本文選題：送料系統(tǒng) + Turbo��； 參考：《廣東工業(yè)大學(xué)》2017年碩士論文

【摘要】：焊線機(jī)是半導(dǎo)體封裝設(shè)備,尤其是LED(Lighting Emitting Diode)生產(chǎn)中的關(guān)鍵設(shè)備之一。送料系統(tǒng)作為焊線機(jī)的重要組成部分,其主要功能是帶動支架的傳輸、固定支架焊接位置,其送料速度、定位精度直接影響焊線機(jī)的整體性能。而LED高速焊線機(jī)對其速度、精度要求更高,結(jié)合焊線工藝要求,研究其送料機(jī)構(gòu)的機(jī)械結(jié)構(gòu)、傳動方式、運(yùn)動控制,具有理論意義和實(shí)際應(yīng)用價(jià)值。本文設(shè)計(jì)的直插LED高速焊線機(jī)送料系統(tǒng)參考了國內(nèi)外的同類設(shè)備,設(shè)計(jì)了整個(gè)送料系統(tǒng)的結(jié)構(gòu)和運(yùn)動控制過程。論文研究的具體內(nèi)容如下:(1)送料裝置的設(shè)計(jì)設(shè)計(jì)的送料裝置主要包括托料、推料、壓爪、過片等機(jī)構(gòu)。設(shè)計(jì)了整體式托料推料機(jī)構(gòu),不同高度的支架調(diào)節(jié)更方便可靠。先輕量化推料機(jī)構(gòu),再將推料機(jī)構(gòu)直接連接在托料機(jī)構(gòu)的軌道構(gòu)上,使其聯(lián)動調(diào)整軌道高度。當(dāng)落料槽中傳感器檢測到有支架,則推料電機(jī)將支架推送到托料機(jī)構(gòu)的指定位置。設(shè)計(jì)了模塊化多片平動式壓爪機(jī)構(gòu),燈杯適用性好、壓緊可靠不變形。為減少送料時(shí)間,壓爪組件設(shè)計(jì)為同時(shí)壓緊多位支架燈杯的模塊化壓爪對,根據(jù)需要而選配不同數(shù)量的壓爪對。在壓緊和松開燈杯的運(yùn)動過程中,壓爪對采用水平平動方式,既減少壓爪與燈杯之間的摩擦和變形,又可保證燈杯焊接表面不傾斜,提高焊線穩(wěn)定性。由于壓爪行程小,壓爪組件采用了杠桿組件進(jìn)行力放大、音圈電機(jī)直接驅(qū)動的方式,以此改變電參數(shù)來調(diào)節(jié)壓爪的壓緊力。設(shè)計(jì)了音圈驅(qū)動雙夾子機(jī)械聯(lián)動、分時(shí)夾片的過片機(jī)構(gòu),既減少運(yùn)動構(gòu)件、又保證送料的速度和精度。過片機(jī)構(gòu)直接帶動支架傳送,采用光柵尺反饋音圈電機(jī)的位置,利用直驅(qū)音圈電機(jī)的高速度,保證送料位置精度和速度。左右布置的雙夾子同時(shí)共用一副導(dǎo)軌,左夾子負(fù)責(zé)將支架從推料機(jī)構(gòu)拉進(jìn)壓爪機(jī)構(gòu)的壓緊位置,右夾子負(fù)責(zé)將支架從壓緊位置拉出到下料機(jī)構(gòu),左右夾子可以單獨(dú)、分時(shí)控制打開或夾緊支架。通過光纖傳感器檢測支架底筋上的小孔以此保證支架的位置。(2)控制系統(tǒng)的設(shè)計(jì)首先,設(shè)計(jì)了送料機(jī)構(gòu)的控制實(shí)驗(yàn)方案。介紹、分析了送料控制系統(tǒng)的硬件系統(tǒng)各個(gè)組成模塊和實(shí)際要求,針對單片機(jī)控制模塊控制推料、托料電機(jī)和Turbo PMAC運(yùn)動控制卡控制壓爪、過片電機(jī)的相關(guān)流程進(jìn)行闡述,選取了相關(guān)的電氣元件并搭建相關(guān)的實(shí)驗(yàn)樣機(jī)。其次,針對過片電機(jī)的位置控制方式,設(shè)計(jì)了多段位移、變速度/加速前饋的多段PID控制策略的相關(guān)算法,通過以下兩方面驗(yàn)證在縮短過片時(shí)間的情況下使定位精度達(dá)到50um。一方面研究了Turbo PMAC控制卡的內(nèi)部S曲線算法和PID伺服整定,針對過片電機(jī)的位置控制策略進(jìn)行分析,通過實(shí)驗(yàn)驗(yàn)證了過片電機(jī)對夾子的軌跡控制的可靠性;另一方面根據(jù)實(shí)際要求推導(dǎo)出圖像和電機(jī)移動位置的關(guān)系,并根據(jù)此關(guān)系確認(rèn)過片后支架的位置,以此驗(yàn)證過片電機(jī)控制效果。進(jìn)一步對燈杯間距為7.62mm的20連體支架進(jìn)行實(shí)驗(yàn),每次移動6個(gè)燈杯間距(38.1mm),根據(jù)上述兩方面的檢測流程,在多段PID控制基礎(chǔ)上,采用變速度/加速度前饋增益,分別針對兩段、三段位移多次測試,通過讀取光柵尺的數(shù)據(jù)和圖像匹配對應(yīng)的位置,最后定位精度控制在0.05mm內(nèi),時(shí)間控制在120ms內(nèi),相比單段位移時(shí)間縮短了1/3。最后,針對該實(shí)驗(yàn)方案,開發(fā)了軟件系統(tǒng),完成了樣機(jī)測試,驗(yàn)證了方案的可行性。介紹了送料控制系統(tǒng)相關(guān)的軟件控制模塊,并在VS2010環(huán)境下編寫相關(guān)軟件,完成相關(guān)實(shí)驗(yàn)的測試,并為實(shí)際中應(yīng)用提供參考。
[Abstract]:The welding machine is a semiconductor packaging equipment, especially one of the key equipment in the production of LED (Lighting Emitting Diode). Feed system is an important part of the wire welding machine. Its main function is to drive the transmission of the bracket, fix the welding position of the stents, the feeding speed and the positioning precision directly affect the overall performance of the welding line machine. And the LED high-speed welding line The machine has higher precision for its speed and precision. It is of theoretical significance and practical application value to study the mechanical structure, transmission mode and motion control of the feeding mechanism in combination with the welding line process requirements. The direct insert LED high-speed wire feeder system designed in this paper has designed the structure and motion control of the whole feeding system with reference to the same equipment at home and abroad. The specific contents of the paper are as follows: (1) the design and design of feeding device of the feeding device mainly includes the supporting material, pushing material, pressing claw and over sheet and so on. The whole type of material pushing mechanism is designed, and the support of different height is more convenient and reliable. The feeding mechanism is lightening and the pushing mechanism is directly connected to the rail of the supporting mechanism. On the other hand, the linkage adjusts the track height. When the sensor detects a bracket in the blanking slot, the push machine pushes the bracket to the specified position of the supporting mechanism. The modular multi flat moving claw mechanism is designed, which is good in applicability and reliable without deformation. In order to reduce feeding time, the claw assembly is designed to compress multiple support cups at the same time. In the process of pressing and loosening the lamp cup, the claw can not only reduce the friction and deformation between the claw and the lamp cup, but also ensure that the welding surface of the lamp cup is not inclined and the welding line is stable. The claw assembly is adopted because the stroke of the claw is small. The lever component is magnified and the motor is driven directly by the voice coil motor to adjust the pressing force of the claw by changing the electric parameters. The mechanical linkage of the double clip with the sound ring is driven, and the over slice mechanism of the time split clip is designed, which not only reduces the motion component, but also ensures the speed and accuracy of the feed. The passing mechanism directly drives the support of the bracket and uses the grating ruler feedback sound. The position of the ring motor, using the high speed of the direct drive sound coil motor, ensures the precision and speed of the feeding position. The left and right double clamps share a pair of guideways at the same time. The left clamp is responsible for pulling the bracket from the pushing mechanism into the pressing position of the claw mechanism. The right clip is responsible for pulling the bracket out from the pressing position to the feeding mechanism, and the right and left clips can be separate, Time division control open or clamp the support. Through the optical fiber sensor to detect the small holes on the bracket base to ensure the position of the support. (2) the design of the control system first, the design of the feeding mechanism control experiment scheme. Introduced, analyzed the hardware system module and the actual requirements of the hardware system of the feed control system, for the MCU control module. Control the push material, the material motor and the Turbo PMAC motion control card to control the claw, explain the related process of the overslice motor, select the related electrical components and build the related experimental prototype. Secondly, in view of the position control mode of the overslice motor, a multi segment PID control strategy is designed for the multi segment displacement, the variable speed / speed feed forward feed. Through the following two aspects, it is verified that the internal S curve algorithm and PID servo tuning of the Turbo PMAC control card are studied on the one hand to make the positioning accuracy up to 50um., and the reliability of the trajectory control of the over chip motor to the clamp is verified by the experiment. According to the actual requirements, the relationship between the moving position of the motor and the motor is derived, and the position of the rear bracket is confirmed according to this relationship. In order to verify the control effect of the over chip motor, the 20 connection stents with the distance of 7.62mm are tested, and 6 lamp cup spacing (38.1mm) is moved each time. According to the above two aspects of the detection process, the multi segment PID On the basis of the control, the variable speed / acceleration feedforward gain is adopted for two segments and three segments of the displacement test respectively. By reading the corresponding position of the data and image matching of the grating ruler, the final positioning precision is controlled within 0.05mm, the time is controlled within 120ms, and the 1/3. is shortened compared with the single segment displacement, and the software is developed for the experimental scheme. The system has completed the test of the prototype and verified the feasibility of the scheme. The software control module related to the feed control system is introduced, and the related software is written in the VS2010 environment, and the test of the related experiments is completed, and the reference is provided for the practical application.
【學(xué)位授予單位】：廣東工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP273;TN312.8

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