Pressure drive control method, drive control system and storage medium

Abstract

A pressure drive control method, a drive control system and a storage medium. The pressure drive control method comprises: a drive controller controlling a drive actuator to operate and move, at a speed greater than or equal to a first speed, towards a workpiece to be executed until the drive actuator reaches a first position (S101); the drive controller controlling the drive actuator to continue to operate and move towards said workpiece at a second speed less than or equal to a second speed until the drive actuator reaches a second position (S102), the second speed being less than the first speed; and switching the drive controller to a torque control mode, and continuing to control the drive actuator to operate until the drive actuator presses against said workpiece at a preset pressure (S103). Since the drive controller controls the drive actuator to operate and move towards said workpiece in two stages, i.e., a fast stage and a slow stage, high-speed collision with said workpiece is prevented, and the execution efficiency is improved.

Description

Pressure-driven control methods, drive control systems, and storage media

[0001] This application is based on and claims priority to Chinese Patent Application No. 202411513267.0, filed on October 28, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of drive control, specifically to a pressure drive control method, a drive control system, and a storage medium. Background Technology

[0003] In semiconductor, 3C, and other industries, applications involving the inspection or mounting of chips and components often require the torque control mode of servo motor drivers. When the actuator contacts the workpiece surface, the servo motor outputs torque to achieve contact and pressure on the workpiece, fulfilling the requirements for chip inspection or device placement and bonding. However, in the currently prevalent methods, high-speed contact between the actuator and the workpiece can potentially damage the component. Application content

[0004] The main technical problem this application addresses is that in related technologies, the high-speed contact of the actuator with the workpiece can easily lead to workpiece damage.

[0005] In one embodiment, a pressure-driven control method is provided, applied to a drive execution system, the drive execution system including a drive controller and a drive actuator; the pressure-driven control method includes:

[0006] The drive controller controls the drive actuator to move closer to the workpiece to be executed at a speed greater than or equal to a first speed until it reaches a first position;

[0007] The drive controller controls the drive actuator to continue moving closer to the workpiece to be executed at a speed less than or equal to the second speed until the second position is reached; wherein the second speed is less than the first speed.

[0008] Switch the drive controller to torque control mode and continue to control the drive actuator to operate until the drive actuator presses against the workpiece to be executed with a preset pressure.

[0009] In one embodiment, the step of switching the drive controller to torque control mode and continuing to control the drive actuator to operate until the drive actuator presses against the workpiece to be executed with a preset pressure further includes:

[0010] After pressing the workpiece to be executed for a preset time, the drive controller controls the drive actuator to move away from the workpiece to the third position at a speed less than or equal to the third speed; the third speed is less than the first speed.

[0011] The drive controller controls the drive actuator to continue moving away from the workpiece to the initial position at a speed greater than or equal to a fourth speed; the fourth speed is greater than the third speed.

[0012] In one embodiment, before the drive controller controls the drive actuator to move closer to the workpiece at a speed greater than or equal to a first speed until it reaches a first position, the method further includes:

[0013] Based on a self-learning algorithm and combined with the historical operation data of the driving execution system, the first position, the second position, and the third position are determined.

[0014] In one embodiment, switching the drive controller to torque control mode and continuing to control the drive actuator to operate until the drive actuator presses against the workpiece to be executed with a preset pressure includes:

[0015] The pressure applied by the drive actuator to the workpiece is detected by a pressure sensor;

[0016] Based on the detection result of the pressure sensor, the drive controller controls the drive actuator to maintain the preset pressure value to press against the workpiece to be executed.

[0017] In one embodiment, the step of controlling the drive actuator to maintain the preset pressure value against the workpiece to be executed based on the detection result of the pressure sensor includes:

[0018] The drive controller, based on PID control, controls the drive actuator to maintain the preset pressure value to press against the workpiece to be executed.

[0019] In one embodiment, the drive controller controls the drive actuator to continue moving closer to the workpiece to be executed at a speed less than or equal to a second speed until a second position is reached, including:

[0020] The drive controller controls the drive actuator to move closer to the workpiece to be executed at a speed less than or equal to the second speed, until the fourth position;

[0021] The drive controller continues to control the drive actuator to continue moving closer to the workpiece to be executed at a speed less than or equal to the fifth speed until the second position; wherein the fifth speed is less than the second speed.

[0022] In one embodiment, before switching the drive controller to torque control mode, the method further includes: the drive controller being in position control mode or speed control mode.

[0023] In one embodiment, before the drive controller controls the drive actuator to move closer to the workpiece at a speed greater than or equal to a first speed until it reaches a first position, the method further includes:

[0024] The drive controller receives control parameters written via SDO or PDO; the control parameters correspond to at least one of the following: operating speed, operating acceleration, target operating position, target pressure value, and pressure holding time of the drive actuator.

[0025] In one embodiment, a drive control system is also provided, including a drive controller and a drive actuator; the drive controller is used to control the drive actuator according to the pressure drive control method described above, so as to perform a pressure operation on the workpiece to be executed.

[0026] In one embodiment, a computer-readable storage medium is also provided, wherein one or more computer programs are stored therein, the computer programs being executable to implement the steps of the pressure-driven control method described above.

[0027] According to the pressure drive control method, drive control system and storage medium of the above embodiments, since the drive controller controls the drive actuator to approach the workpiece to be executed in two stages, fast and slow, the situation of high-speed collision with the workpiece to be executed is prevented, and the execution efficiency is improved at the same time. Attached Figure Description

[0028] Figure 1 is a flowchart of the pressure-driven control method in an embodiment of this application.

[0029] Figure 2 is a schematic diagram of the drive control system composition in an embodiment of this application.

[0030] Figure 3 is a schematic diagram of the operation process of the drive actuator in the embodiment of this application.

[0031] Figure 4 is a schematic diagram of the velocity and position curves during the approach phase in an embodiment of this application.

[0032] Figure 5 is a schematic diagram of the speed curve, position curve, pressure feedback curve, and preset pressure curve in the entire pressure drive control process in the embodiment of this application. Detailed Implementation

[0033] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. Similar elements in different embodiments are referred to by related similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid obscuring the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0034] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0035] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the objects being described and have no sequential or technical meaning. Unless otherwise specified, the terms "connection" and "linkage" used in this application include both direct and indirect connections (linkages).

[0036] To address the problem in related technologies where high-speed contact between the actuator and the workpiece may damage the workpiece, please refer to Figures 1 to 3. This application provides a pressure-driven control method, which is applied in a drive control system. The drive control system specifically comprises a drive controller 1 and a drive actuator 2. The drive controller 1 controls the drive actuator 2 according to the pressure-driven control method of this application to perform a pressing operation on the workpiece 4. The pressure-driven control method includes:

[0037] S101, Drive controller 1 controls drive actuator 2 to move closer to workpiece 4 at a speed greater than or equal to the first speed until the first position is reached;

[0038] S102, the drive controller 1 controls the drive actuator 2 to continue moving closer to the workpiece 4 to be executed at a speed less than or equal to the second speed until the second position is reached; wherein the second speed is less than the first speed;

[0039] S103. Switch the drive controller 1 to torque control mode and continue to control the drive actuator 2 to run until the drive actuator 2 presses against the workpiece 4 to be executed with a preset pressure.

[0040] The drive control system utilizes a drive controller 1 to drive a drive actuator 2 to press against a workpiece 4, achieving purposes such as workpiece inspection and mounting. The drive actuator 2 includes a motor and other necessary structures for pressing against the workpiece 4. To achieve the above objectives, in this embodiment, the drive controller 1 controls the drive actuator 2 to move close to the workpiece 4 until it presses against the workpiece 4, thereby achieving the operational purpose of the workpiece 4.

[0041] In this process, the drive controller 1 controls the drive actuator 2 to approach the workpiece 4 at a speed greater than or equal to a first speed until it reaches a first position. This means that during this process, the drive actuator 2 operates at a relatively high speed so that it can quickly approach the workpiece 4 – this is the rapid approach phase. However, during this rapid approach, the destination of the drive actuator 2's rapid movement still maintains a certain distance from the workpiece 4. This is to prevent the drive actuator 2 from colliding with the workpiece 4 due to its rapid movement and causing damage.

[0042] Then, the drive controller 1 controls the drive actuator 2 to continue moving closer to the workpiece 4 at a speed less than or equal to the second speed, until it reaches the second position, which is the slow-speed phase. The second speed is less than the first speed; therefore, during the process of the drive actuator 2 moving from the first position to the second position, the speed of the drive actuator 2 is always less than its speed from the initial position to the first position. During this process, the drive actuator 2 switches from fast motion to slow motion to avoid high-speed impact with the workpiece 4. Obviously, the second position is much closer to the workpiece 4 than the first position, and the second position is generally very close to the workpiece 4, typically by about 2 mm or less.

[0043] It is worth mentioning that the drive actuator 2 moves from the starting position to the first position at a speed greater than or equal to the first speed, and then moves from the first position to the second position at a speed less than or equal to the second speed. The actual operating speed of the drive actuator 2 in each operation process is not limited to a constant value. The drive actuator 2 can accelerate or decelerate arbitrarily within the allowable range as needed, thereby achieving the effect of variable speed operation.

[0044] After the drive actuator 2 reaches the second position, it is now close enough to the workpiece 4 to be executed. Therefore, it can continue to move closer to the workpiece 4 based on its position. During this process, the drive controller 1 switches to torque control mode, controlling the drive actuator 2 by outputting torque. This allows the drive actuator 2 to better press against the workpiece 4, which is the pressing phase. Specifically, the drive actuator 2 needs to press against the workpiece 4 with a preset pressure for the required duration. After pressing is completed, the basic process required by the pressure-driven control method is satisfied. Based on the control type of the drive controller 1, it can be roughly divided into three categories: position control mode, speed control mode, and torque control mode. In position control mode, the system receives external position command signals and precisely controls the motor's position to reach the specified position. In speed control mode, the system mainly adjusts the motor speed according to the externally input speed command signals to achieve the required speed. Torque control mode mainly controls the load by controlling the motor's output torque. In some applications requiring precise torque control, such as tension control and winding equipment, the torque control mode of servo motors plays an important role. Therefore, when it is necessary to press the drive actuator 2 against the workpiece 4 to be executed, torque control mode is generally used to control the drive actuator 2 to achieve precise pressure control. Please refer to Figure 4, which shows the position curve and speed curve of the drive actuator 2 near the workpiece 4 corresponding to the pressure drive control method of this application embodiment.

[0045] After the pressure is applied, it is generally necessary to move the drive actuator 2 away from the workpiece 4 to be executed. In some optional embodiments, the drive controller 1 is switched to torque control mode to continue controlling the drive actuator 2 to run until the drive actuator 2 presses against the workpiece 4 with a preset pressure. This may also include:

[0046] S104. After the workpiece 4 is pressed against the workpiece 4 for a preset time, the drive controller 1 controls the drive actuator 2 to move away from the workpiece 4 at a speed less than or equal to the third speed to the third position; the third speed is less than the first speed.

[0047] S105, the drive controller 1 controls the drive actuator 2 to continue moving away from the workpiece 4 at a speed greater than or equal to the fourth speed back to the initial position; the fourth speed is greater than the third speed. Similar to the drive actuator 2 approaching the workpiece 4, during the process of moving away from the workpiece 4, the drive actuator 2 first slowly releases the pressure on the workpiece 4 until the third position. This avoids vibration that might occur to the workpiece 4 if it moves away too quickly. Therefore, the third speed is less than the first speed at this point, which is the slow return phase. Then, once the drive actuator 2 is sufficiently away from the workpiece 4, it can quickly move away from the workpiece 4 again, that is, quickly return from the third position to the initial position, facilitating the next pressure drive control process, which is the fast return phase. Therefore, the fourth speed is greater than the third speed at this point. It is worth mentioning that in this embodiment, during the process of the drive actuator 2 approaching and moving away from the workpiece 4, the speeds of the fast approach phase and the fast return phase can be the same or different. Similarly, the slow approach phase and the slow return phase can also be the same or different. Furthermore, the second position can overlap with the third position, or the third position can be farther away from the workpiece 4 to be executed compared to the second position, or the third position can be closer to the workpiece 4 to be executed compared to the second position. Please refer to Figure 5, which shows the curves of running speed, running position, pressure feedback, and preset pressure changing over time throughout the entire pressure drive control process.

[0048] In some optional embodiments, to better determine the various positions of the drive actuator 2 during operation, before the drive controller 1 controls the drive actuator 2 to move towards the workpiece 4 at a speed greater than or equal to a first speed until it reaches the first position, the following may also be included:

[0049] Based on a self-learning algorithm and combined with the historical operation data of the drive execution system, the first, second, and third positions are determined. In other words, the pressure drive control method in this embodiment can determine suitable specific positions in the current pressure drive control process, including the first, second, and third positions, based on historical operation data, thereby minimizing the running time of the drive execution mechanism 2 while ensuring it does not collide with the workpiece 4 at high speed. Furthermore, the self-learning algorithm can also combine the historical operation data of the drive execution system to determine reasonable operating speeds, accelerations, and other parameters of the drive execution mechanism 2 at each stage.

[0050] Of course, default values ​​can be preset for the operating parameters of the drive actuator 2, and the drive execution system can be executed directly according to the default values ​​during operation; or, the operator can input the corresponding control commands to the drive controller 1 at an appropriate time, so that the drive actuator 2 can run according to the input control commands.

[0051] In some optional embodiments, in order to accurately determine the magnitude of the pressure applied by the drive actuator 2 to the workpiece 4 to be executed, and to ensure that the drive actuator 2 presses against the workpiece 4, the drive controller 1 is switched to torque control mode, and the drive actuator 2 continues to operate until the drive actuator 2 presses against the workpiece 4 with a preset pressure. The drive actuator 2 pressing against the workpiece 4 with a preset pressure may include:

[0052] The pressure sensor 3 detects the pressure applied by the drive actuator 2 to the workpiece 4 to be executed;

[0053] Based on the detection results of pressure sensor 3, drive controller 1 controls drive actuator 2 to maintain a preset pressure value to press against the workpiece 4. During the pressing process, the pressure value detected by pressure sensor 3 is fed back to drive controller 1 in real time. Drive controller 1 then adjusts the output torque based on the value detected by pressure sensor 3 to ensure that drive actuator 2 presses against the workpiece 4 at the required preset pressure. In addition, the torque value inside drive controller 1 can also be used as a pressure feedback signal.

[0054] In some optional embodiments, based on the detection result of the pressure sensor 3, the drive controller 1 controls the drive actuator 2 to maintain a preset pressure value to press against the workpiece 4 to be executed. Specifically, this may include:

[0055] The drive controller 1 uses PID control to control the drive actuator 2, ensuring that the drive actuator 2 maintains a preset pressure value while pressing against the workpiece 4. PID control guarantees stable torque output, ensuring that the pressure value of the drive actuator 2 against the workpiece 4 remains stable at the preset pressure value.

[0056] In some optional embodiments, during the process of the drive actuator 2 approaching the workpiece 4, especially during the process of the drive actuator 2 decelerating towards the workpiece 4, the approach speed of the drive actuator 2 can be variable; specifically, the drive controller 1 controls the drive actuator 2 to continue approaching the workpiece 4 at a speed less than or equal to a second speed until the second position can include:

[0057] The drive controller 1 controls the drive actuator 2 to move closer to the workpiece 4 to be executed at a speed less than or equal to the second speed, until the fourth position is reached;

[0058] The drive controller 1 continues to control the drive actuator 2, which continues to approach the workpiece 4 at a speed less than or equal to the fifth speed until it reaches the second position; where the fifth speed is less than the second speed. In other words, during the slow-speed phase, the operating speed of the drive actuator 2 can be further divided into two levels: a speed less than or equal to the second speed and a speed less than or equal to the fifth speed, with the fifth speed being lower than the second speed. By first approaching the workpiece 4 at a relatively high slow speed to the fourth position, and then approaching it at a relatively low slow speed to the second position, the drive actuator 2 achieves a smoother transition between the fast and slow phases, and also allows for a smaller downward pressure speed, preventing the drive actuator 2 from colliding with the workpiece 4 at high speed.

[0059] Furthermore, the slow-speed phase can operate at three or even more speeds, and this embodiment does not limit it. During the transition from the fast to the slow-speed phase, the motor does not need to stop, thus improving operating efficiency while ensuring no high-speed collision with the workpiece 4. Correspondingly, before switching the drive controller 1 to torque control mode, the drive controller 1 may also be in position control mode or speed control mode.

[0060] In some optional embodiments, before the drive controller 1 controls the drive actuator 2 to move closer to the workpiece 4 at a speed greater than or equal to a first speed until it reaches the first position, the following may also be included:

[0061] The drive controller 1 receives control parameters written via SDO or PDO. These control parameters correspond to at least one of the following: operating speed, operating acceleration, target operating position, target pressure value, and pressure holding time of the drive actuator 2. Through these control parameters, the real-time operation of the drive actuator 2 can be specifically controlled. The main parameters involved in the control process, such as target operating position, operating speed, acceleration, preset pressure value, pressure holding time, etc., as well as the control commands for the drive controller 1 (such as downward operation, return operation, stop operation, etc.) and operating status feedback information (such as pressure feedback value, control flow start signal, control flow end signal, etc.), can all be exposed through the object dictionary PDO or SDO of the bus protocol. The controller can write and set the control parameters of the drive controller 1 and control its operation via SDO and PDO, and can also read the operating status.

[0062] According to the pressure drive control method in the embodiments of this application, since the drive controller 1 controls the drive actuator 2 to approach the workpiece 4 to be executed in two stages, fast and slow, the situation of high-speed collision with the workpiece 4 to be executed is prevented, and the execution efficiency is improved at the same time.

[0063] In some alternative embodiments, a computer-readable storage medium is also provided, which stores one or more computer programs that can be executed to implement the steps of the pressure-driven control method in the embodiments of this application, which will not be described in detail here.

[0064] Some functions of the embodiments of this application can be implemented by hardware or by computer programs. When all or part of the functions in the above embodiments are implemented by computer programs, the program can be stored in a computer-readable storage medium, which may include: read-only memory, random access memory, disk, optical disk, hard disk, etc. The program is executed by a computer to achieve the above functions. For example, the program can be stored in the memory of a device, and when the program in the memory is executed by the processor, all or part of the above functions can be achieved. In addition, when all or part of the functions in the above embodiments are implemented by computer programs, the program can also be stored in a storage medium such as a server, another computer, disk, optical disk, flash drive, or portable hard drive, and can be downloaded or copied to the memory of a local device, or the system of the local device can be updated. When the program in the memory is executed by the processor, all or part of the functions in the above embodiments can be achieved.

[0065] The above examples illustrate this application only to aid understanding and are not intended to limit its scope. Those skilled in the art to which this application pertains can make various simple deductions, modifications, or substitutions based on the ideas presented.

Claims

1. A pressure-driven control method, applied to a drive execution system, the drive execution system comprising a drive controller and a drive execution mechanism; characterized in that, The pressure-driven control method includes: The drive controller controls the drive actuator to move closer to the workpiece to be executed at a speed greater than or equal to a first speed until it reaches a first position; The drive controller controls the drive actuator to continue moving closer to the workpiece to be executed at a speed less than or equal to the second speed until the second position is reached; wherein the second speed is less than the first speed. Switch the drive controller to torque control mode and continue to control the drive actuator to operate until the drive actuator presses against the workpiece to be executed with a preset pressure.

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

3. The pressure-driven control method as described in claim 2, characterized in that, Before the drive controller controls the drive actuator to move toward the workpiece at a speed greater than or equal to a first speed, until it reaches the first position, the method further includes: Based on a self-learning algorithm and combined with the historical operation data of the driving execution system, the first position, the second position, and the third position are determined.

4. The pressure-driven control method according to any one of claims 1-3, characterized in that, Switching the drive controller to torque control mode and continuing to control the drive actuator to operate until the drive actuator presses against the workpiece with a preset pressure, wherein the drive actuator pressing against the workpiece with a preset pressure includes: The pressure applied by the drive actuator to the workpiece is detected by a pressure sensor; Based on the detection result of the pressure sensor, the drive controller controls the drive actuator to maintain the preset pressure value to press against the workpiece to be executed.

5. The pressure-driven control method as described in claim 4, characterized in that, The step of controlling the drive actuator to maintain the preset pressure value against the workpiece to be executed based on the detection result of the pressure sensor includes: The drive controller, based on PID control, controls the drive actuator to maintain the preset pressure value to press against the workpiece to be executed.

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

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

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

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

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

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