum uniform feeding speed in the feeding parameters, and analyzing the smooth acceleration / deceleration curve, feeding step distance, number of feeding steps, maximum jerk, maximum acceleration, and maximum uniform feeding speed, a smooth acceleration / deceleration feeding motion curve is obtained. Based on the coupling verification signal and the smooth acceleration / deceleration feeding motion curve, the centralized power source is controlled to transmit power to the unpowered flyer, thereby making the centralized power source supply power to the unpowered flyer more in line with the actual situation of the unpowered flyer. Through controllable curve feeding, the feeding process is shock-free, significantly reducing the probability of defects in micro-devices. 3. By judging whether the feed detection signal and the next target feeder number meet the no-task requirement, if they do, the switching structure is disengaged and the centralized power source is reset according to the initial position. If they do not meet the requirement, the system judges whether the next target feeder number is consistent with the target feeder number. If they are consistent, the system controls the centralized power source to perform power transmission operation according to the previous smooth acceleration and deceleration feed motion curve, and continues to collect the feed detection signal and the next target feeder number for cyclic judgment. If they are inconsistent, the system controls the switching structure and the centralized power source to switch and transmit power to the unpowered feeders according to the current centralized power source position and the remaining target feeder number. This ensures that the path when the centralized power source supplies power to the remaining unpowered feeders is the optimal path, reducing unnecessary running distance and improving the efficiency of the centralized power source when supplying power to multiple unpowered feeders, thereby further reducing the feeding cost. Attached Figure Description

[0016] Figure 1 This is a flowchart of a centralized power supply method for an SMT pick and place machine, as described in an embodiment of this application.

[0017] Figure 2 This is a flowchart of the steps in this application embodiment to control a preset switching structure to couple a preset unpowered flyer with a preset flyer propulsion device according to the target flyer number, and to collect the coupling verification signal.

[0018] Figure 3 This is a flowchart illustrating the steps in this application embodiment of controlling a preset centralized power source to transmit power to an unpowered flyer based on feeding parameters, coupling verification signals, and a preset smooth acceleration / deceleration curve.

[0019] Figure 4 This is a flowchart of the steps in this application embodiment to analyze the smooth acceleration / deceleration curve, feed step distance, number of feed steps, maximum jerk, maximum acceleration, and maximum uniform feeding speed to generate a smooth acceleration / deceleration feed motion curve.

[0020] Figure 5 This is a flowchart of the steps in this application embodiment to analyze the feed step distance, the number of feed steps, and the target maximum acceleration to generate a smooth acceleration and deceleration feed motion curve.

[0021] Figure 6 This is a flowchart illustrating the steps in this application embodiment of the process of switching and transmitting power to an unpowered feeder based on the feed detection signal, the next target feeder number, and the target feeder number, using a control switching structure and a centralized power source.

[0022] Figure 7 This is a flowchart illustrating the steps in this application embodiment of controlling the switching structure and the switching and power transmission operations of the unpowered flyers by the centralized power source based on the current location of the centralized power source and the remaining target flyer numbers.

[0023] Figure 8 This is a flowchart illustrating the steps of switching the unpowered feeder according to the required movement sequence of the remaining power sources in this embodiment of the application. Detailed Implementation

[0024] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figures 1 to 8 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0025] This application discloses a centralized power feeding method for an SMT pick-and-place machine. This method primarily addresses the centralized feeding problem in SMT pick-and-place machines. Specifically, it discloses an SMT pick-and-place machine, a switching structure, a non-powered feeder, a feeder propulsion device, a centralized power source, and a processing terminal. The processing terminal is communicatively connected to the switching structure, the non-powered feeder, the feeder propulsion device, and the centralized power source to achieve data interaction and control. After receiving the target feeder number and feeding parameters, the processing terminal controls the switching structure to couple the non-powered feeder with the feeder propulsion device according to the target feeder number, and collects the coupling data. The system verifies the signal, and then controls the centralized power source to transmit power to the unpowered feeder based on the feeding parameters, coupled verification signal, and smooth acceleration / deceleration curve. It also collects the feeding detection signal and the next target feeder number. Finally, the processing terminal controls the switching structure and centralized power source to switch and transmit power to the unpowered feeder based on the feeding detection signal, the next target feeder number, and the target feeder number. The aim is to quickly and rationally control the switching structure and centralized power source to switch and transmit power to the unpowered feeder, thereby improving the stability of the SMT pick-and-place machine during the feeding process and reducing the cost of the feeding process.

[0026] Reference Figure 1 This application discloses a centralized power supply method for an SMT pick and place machine, comprising the following steps: Step S100: Collect the target feeder number and feeding parameters.

[0027] The target feeder number refers to the feeder identifier number that needs to perform the feeding action in the current cycle. The target feeder number can accurately locate the feeder position that needs to be supplied in the current cycle. In one embodiment, the operator inputs the PCB circuit board and the corresponding bill of materials into the processing terminal, and installs the corresponding materials on different feeders according to the material serial numbers on the bill of materials. Then, the processing terminal sorts the materials according to the numbers on the bill of materials to obtain the placement order, thereby forming a mapping relationship between the placement order and the feeder serial numbers. Finally, during the operation of the SMT pick and place machine, the processing terminal searches for and extracts the feeder serial number that needs to perform the feeding task in the placement sequence at the current time as the target feeder number.

[0028] Feed parameters refer to the set of relevant parameters required to complete a feeding task. They provide data support for subsequent control of the SMT pick and place machine to perform feeding operations. They mainly include feed step distance, number of feed steps, maximum jerk, maximum acceleration, and maximum uniform feeding speed. By summarizing the feed step distance, number of feed steps, maximum jerk, maximum acceleration, and maximum uniform feeding speed through the processing terminal, the feed parameters can be obtained.

[0029] Feed pitch refers to the physical distance the feed belt moves when the ratchet of a non-powered feeder is turned once. In one embodiment, the operator finds the non-powered feeder model in the equipment manual and then inputs the found parameters into the processing terminal to obtain the feed pitch.

[0030] The number of feeding steps refers to the number of teeth that the ratchet of the non-powered feeder needs to be turned within one feeding cycle. In one embodiment, the processing terminal finds the specified material strip hole pitch of each component in the component parameter storage library, calculates how many hole pitches are needed to advance to retrieve a component material strip, and then divides the hole pitch of each component by the single tooth hole pitch of the non-powered feeder to obtain the number of feeding steps.

[0031] Maximum jerk refers to the maximum rate of change of acceleration allowed by a centralized power source during the power supply process. In one embodiment, the operator performs a feeding experiment on a vibration test platform with a standard paper tape at a constant speed and different jerks during the equipment debugging stage, based on the actual situation. The high-speed camera is used to count the component standing rate, and the jerk corresponding to the standing rate being less than 50ppm is taken as the maximum jerk.

[0032] Maximum acceleration refers to the peak acceleration that the centralized power source is allowed to reach during the acceleration and deceleration phases of the feeding process. In one embodiment, it is obtained by the operator by looking up the model of the servo motor in the centralized power source in the equipment manual and uploading it to the processing terminal.

[0033] The maximum uniform feeding speed refers to the highest speed value that the centralized power source is allowed to operate in the uniform speed segment of the feeding motion. In one embodiment, it is obtained by the operator by looking up the model of the servo motor in the centralized power source in the equipment manual and uploading it to the processing terminal.

[0034] In one embodiment, the feeding parameters can be obtained by the processing terminal searching for the corresponding parameters in the component package database based on the target feeder number.

[0035] SMT pick-and-place machines are devices used to automatically and quickly place tiny surface mount components (SMD) such as resistors, capacitors, and chips onto designated pads on printed circuit boards (PCBs). They mainly consist of a non-powered feeder, a centralized power source, a switching structure, a feeder propulsion device, a communication module, and a processing terminal. The non-powered feeder is used to peel components from the package tape and transport them to the nozzle's pick-up position. This feeder eliminates the independent drive of each feeder and uses a centralized power source for unified drive. During the feeding process, the target feeder is selected through a switching structure, thereby achieving low-cost, highly stable, and high-precision feeding, thus solving the problem of micro-component stacking.

[0036] The switching structure refers to a component capable of selective power output. It mainly includes a communication module and a feeder coupling execution component. The feeder coupling execution component can employ three structures: electromagnetic clutch, pneumatic shift fork, or mechanical locking tongue. Upon receiving a switching command and the target feeder number, if the switching structure uses an electromagnetic clutch, electromagnetic force engages the output gear of the feeder propulsion device with the input gear of the target unpowered feeder, establishing a mechanical transmission link. When power is cut off, a return spring disengages the gear, cutting off power transmission. If a pneumatic shift fork is used, compressed air drives a cylinder piston, pushing the shift fork to move the sliding gear on the input shaft of the unpowered feeder, engaging it with the transmission rack of the feeder propulsion device. If a mechanical locking tongue is used, a small stepper motor or electromagnet drives a locking pin to insert into the groove of the unpowered feeder drive block, achieving transmission locking. The switching structure selects a specified unpowered feeder for coupling according to the command, disengaging non-target unpowered feeders, thus achieving selective power output.

[0037] A centralized power source is a component that can provide stable power with precise control. It mainly consists of a servo or stepper motor and a transmission mechanism (guide rail, synchronous belt, gear and rack). After receiving a power supply command, the centralized power source drives the feeder propulsion device to move to the target position and supplies power to the corresponding unpowered feeder according to the command content, thereby achieving low-cost material feeding.

[0038] The feeder propulsion device refers to an integrated transmission component driven by a unified power source, which can transmit power to the unpowered feeder, thereby achieving selective power output. The feeder propulsion device is connected to a centralized power source and is powered by the centralized power source to drive the feeder propulsion device to move. By switching the structure, the feeder propulsion device can be coupled or decoupled from the unpowered feeder of the target, thereby enabling the centralized power source to selectively supply power to the unpowered feeder of the target.

[0039] Step S101: Based on the target feeder number, control the preset switching structure to couple the preset unpowered feeder with the preset feeder propulsion device, and collect the coupling verification signal.

[0040] The coupling verification signal is a feedback signal used to determine whether the switching structure has been successfully coupled. It provides data support for the subsequent control of the centralized power source to the unpowered feeder corresponding to the target feeder number. The processing terminal controls the switching structure to couple the unpowered feeder with the feeder propulsion device according to the target feeder number, and then performs signal acquisition to obtain the coupling verification signal. The specific method is described in [reference needed]. Figure 2 This process involves steps to achieve selective power output.

[0041] The unpowered feeder, switching structure, and feeder propulsion device in this step are the same as those in step S100 above, and will not be described again here.

[0042] Step S102: Control the preset centralized power source to transmit power to the unpowered feeder according to the feeding parameters, coupling verification signal and preset smooth acceleration and deceleration curve, and collect the feeding detection signal and the next target feeder number.

[0043] The method involves controlling the centralized power source to transmit power to the feeder based on feed parameters, coupling verification signals, and smooth acceleration / deceleration curves. Specific details are provided in [reference needed]. Figure 3 This process provides support for subsequent acquisition of feed detection signals and the next target feeder number.

[0044] The feed detection signal is a feedback signal used to determine whether the component has moved to the suction position of the nozzle. After the processing terminal controls the centralized power source to transmit power to the feeder according to the feed parameters, coupling verification signal and smooth acceleration and deceleration curve, the laser beam sensor installed at the discharge port of the unpowered feeder will cause the signal output by the laser beam sensor to flip from low level to high level due to the component blocking the light path. The processing terminal captures this edge signal and timestamps it, and then compares it with the smooth acceleration and deceleration curve. When the signal flips from low level to high level and the timestamp falls within the corresponding time range of the corrected smooth acceleration and deceleration curve, the processing terminal determines that the component has reached the corresponding position, and then determines the feed completion signal as the target feeder signal.

[0045] The next target feeder number refers to the number of the next non-powered feeder that needs to perform a feeding operation after the target feeder number. After the processing terminal controls the centralized power source to transmit power to the feeder according to the feeding parameters, coupling verification signal and smooth acceleration and deceleration curve, the processing terminal searches for and extracts the feeder number that needs to perform the feeding task after the current time in the placement sequence, and then obtains the next target feeder number.

[0046] A smooth acceleration / deceleration curve refers to a template of planned curves for speed and time, as well as acceleration and time, pre-designed by the operator and stored in a storage module. Before each centralized power supply, the smooth acceleration / deceleration curve is adjusted according to the actual situation, ensuring that the centralized power supply matches the actual conditions during power supply. This improves the accuracy and stability of the feeding process. The smooth acceleration / deceleration curve is mainly used to eliminate the mechanical impact caused by sudden acceleration changes in conventional trapezoidal acceleration / deceleration curves, allowing for a smooth transition of force on the material belt and components during the feeding process of the unpowered feeder. This achieves low-cost, highly stable, and high-precision feeding, solving the problem of upright feeding of small components. In one embodiment, the smooth acceleration / deceleration curve consists of seven symmetrical S-shaped acceleration / deceleration curves, mainly including an acceleration segment, a uniform acceleration segment, a deceleration segment, a uniform speed segment, an acceleration / deceleration segment, a uniform deceleration segment, and a deceleration / deceleration segment. The acceleration segment's acceleration starts from 0 m / s². 2The acceleration increases linearly until the set maximum acceleration is reached, with the slope of the linear increase equal to the set maximum acceleration. The curve for the acceleration segment is as follows: In the formula, This refers to the acceleration during the acceleration phase. This refers to the speed during the acceleration phase. This refers to the location of the concentrated power source during the acceleration phase. This refers to the maximum jerk. It refers to any moment within the acceleration phase. This refers to the duration of the acceleration phase. , This refers to the maximum acceleration; the acceleration in the uniform acceleration segment remains at the set maximum acceleration, and the slope of the acceleration at this point is 0. The duration of the acceleration segment is represented by the curve of the uniform acceleration segment. In the formula, It refers to the acceleration during the uniformly accelerated segment. It refers to the velocity during the uniformly accelerated segment. Concentrated power source in uniform acceleration segment The current position. It refers to any moment within the uniform acceleration segment. It refers to the velocity at the last moment of the acceleration phase. This refers to the position of the concentrated power source at the last moment during the acceleration phase. This refers to the duration of the uniform acceleration phase. The acceleration during the deceleration phase decreases linearly from the set maximum acceleration to 0 m / s² with a slope equal to the inverse of the set maximum acceleration. 2 The curve for the deceleration phase is In the formula, This refers to the acceleration during the deceleration phase. This refers to the speed during the deceleration / acceleration phase. The concentrated power source during the deceleration and acceleration phase The current position. This refers to the maximum speed. This refers to any moment within the deceleration phase; the acceleration during the uniform velocity phase remains at 0 m / s². 2 And at this point, the slope of the acceleration is 0, and the curve for the uniform velocity segment is... In the formula, This refers to the concentrated power source in the uniform velocity segment. The current position. This refers to the concentrated power source during the deceleration and acceleration phase. The current position. This refers to the time taken for the constant speed segment. This refers to the total displacement required for the centralized power source to move to complete one feeding cycle, which is obtained by multiplying the feeding step distance by the number of feeding steps. This refers to the total displacement that the concentrated power source needs to move in the three segments of acceleration, uniform acceleration, and deceleration. The acceleration during the acceleration / deceleration phase has a slope that is the inverse of the set maximum acceleration, starting from 0 m / s². 2 The acceleration decreases linearly to the inverse of the set maximum acceleration, and the acceleration / deceleration curve is symmetrical to the deceleration curve. In the uniform deceleration phase, the acceleration remains at the inverse of the set maximum acceleration, and the slope of the acceleration is 0. The curve formula for the uniform deceleration phase is symmetrical to the uniform acceleration curve. In the deceleration phase, the acceleration increases linearly from the inverse of the set maximum acceleration to 0 m / s² with the slope as the set maximum acceleration. 2 The curve of the deceleration phase is symmetrical to the curve of the acceleration phase.

[0047] The feeding completion signal is the feedback signal when the component has moved to the suction position of the nozzle.

[0048] The centralized power source in this step is the same as the centralized power source in step S100 above, and will not be described again here.

[0049] Step S103: Based on the feed detection signal, the next target feeder number, and the target feeder number, control the switching structure and centralized power source to switch and transmit power to the unpowered feeder.

[0050] The specific method for controlling the switching structure and centralized power source to switch and transmit power to the unpowered feeder after the processing terminal determines the feed detection signal, the next target feeder number, and the target feeder number is as follows: Figure 6 This process enables uninterrupted automated feeding in multiple unpowered feeders and with multiple materials, thereby improving the working efficiency of SMT placement machines.

[0051] Reference Figure 2 The steps of controlling a preset switching structure to couple a preset unpowered flyer with a preset flyer propulsion device according to the target flyer number, and collecting coupling verification signals include: Step S200: Based on the target flight number, find the target flight number position and the non-target flight number position in the preset flight number position correspondence relationship.

[0052] The target feeder position refers to the position coordinates of the unpowered feeder that the feeder propulsion device needs to move and couple with, corresponding to the target feeder number. The non-target feeder position refers to the set of position coordinates of unpowered feeders that do not need to perform the feeding task in this instance, excluding the target feeder number. The processing terminal searches in the feeder number position correspondence relationship according to the target feeder number, determines the feeder position coordinates corresponding to the target feeder number as the target feeder position, and then summarizes the feeder position coordinates that do not correspond to the target feeder number to obtain the non-target feeder positions.

[0053] The correspondence between feeder number and position refers to the correspondence between the number of the unpowered feeder and the position of the feeder. In one embodiment, the operator assigns a number to each unpowered feeder according to the actual situation and records the position coordinates of each unpowered feeder. Finally, the processing terminal maps the numbers of the unpowered feeders to their corresponding position coordinates to form a mapping table, thus obtaining the correspondence between feeder number and position.

[0054] Step S201: Disengage the unpowered flyer according to the non-target flyer position control switching structure, couple the unpowered flyer with the flyer propulsion device according to the target flyer position control switching structure, and collect the coupling torque current at the target flyer position.

[0055] In this process, after the processing terminal determines the non-target flyer position and the target flyer position, it controls the electromagnetic clutch of the switching structure to set the corresponding control channel to a low level based on the non-target flyer position, thereby disengaging the unpowered flyer. Then, based on the target flyer position, it controls the flyer propulsion device to move to the target flyer position. When the flyer propulsion device reaches the target flyer position, the processing terminal controls the electromagnetic clutch in the switching structure to generate electromagnetic force to overcome the return spring. The armature engages, causing the active side and driven side friction surfaces of the electromagnetic clutch to contact and mesh, thereby achieving the coupling operation between the unpowered flyer and the flyer propulsion device. After coupling is completed, the processing terminal determines the coupling torque current at the target flyer position.

[0056] The coupling torque current refers to the current feedback value collected when the centralized power source drives the feeder propulsion device to apply a small probe torque to the target unpowered feeder after the coupling operation is completed by the switching structure. The coupling torque current can determine whether the target unpowered feeder is successfully coupled with the feeder propulsion device. In one embodiment, the centralized power source is controlled by the processing terminal to output a low-frequency probe torque command with a small amplitude. Then, the motor current is collected in real time by the current detection circuit built into the servo driver in the centralized power source. The data of 200 sampling points are collected, and the average value and standard deviation of the data are calculated and summarized to obtain the coupling torque current.

[0057] Step S202: Determine whether the coupling torque current meets the preset coupling success requirements.

[0058] The requirement for successful coupling is that the average current in the coupling torque power must be greater than the set coupling current threshold, and the current standard deviation must be greater than 1.5 times the set no-load fluctuation standard deviation, in order to prove that the target unpowered flyer has been successfully coupled with the flyer propulsion device.

[0059] The coupling current threshold refers to the minimum motor torque current value used to determine whether the feeder propulsion device has been successfully connected to the unpowered feeder after the switching structure performs the coupling action. In one embodiment, during the system debugging phase, the detection torque test is performed on each unpowered feeder in both disengagement and coupling states, and the minimum steady-state current value in the coupling state is recorded. The minimum steady-state current value is then multiplied by 0.8 to obtain the coupling current threshold.

[0060] The no-load fluctuation standard deviation refers to the fluctuation amplitude of the motor torque current when the feeder propulsion device is not coupled with any unpowered feeder and the detection action is performed by a centralized power source. In one embodiment, when the feeder propulsion device is not coupled with any unpowered feeder, the processing terminal controls the feeder propulsion device to move along the guide rail from beginning to end so that the controller collects motor current data at each position at fixed position intervals. After collecting the current data at all positions, the processing terminal calculates the standard deviation of each group of current data and sorts them. The largest value is the no-load fluctuation standard deviation.

[0061] By processing the terminal to determine whether the coupling torque current meets the requirements for successful coupling, it can be determined whether the target unpowered flyer has been successfully coupled with the flyer propulsion device.

[0062] Step S2021: If not satisfied, the coupling operation of the unpowered feeder is re-controlled by the switching structure according to the target feeder position, and the coupling torque current is collected for cyclic judgment.

[0063] If the processing terminal determines that the coupling torque current does not meet the coupling success requirements, it means that the target unpowered flyer has not been successfully coupled with the flyer propulsion device. Therefore, the processing terminal re-controls the switching structure to perform coupling operation on the unpowered flyer according to the target flyer position, and continues to collect the coupling torque current for cyclic judgment, so as to ensure that the target unpowered flyer is successfully coupled with the flyer propulsion device.

[0064] Step S202: If satisfied, the preset successful coupling signal is determined as the coupling verification signal.

[0065] If the processing terminal determines that the coupling torque current meets the coupling success requirements, it means that the target unpowered flyer and the flyer propulsion device have been successfully coupled. Therefore, the processing terminal determines the coupling success signal as the coupling verification signal, thereby providing data support for subsequent control of the centralized power source to transmit power to the flyer based on the coupling verification signal.

[0066] Reference Figure 3 The steps for controlling a preset centralized power source to transmit power to an unpowered flyer based on feed parameters, coupling verification signals, and a preset smooth acceleration / deceleration curve include: Step S300: Find the feed step distance, number of feed steps, maximum jerk, maximum acceleration, and maximum uniform feed speed in the feed parameters.

[0067] In this step, the feeding step distance, number of feeding steps, maximum jerk, maximum acceleration, and maximum uniform feeding speed are the same as those in step S100 above. The feeding step distance, number of feeding steps, maximum jerk, maximum acceleration, and maximum uniform feeding speed can be obtained by searching in the feeding parameters through the processing terminal.

[0068] Step S301: Analyze the smooth acceleration / deceleration curve, feed step distance, number of feed steps, maximum jerk, maximum acceleration, and maximum uniform feeding speed to generate a smooth acceleration / deceleration feed motion curve.

[0069] The smooth acceleration / deceleration feeding motion curve refers to the planned curves of speed and time, as well as acceleration and time, after adjustments to the smooth acceleration / deceleration curve based on actual conditions before each centralized power source supply. This smooth acceleration / deceleration feeding motion curve ensures that the centralized power source supply closely matches the actual situation, thereby improving the accuracy and stability of the feeding process. The smooth acceleration / deceleration feeding motion curve is mainly used to eliminate the mechanical impact generated at abrupt acceleration changes in the conventional trapezoidal acceleration / deceleration curve, allowing for a smooth transition of force on the feed belt and components during the feeding process of the unpowered feeder. The smooth acceleration / deceleration feeding motion curve can be obtained by analyzing the smooth acceleration / deceleration curve, feed step distance, number of feed steps, maximum jerk, maximum acceleration, and maximum uniform feeding speed through the processing terminal. Specific methods are described in [reference needed]. Figure 4 This process achieves low-cost, highly stable, and high-precision material feeding, solving the problem of material placement for micro-devices.

[0070] Step S302: Based on the coupling verification signal and the smooth acceleration / deceleration feeding motion curve, control the centralized power source to transmit power to the unpowered feeder.

[0071] In this process, after the processing terminal confirms that the coupling verification signal is a successful coupling signal and determines the smooth acceleration and deceleration feeding motion curve, the processing terminal extracts the duration of each stage from the smooth acceleration and deceleration feeding motion curve. Based on the duration of each stage and the smooth acceleration and deceleration feeding motion curve, the centralized power source is controlled to adjust the power transmission parameters in real time, thereby realizing the operation of delivering power to the unpowered feeder corresponding to the target feeder number. This solves the problem of material standing, achieves controllable curve feeding, eliminates impact, and significantly reduces the defects of small components.

[0072] Reference Figure 4 The steps for generating a smooth acceleration / deceleration feed motion curve include analyzing the smooth acceleration / deceleration curve, feed step distance, number of feed steps, maximum jerk, maximum acceleration, and maximum uniform feed speed. Step S400: Find the target jerk correction parameter in the preset jerk correction parameter relationship according to the target flyer number.

[0073] Among them, the target jerk correction parameter refers to the correction parameter used to correct the maximum jerk after taking into account the sensitivity of components and the resistance of the conveyor belt. The target jerk correction parameter can be obtained by the processing terminal by searching in the jerk correction parameter relationship according to the target feeder number.

[0074] The jerk correction parameter relationship refers to the correspondence between the unpowered feeder number and the jerk correction parameter. In one embodiment, the operator forms a mapping table by mapping the unpowered feeder number to the corresponding jerk correction parameter according to the actual situation, thus obtaining the jerk correction parameter relationship. When the unpowered feeder number is 1, the corresponding jerk correction parameter is 2.16; when the unpowered feeder number is 2, the corresponding jerk correction parameter is 1; and when the unpowered feeder number is 3, the corresponding jerk correction parameter is 2.25.

[0075] Step S401: Calculate the product between the target jerk correction parameter and the maximum jerk to generate the target maximum jerk.

[0076] The target maximum jerk refers to the maximum rate of change of acceleration allowed by the centralized power source during the power supply process, after correction. The target maximum jerk can be obtained by multiplying the target jerk correction parameter with the maximum jerk through the processing terminal.

[0077] Step S402: Calculate the quotient between the maximum acceleration and the target maximum acceleration to generate the duration of the acceleration change segment.

[0078] The duration of the acceleration change segment refers to the time taken to concentrate the power source in the acceleration, deceleration, acceleration / deceleration, or deceleration segment of a smooth acceleration / deceleration curve. The durations of the acceleration, deceleration, acceleration / deceleration, or deceleration segments are equal. The duration of the acceleration change segment can be obtained by dividing the maximum acceleration by the target maximum acceleration at the processing terminal.

[0079] Step S403: Calculate the difference between the quotient of the maximum uniform feeding speed and the maximum acceleration and the duration of the acceleration change segment, so as to generate the duration of the uniform acceleration segment.

[0080] The duration of the uniform acceleration segment refers to the time used to concentrate the power source during the uniform acceleration or uniform deceleration segment. The durations of the uniform acceleration and uniform deceleration segments are equal. The duration of the uniform acceleration segment can be obtained by dividing the maximum uniform feeding speed by the maximum acceleration through the processing terminal, and then subtracting the duration of the acceleration change segment from the quotient.

[0081] Step S404: Determine whether the duration of the uniform acceleration segment is less than the preset minimum duration of the uniform acceleration segment.

[0082] The minimum uniform acceleration segment duration refers to the criterion used to determine whether a uniform acceleration segment exists in the smooth acceleration and deceleration feeding motion curve. In one embodiment, the minimum uniform acceleration segment duration is 0s.

[0083] By processing the terminal to determine whether the duration of the uniform acceleration segment is less than the duration of the minimum uniform acceleration segment, it is possible to determine whether a uniform acceleration segment exists in the smooth acceleration and deceleration feeding motion curve.

[0084] Step S4041: If it is not less than, then substitute the target maximum acceleration into the smooth acceleration / deceleration curve for calculation to generate a smooth acceleration / deceleration feed motion curve.

[0085] If the processing terminal determines that the duration of the uniform acceleration segment is not less than the duration of the minimum uniform acceleration segment, it indicates that there is a uniform acceleration segment in the smooth acceleration and deceleration feeding motion curve. Therefore, by replacing the maximum acceleration in the smooth acceleration and deceleration curve with the target maximum acceleration through the processing terminal, and substituting the target maximum acceleration into the relevant calculation formula of the smooth acceleration and deceleration curve for calculation, the smooth acceleration and deceleration feeding motion curve can be obtained.

[0086] Step S4042: If it is less than, then analyze the feed step distance, the number of feed steps and the target maximum jerk to generate a smooth acceleration and deceleration feed motion curve.

[0087] If the processing terminal determines that the duration of the uniform acceleration segment is less than the duration of the minimum uniform acceleration segment, it indicates that there is no uniform acceleration segment in the smooth acceleration / deceleration feeding motion curve. Therefore, by analyzing the feeding step distance, the number of feeding steps, and the target maximum acceleration through the processing terminal, the smooth acceleration / deceleration feeding motion curve can be obtained. The specific method is described in [reference needed]. Figure 5This process provides data support for subsequent control of the centralized power source to transmit power to the unpowered flyer.

[0088] Reference Figure 5 The steps for analyzing the feed step distance, number of feed steps, and target maximum jerk to generate a smooth acceleration / deceleration feed motion curve include: Step S500: Calculate the product between the feed step distance and the number of feed steps to generate the target total displacement.

[0089] The target total displacement refers to the total distance that the centralized power source needs to move when it drives the unpowered feeder to feed material through the feeder propulsion device. The target total displacement can be obtained by multiplying the feeding step distance and the feeding step number by the processing terminal.

[0090] Step S501: Substitute the total target displacement and the maximum target jerk into the preset acceleration segment duration calculation formula to generate the acceleration segment duration.

[0091] The acceleration phase duration refers to the period from a velocity of 0 m / s, during which the acceleration increases linearly with the target maximum jerk as the slope to its peak value, and then decreases linearly with the inverse of the target maximum jerk as the slope to its peak value back to 0 m / s. 2 The required time is calculated by substituting the total target displacement and the target's maximum jerk into the acceleration phase duration calculation formula through the processing terminal. By performing calculations, the duration of the acceleration phase can be obtained, where, This refers to the duration of the acceleration phase. This refers to the total displacement of the target. This refers to the target's maximum acceleration; the acceleration phase duration is calculated using the formula... It was deduced from the reverse.

[0092] Step S502: Calculate the product between the acceleration phase duration and the target maximum jerk to generate the actual maximum acceleration.

[0093] The actual maximum acceleration refers to the peak value that can be reached in the current cycle when the centralized power source drives the unpowered feeder to feed material through the feeder propulsion device, starting from a speed of 0 m / s and increasing linearly with the target maximum jerk as the slope. The actual maximum acceleration is obtained by multiplying the acceleration period duration by the target maximum jerk by the processing terminal and then dividing the product by 2.

[0094] Step S503: Calculate the product between the acceleration segment duration and the actual maximum acceleration to generate the maximum speed during the acceleration segment duration.

[0095] The maximum speed during the acceleration phase refers to the maximum speed that the flyer propulsion device can reach at the end of the acceleration phase. The maximum speed during the acceleration phase can be obtained by multiplying the acceleration phase duration by the actual maximum acceleration through the processing terminal and then dividing the product by 2.

[0096] Step S504: Analyze the acceleration phase duration, target maximum acceleration, and target maximum speed based on the smooth acceleration / deceleration curve to generate a smooth acceleration / deceleration feed motion curve.

[0097] In this step, the smooth acceleration and deceleration feeding motion curve is the same as that in step S above. By processing the terminal, the uniform acceleration segment and uniform deceleration segment in the smooth acceleration and deceleration curve are deleted, and the acceleration segment duration, maximum jerk, maximum acceleration and maximum speed of the variable acceleration segment in the smooth acceleration and deceleration curve are replaced with the corresponding target maximum jerk, acceleration segment duration, target maximum acceleration and target maximum speed, so as to obtain the smooth acceleration and deceleration feeding motion curve.

[0098] Reference Figure 6 The steps for switching and transmitting power to the unpowered feeder based on the feed detection signal, the next target feeder number, and the target feeder number, using the control switching structure and centralized power source, include: Step S600: Determine whether the feed detection signal and the next target feeder number meet the preset no-task requirements.

[0099] "No task requirement" means that when the next target feeder number is empty and the feed detection signal is a feed completion signal, it indicates that the feeding task of the SMT pick and place machine has been completed.

[0100] The processing terminal determines whether the feeding detection signal and the next target feeder number meet the no-task requirement, thereby determining whether the feeding task of the SMT placement machine has been completed.

[0101] Step S6001: If satisfied, control the switching structure to disengage and control the centralized power source to reset according to the preset initial position.

[0102] If the processing terminal determines that the feeding detection signal and the next target feeder number meet the no-task requirement, it means that the feeding task of the SMT placement machine has been completed. Therefore, the processing terminal controls the switching structure to disengage and controls the centralized power source to reset according to the initial position. The specific control process is the same as the control process in step S100 above, and will not be described in detail here.

[0103] The initial position refers to the position coordinates of the feeder propulsion device during initialization. In one embodiment, the initial position is (0, 0).

[0104] Step S6002: If not satisfied, determine whether the next target carrier number is consistent with the target carrier number.

[0105] If the processing terminal determines that the feed detection signal and the next target feeder number do not meet the no-task requirement, it means that the feeding task of the SMT pick and place machine has not been completed. Therefore, the processing terminal determines whether the next target feeder number is consistent with the target feeder number, thereby determining whether the feeder propulsion device needs to be moved.

[0106] Step S60021: If consistent, collect the previous smooth acceleration / deceleration feed motion curve.

[0107] If the processing terminal determines that the next target feeder number is consistent with the target feeder number, it means that there is no need to move the feeder propulsion device. Therefore, the processing terminal determines the previous smooth acceleration and deceleration feeding motion curve, thereby providing data support for the subsequent control of the centralized power source to supply energy.

[0108] The previous smooth acceleration / deceleration feed motion curve refers to the smooth acceleration / deceleration feed motion curve of the previous cycle. The smooth acceleration / deceleration feed motion curve is determined as the previous smooth acceleration / deceleration feed motion curve by the processing terminal.

[0109] Step S600211: Control the centralized power source to transmit power according to the previous smooth acceleration and deceleration feeding motion curve, and continue to collect the feeding detection signal and the next target feeder number for cyclic judgment.

[0110] In this process, after the processing terminal determines the previous smooth acceleration and deceleration feeding motion curve, the processing terminal controls the centralized power source to transmit power according to the previous smooth acceleration and deceleration feeding motion curve, and continues to collect feeding detection signals and the next target feeder number for cyclic judgment, thereby realizing real-time monitoring of the feeding process of the SMT pick and place machine.

[0111] Step S60022: If there is a discrepancy, collect the current location of the centralized power source and the remaining target flyer numbers.

[0112] If the processing terminal determines that the next target flyer number is inconsistent with the target flyer number, it means that the flyer propulsion device needs to be moved. Therefore, the processing terminal determines the current location of the centralized power source and the remaining target flyer numbers, thereby providing data support for the subsequent control switching structure and the centralized power source to switch and transmit power to the unpowered flyer.

[0113] The current location of the centralized power source refers to the coordinates of the centralized power source at the current moment. The current location of the centralized power source can serve as the starting point for the next propulsion operation of the flyer propulsion device and the power supply operation of the centralized power source. The current location of the centralized power source can be obtained by reading the real-time feedback of the current location of the centralized power source from the servo drive motor by the processing terminal.

[0114] The remaining target feeder number refers to the set of numbers of the non-powered feeders that still need to be fed in this feeding process. After the processing terminal controls the centralized power source to transmit power to the feeders according to the feeding parameters, coupling verification signal and smooth acceleration and deceleration curve, the processing terminal searches and extracts all feeder numbers that need to perform feeding tasks after the current time in the mounting sequence and summarizes them to obtain the next target feeder number.

[0115] Step S600221: Based on the current location of the centralized power source and the remaining target flyer number, control the switching structure and centralized power source to switch and transfer power to the unpowered flyers.

[0116] Specifically, after the processing terminal determines the current location of the centralized power source and the remaining target flyer numbers, it controls the switching structure and the centralized power source to switch and transfer power to the unpowered flyers based on these information. The specific method is described in [reference needed]. Figure 7 The steps are to ensure that the path when the centralized power source supplies power to the remaining unpowered flyers is the optimal path, reduce the unnecessary running distance, and thus improve the efficiency of the centralized power source when supplying power to multiple unpowered flyers, thereby further reducing the material supply cost.

[0117] Reference Figure 7 The steps for controlling the switching structure and the centralized power source to switch and transfer power to unpowered feeders based on the current location of the centralized power source and the remaining target feeder numbers include: Step S700: Find the location of the remaining target flyer in the preset non-powered flyer number position relationship according to the remaining target flyer number.

[0118] The remaining target feeder locations refer to the set of location coordinates of the non-powered feeders that still need to be fed in this feeding process. The remaining target feeder locations can be obtained by the processing terminal searching and summarizing the remaining target feeder numbers in the non-powered feeder number position relationship.

[0119] The positional relationship of the non-powered feeder numbers in this step is consistent with the positional relationship of the feeder numbers in step S200 above, and will not be repeated here.

[0120] Step S701: Calculate the distance between the current location of the concentrated power source and the remaining target reach location to generate the distance the remaining power source needs to move.

[0121] The remaining power source movement distance refers to the set of distances between the current centralized power source position and each remaining target feeder position along the guide rail direction. The absolute value of the difference between the x and y coordinates of each remaining target feeder position and the x and y coordinates of the current centralized power source position is calculated by the processing terminal. The two absolute values ​​calculated for each group are added together to obtain the centralized power source movement distance corresponding to each unpowered feeder that needs to perform material feeding operation. Finally, all the calculated data are summarized to obtain the remaining power source movement distance.

[0122] Step S702: Match the remaining power source distance to be moved, the remaining target location, and the remaining target number one by one to generate the distance number position relationship.

[0123] Among them, the movement distance number position relationship refers to the correspondence between the remaining power source movement distance, the remaining target arrival position, and the remaining target arrival number. By processing the terminal to form a mapping table with the remaining power source movement distance, the remaining target arrival position, and the remaining target arrival number, the movement distance number position relationship can be obtained.

[0124] Step S703: Sort the positional relationship of the movement distance numbers according to the remaining power source movement distance to generate the movement order of the remaining power source.

[0125] The remaining power source movement sequence refers to the order in which the remaining power sources are sorted in ascending order according to their required movement distance. The order in which the centralized power source supplies power to the unpowered feeder is obtained by the processing terminal sorting the movement distance numbers in ascending order according to their required movement distance. When the centralized power source supplies power to the unpowered feeder according to the remaining power source movement sequence, the idle travel distance can be reduced, thereby improving feeding efficiency and reducing feeding costs.

[0126] Step S704: According to the remaining power source movement sequence, control the switching structure to switch the unpowered flyer, and control the centralized power source to move and perform power transmission operation on the unpowered flyer.

[0127] In this process, after the processing terminal determines the required movement sequence of the remaining power sources, the processing terminal controls the switching structure to switch the unpowered feeder according to the required movement sequence of the remaining power sources. The specific method is described in [reference needed]. Figure 8 The steps are as follows: after the switching is completed and coupling is successful, the centralized power source is moved and power is supplied to the unpowered flyer. The specific control method is the same as... Figure 3 The control methods are the same as those used in other systems, so they will not be elaborated here.

[0128] Reference Figure 8 The steps for switching the unpowered feeder according to the required movement sequence of the remaining power sources include: Step S800: Calculate the quotient between the distance the remaining power source needs to move and the preset coupling lock time based on the movement sequence of the remaining power source, so as to generate the remaining feeder switching coupling speed.

[0129] The remaining feeder switching coupling speed refers to the set of moving speeds of the concentrated power source when it moves to each remaining unpowered feeder, in order to ensure that the switching structure has sufficient time to complete the coupling action during the movement of the feeder propulsion device. The remaining feeder switching coupling speed can be obtained by processing the terminal by dividing the distance that the remaining power sources need to move by the coupling lock time in sequence according to the order in which the remaining power sources need to move, and summarizing the results.

[0130] The coupling lock-in time refers to the shortest time required for the switching structure to successfully couple from receiving the instruction. In one embodiment, it is determined by the operator by looking up the model number of the switching structure in the equipment manual. In another embodiment, the operator performs multiple coupling tests on the switching structure, records the duration of each test, sorts the durations, and uses the smallest value as the coupling lock-in time.

[0131] Step S801: Compare the remaining feeder switching coupling speed with the preset maximum moving speed of the power source and the preset switching structure engagement speed to generate the remaining maximum moving speed of the power source.

[0132] Among them, the maximum moving speed of the remaining power source refers to the actual speed used to control the movement of the centralized power source. The processing terminal compares the remaining feeder switching coupling speed with the maximum moving speed of the power source and the meshing speed of the switching structure, and determines the minimum value as the maximum moving speed of the remaining power source.

[0133] The maximum moving speed of the power source refers to the upper limit of the moving speed of the centralized power source when performing position switching operations. Limiting the speed of the centralized power source can prevent overshoot, vibration or damage caused by exceeding the device's capacity due to excessive speed. In one embodiment, the operator can find the model of the servo motor in the centralized power source in the equipment manual, such as the maximum moving speed of the power source being 500 mm / s.

[0134] The switching structure engagement speed refers to the maximum engagement speed allowed when the switching structure can safely complete the engagement action. Limiting the engagement speed of the switching structure can prevent the shift fork from breaking or the clutch from excessive wear due to excessive speed. In one embodiment, the operator finds the speed in the equipment manual according to the model of the switching structure, such as the engagement speed of the switching structure being 350 mm / s.

[0135] Step S802: Calculate the quotient between the distance the remaining power source needs to move and the maximum speed of the remaining power source based on the order in which the remaining power sources need to move, so as to generate the movement time of the remaining power sources.

[0136] The remaining power source movement time refers to the set of time required to move to each remaining unpowered destination at the maximum movement speed of the remaining power source. The remaining power source movement time can be obtained by dividing the distance to be moved by the remaining power source by the maximum movement speed of the remaining power source according to the movement order of the remaining power source by the total distance.

[0137] Step S803: Switch the unpowered feeder according to the smooth acceleration / deceleration curve and the remaining power source travel time.

[0138] In this process, after the processing terminal determines the remaining power source travel time, it adaptively adjusts the smooth acceleration / deceleration curve based on the remaining feeder number to obtain the smooth acceleration / deceleration feed motion curve corresponding to each unpowered feeder. The specific method for determining the smooth acceleration / deceleration feed motion curve is similar to... Figure 3 The steps are the same. Then, find the total time in each smooth acceleration and deceleration feeding motion curve. Add the total time corresponding to each unpowered feeder to the remaining power source movement time to obtain the time interval for the switching structure to perform the switching operation. Then, the processing terminal controls the switching structure to switch the unpowered feeder according to the time interval, so as to couple the unpowered feeder with the feeder propulsion device and provide support for the unpowered feeder to be powered by the centralized power source.

[0139] Based on the same inventive concept, embodiments of this application provide a centralized power supply system for an SMT pick-and-place machine, comprising: The data acquisition module is used to acquire the target feeder number, feeding parameters, coupling verification signal, feeding detection signal, next target feeder number, coupling torque current, previous smooth acceleration / deceleration feeding motion curve, current centralized power source position, and remaining target feeder numbers; Memory for storing a program for a centralized power feeding method for an SMT pick and place machine; The processor and memory can load and execute programs to implement a centralized power supply method for SMT pick and place machines.

[0140] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0141] This application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a centralized power feeding method for an SMT pick and place machine.

[0142] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0143] Based on the same inventive concept, this application provides a smart terminal, including a memory and a processor. The memory stores a computer program that can be loaded and executed by the processor, which is a centralized power supply method for an SMT pick and place machine.

[0144] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0145] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A centralized power feeding method for an SMT pick-and-place machine, characterized in that, include: Collect the target feeder number and feeding parameters; Based on the target feeder number, the preset switching structure is controlled to couple the preset unpowered feeder with the preset feeder propulsion device, and the coupling verification signal is collected. Based on the feeding parameters, coupling verification signal and preset smooth acceleration and deceleration curve, the preset centralized power source is controlled to transmit power to the unpowered feeder, and the feeding detection signal and the next target feeder number are collected. The switching structure and centralized power source control the switching and power transmission operations of the unpowered feeder based on the feed detection signal, the next target feeder number and the target feeder number; The steps of controlling the preset switching structure to couple the preset unpowered flyer with the preset flyer propulsion device according to the target flyer number, and collecting the coupling verification signal include: Based on the target carrier number, the target carrier position and non-target carrier position are found in the preset carrier number position correspondence relationship; The unpowered flyer is disengaged according to the non-target flyer position control switching structure, and the unpowered flyer is coupled with the flyer propulsion device according to the target flyer position control switching structure, and the coupling torque current at the target flyer position is collected. Determine whether the coupling torque current meets the preset coupling success requirements; If the conditions are not met, the coupling operation of the unpowered feeder is re-controlled according to the target feeder position, and the coupling torque current is continuously collected for cyclic judgment. If the conditions are met, the preset successful coupling signal will be used as the coupling verification signal. The steps for controlling the transmission of power from a preset centralized power source to an unpowered flyer based on feed parameters, coupling verification signals, and a preset smooth acceleration / deceleration curve include: Find the feed step distance, number of feed steps, maximum jerk, maximum acceleration, and maximum uniform feed speed in the feed parameters; The smooth acceleration / deceleration curve, feed step distance, number of feed steps, maximum jerk, maximum acceleration, and maximum uniform feed speed are analyzed to generate a smooth acceleration / deceleration feed motion curve. Based on the coupling verification signal and the smooth acceleration / deceleration feeding motion curve, the centralized power source is controlled to transmit power to the unpowered feeder.

2. The centralized power supply method for an SMT pick-and-place machine according to claim 1, characterized in that, The steps for generating a smooth acceleration / deceleration feed motion curve include analyzing the smooth acceleration / deceleration curve, feed step distance, number of feed steps, maximum jerk, maximum acceleration, and maximum uniform feed speed. The target jerk correction parameters are retrieved from the preset jerk correction parameter relationship based on the target flyer number. Calculate the product between the target jerk correction parameter and the maximum jerk to generate the target maximum jerk; Calculate the quotient between the maximum acceleration and the target maximum acceleration to generate the duration of the acceleration change segment; Calculate the difference between the quotient of the maximum uniform feeding speed and the maximum acceleration and the duration of the acceleration change segment, in order to generate the duration of the uniform acceleration segment; Determine whether the duration of the uniform acceleration segment is less than the preset minimum duration of the uniform acceleration segment; If it is not less than, then the target maximum acceleration is substituted into the smooth acceleration / deceleration curve for calculation to generate a smooth acceleration / deceleration feed motion curve; If it is less than, then the feed step distance, the number of feed steps and the target maximum jerk are analyzed to generate a smooth acceleration and deceleration feed motion curve.

3. A centralized power supply method for an SMT pick-and-place machine according to claim 2, characterized in that, The steps for analyzing the feed step distance, number of feed steps, and target maximum jerk to generate a smooth acceleration / deceleration feed motion curve include: Calculate the product between the feed step distance and the number of feed steps to generate the target total displacement; The total displacement and maximum jerk of the target are substituted into the preset acceleration segment duration calculation formula to generate the acceleration segment duration; Calculate the product between the acceleration phase duration and the target maximum jerk to generate the actual maximum acceleration; Calculate the product between the acceleration phase duration and the actual maximum acceleration to generate the maximum speed during the acceleration phase. The acceleration phase duration, target maximum acceleration, and target maximum speed are analyzed based on the smooth acceleration and deceleration curves to generate smooth acceleration and deceleration feed motion curves.

4. A centralized power supply method for an SMT pick-and-place machine according to claim 1, characterized in that, The steps for switching and power transmission of the unpowered feeder based on the feed detection signal, the next target feeder number, and the target feeder number, using the control switching structure and centralized power source, include: Determine whether the feed detection signal and the next target feeder number meet the preset no-task requirements; If the conditions are met, the control switching structure is released, and the centralized power source is reset according to the preset initial position. If the condition is not met, then determine whether the next target carrier number is consistent with the target carrier number; If they match, then collect the previous smooth acceleration / deceleration feed motion curve; Based on the previous smooth acceleration and deceleration feeding motion curve, the centralized power source is controlled to transmit power, and the feeding detection signal and the next target feeder number are collected for cyclic judgment. If they are inconsistent, then collect the current location of the centralized power source and the remaining target flight numbers; Based on the current location of the centralized power source and the remaining target flyer numbers, the control switching structure and centralized power source are used to switch and transfer power to the unpowered flyers.

5. A centralized power supply method for an SMT pick-and-place machine according to claim 4, characterized in that, The steps for controlling the switching structure and switching and power transfer operations of unpowered feeders based on the current location of the centralized power source and the remaining target feeder numbers include: The remaining target flyer positions are located in the preset non-powered flyer position relationship based on the remaining target flyer numbers; Calculate the distance between the current location of the concentrated power source and the remaining target reach location to generate the distance the remaining power source needs to move; The remaining power source needs to move a certain distance, the remaining target's destination, and the remaining target's destination number are mapped one by one to generate a relationship between the moving distance number and the location. Sort the positions of the remaining power sources according to the distances they need to move, in order to generate the order in which the remaining power sources need to be moved. The switching structure controls the unpowered flyer to switch according to the order in which the remaining power sources need to be moved, and controls the movement of the centralized power source to transfer power to the unpowered flyer.

6. A centralized power supply method for an SMT pick-and-place machine according to claim 5, characterized in that, The steps for switching the unpowered feeder according to the required movement sequence of the remaining power sources include: The remaining power source needs to move in the order of movement. The ratio between the remaining power source moving distance and the preset coupling lock time is calculated to generate the remaining feeder switching coupling speed. The remaining feeder switching coupling speed is compared with the preset maximum moving speed of the power source and the preset switching structure engagement speed to generate the remaining maximum moving speed of the power source. The quotient between the distance the remaining power source needs to move and the maximum speed of the remaining power source is calculated based on the order in which the remaining power sources need to move, in order to generate the movement time of the remaining power sources; The unpowered feeder is switched based on the smooth acceleration / deceleration curve and the remaining power source travel time control switching structure.

7. A centralized power supply system for an SMT pick-and-place machine, characterized in that, include: The data acquisition module is used to acquire the target feeder number, feeding parameters, coupling verification signal, feeding detection signal, and the next target feeder number; A memory for storing a program of a centralized power supply method for an SMT pick and place machine as described in any one of claims 1 to 6; The processor and the program in the memory can be loaded and executed by the processor to implement the centralized power feeding method for an SMT pick and place machine as described in any one of claims 1 to 6.

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