SMD元器件检测设备控制系统设计与实现

发布时间：2018-03-07 03:24

本文选题：控制系统　切入点：贴片元器件检测　出处：《华中科技大学》2015年硕士论文　论文类型：学位论文

【摘要】：目前表面贴装技术(SMT)中,表面贴装元器件(SMD)贴片工序之前存在难以对SMD的性能全自动检测的工艺盲点,本课题针对SMD全自动检测设备开发需求,研究并设计了对应控制系统。本文主要研究SMD高精度拾放策略、误差补偿和机械手转移轨迹规划等相关难点,具体概况如下:1、提出了检测元器件光电性能的方案,基于SMD元器件特性分析和转移面临的工况,提出了检测设备的设计指标。对控制系统整体架构进行了比较分析和选择,确定了“IPC+运动控制卡”控制模式;完成了控制系统关键部件选型和检测设备的完整动作流程设计。2、建立了元器件转移误差补偿模型。分析了元器件检测流程中的视觉可测误差和设备固有误差,针对难以避免误差,为元器件的拾取补偿和放回补偿建立了误差补偿模型。基于视觉处理参数辨识方法,通过最小二乘法对旋转轴误差进行椭圆拟合,给出相机坐标系误差量计算公式。3、提出了多夹具和并行方案,缩短了运动流程整体耗时。针对载带位至夹具位的长距离高速度高加速度转移过程,从定位精度、运动耗时和系统柔性和冲击多方面考虑,分别对比梯形、S型和三角函数速度曲线的运动过程,仿真了所提出的运动轨迹,结论为:S曲线具有较优的运行时间和系统柔性。4、实验验证并实现了所提出的SMD元器件检测设备的控制系统方案。验证结果表明:点到点运动中长距离高速度高加速度转移过程,相对梯形曲线和三角函数曲线,S曲线具有最优的定位精度和运动时间。所提方案通过了0201电容,0603LED和1206电阻等多类型SMD元器件实际测试,可以满足高精度拾取和放回等转移过程要求。本文所设计面向SMD元器件检测设备的控制系统,具有较好的实用价值,已得到实际检测设备充分验证。
[Abstract]:At present, in the surface mount technology (SMT), there are some blind spots in the process of surface mount component SMD patch, which is difficult to automatically detect the performance of SMD. This subject aims at the development of SMD automatic testing equipment. The corresponding control system is studied and designed. This paper mainly studies the SMD high-precision pickup strategy, error compensation and manipulator transfer trajectory planning and other related difficulties. The specific overview is as follows: 1. Based on the characteristic analysis and transition of SMD components, the design index of testing equipment is put forward. The overall structure of the control system is comparatively analyzed and selected, and the control mode of "IPC motion control card" is determined. The selection of key components of the control system and the design of the complete action flow of the detecting equipment are completed. The compensation model of the component transfer error is established. The visual measurable error and the inherent error of the device are analyzed. Aiming at the difficulty of avoiding errors, the error compensation model is established for pickup compensation and return compensation of components. Based on the identification method of visual processing parameters, the rotation axis error is elliptically fitted by least square method. In this paper, the calculation formula of camera coordinate system error error. 3 is given, and a multi fixture and parallel scheme is proposed, which shortens the whole time of motion flow. For the long distance, high speed and high acceleration transfer process from the carrier to the clamp position, the positioning accuracy is obtained. Considering the motion time consuming and system flexibility and impact, the motion process of trapezoidal S-shaped and trigonometric function velocity curves is compared, and the proposed motion trajectory is simulated. Conclusion: the ratio S curve has better running time and system flexibility. The proposed control system scheme of SMD component detection equipment is verified and realized experimentally. The verification results show that the long distance high speed and high acceleration transfer process in point-to-point motion is achieved. Compared with trapezoidal curve and trigonometric function curve S curve, the proposed scheme has the optimum positioning accuracy and motion time. The proposed scheme has passed the practical tests of 0201 capacitors 0603LED and 1206 resistors, etc. The control system designed in this paper for SMD components detection equipment has good practical value and has been fully verified by the actual detection equipment.
【学位授予单位】：华中科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TN05;TP273

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