直插LED高速焊线机送料系统的研究

发布时间：2018-06-28 02:11

本文选题：送料系统 + Turbo　；参考：《广东工业大学》2017年硕士论文

【摘要】：焊线机是半导体封装设备,尤其是LED(Lighting Emitting Diode)生产中的关键设备之一。送料系统作为焊线机的重要组成部分,其主要功能是带动支架的传输、固定支架焊接位置,其送料速度、定位精度直接影响焊线机的整体性能。而LED高速焊线机对其速度、精度要求更高,结合焊线工艺要求,研究其送料机构的机械结构、传动方式、运动控制,具有理论意义和实际应用价值。本文设计的直插LED高速焊线机送料系统参考了国内外的同类设备,设计了整个送料系统的结构和运动控制过程。论文研究的具体内容如下:(1)送料装置的设计设计的送料装置主要包括托料、推料、压爪、过片等机构。设计了整体式托料推料机构,不同高度的支架调节更方便可靠。先轻量化推料机构,再将推料机构直接连接在托料机构的轨道构上,使其联动调整轨道高度。当落料槽中传感器检测到有支架,则推料电机将支架推送到托料机构的指定位置。设计了模块化多片平动式压爪机构,灯杯适用性好、压紧可靠不变形。为减少送料时间,压爪组件设计为同时压紧多位支架灯杯的模块化压爪对,根据需要而选配不同数量的压爪对。在压紧和松开灯杯的运动过程中,压爪对采用水平平动方式,既减少压爪与灯杯之间的摩擦和变形,又可保证灯杯焊接表面不倾斜,提高焊线稳定性。由于压爪行程小,压爪组件采用了杠杆组件进行力放大、音圈电机直接驱动的方式,以此改变电参数来调节压爪的压紧力。设计了音圈驱动双夹子机械联动、分时夹片的过片机构,既减少运动构件、又保证送料的速度和精度。过片机构直接带动支架传送,采用光栅尺反馈音圈电机的位置,利用直驱音圈电机的高速度,保证送料位置精度和速度。左右布置的双夹子同时共用一副导轨,左夹子负责将支架从推料机构拉进压爪机构的压紧位置,右夹子负责将支架从压紧位置拉出到下料机构,左右夹子可以单独、分时控制打开或夹紧支架。通过光纤传感器检测支架底筋上的小孔以此保证支架的位置。(2)控制系统的设计首先,设计了送料机构的控制实验方案。介绍、分析了送料控制系统的硬件系统各个组成模块和实际要求,针对单片机控制模块控制推料、托料电机和Turbo PMAC运动控制卡控制压爪、过片电机的相关流程进行阐述,选取了相关的电气元件并搭建相关的实验样机。其次,针对过片电机的位置控制方式,设计了多段位移、变速度/加速前馈的多段PID控制策略的相关算法,通过以下两方面验证在缩短过片时间的情况下使定位精度达到50um。一方面研究了Turbo PMAC控制卡的内部S曲线算法和PID伺服整定,针对过片电机的位置控制策略进行分析,通过实验验证了过片电机对夹子的轨迹控制的可靠性;另一方面根据实际要求推导出图像和电机移动位置的关系,并根据此关系确认过片后支架的位置,以此验证过片电机控制效果。进一步对灯杯间距为7.62mm的20连体支架进行实验,每次移动6个灯杯间距(38.1mm),根据上述两方面的检测流程,在多段PID控制基础上,采用变速度/加速度前馈增益,分别针对两段、三段位移多次测试,通过读取光栅尺的数据和图像匹配对应的位置,最后定位精度控制在0.05mm内,时间控制在120ms内,相比单段位移时间缩短了1/3。最后,针对该实验方案,开发了软件系统,完成了样机测试,验证了方案的可行性。介绍了送料控制系统相关的软件控制模块,并在VS2010环境下编写相关软件,完成相关实验的测试,并为实际中应用提供参考。
[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.
【学位授予单位】：广东工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273;TN312.8

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