The newly developed multifunctional planetary joint is equipped with 8 suction nozzles, which not only has the function of mounting chips of various sizes from (0603) to 50x 100, but also can achieve high-speed mounting efficiency, and the mounting accuracy can reach 40μ and 3σ. 1 The machine can be combined to install two kinds of planetary patch connectors, which can be used to mount various electronic components, from tiny to irregular electronic components. The component supply box at the back of the machine can be installed in combination with 15x2 large box+17 box (converted from 8mm box).
2.2. 1 Basic functions:
In the mechanism of Sony mounter, the mounting head is a very important part; Its main function is to use the principle of vacuum adsorption to suck box-shaped or bulk components on the switchboard to the suction nozzle; Then, the center offset and angle of the components on the suction nozzle are identified by the part camera on the mounting head, and corrected by XY axis and RN axis; Finally, the mounting head pushes the suction nozzle valve on the electromagnetic joystick.
Motion control analysis
XY motion control analysis
Function: realize the plane motion of the suction nozzle.
H-axis motion control analysis
Realize the vertical movement of the suction nozzle.
The measured height of the suction nozzle is14 ~ 30 ~1mm, and its actual value comes from the value δ measured by the thickness camera on the patch. Assuming that14 ~ 3 is the measurement reference value, the calculation formula is as follows:
h = 14.3+δ
Analysis of (1)RT motion control
Function: realize the rotary motion of 12 suction nozzle and carry out transposition operation.
The transposition angle of the suction nozzle is 30 degrees, and the cumulative transposition angle of each suction nozzle is: ψ 1, 9682, ψ12. ψ1= 30 degrees in the current state.
(2) Analysis 2)RN motion control
Realize the self-rotation movement of the suction nozzle, thus correcting the deflection angle. The rotation angle γ of the suction nozzle comes from the recognition amount λ of the part deviation angle by the part camera.
(3) Analysis of vacuum motion control
Function: realize the suction and blowing action of the suction nozzle.
Composition: the composition of VAC is shown in the suction and blowing diagram. Z-axis system is mainly composed of software, electronics and machinery.
2.3 Sony mounter control panel
2.3. 1 Sony mounter has the following control interfaces:
1, man-machine interface
2. Input/output unit module
3. Servo motor control module
4. Image processing module
2.3.2 Board card of each interface
1. The man-machine interface includes: W-CPU card, RAS card, ATX power card, 4CSiO card and DR2/DW2 card.
2.I/O unit module: SDIOM card, EMG I/L (emergency I/L) card, EL card, CC (conveyor control) card, LC(Led control) card, DR (digital reading) (input card) and DW (digital writing) (output card).
3. Servo motor control module: SY-MC board, SY-EX board and SY-IF board.
4. Image processing module: substrate camera, part camera, thickness camera and fixed camera.
2.3.3 Introduction of Sony mounter board
Introduction of 1 DR board (data reading board)
DR board function
The DR board is responsible for most sensors, processed image data and pressure of the machine.
Acquisition and transmission of input signal of button switch.
The input signal is: 1). Emergency stop alarm signal.
2). Sensor sensing signal
3). Transmission system switch signal.
4). Signals collected by the system
Schematic diagram of DR function
When the sensor senses the signal input or the switch is pressed, the signal input is triggered by the photoelectric coupler. It is transmitted to the jitter eliminator MC 14490, and the flat waveform is output to the latch for temporary storage (stable output) through the jitter eliminator. Then which channel can communicate with the core chip, the decoder HC 139 will output a chip selection control signal to determine which channel to transmit data to the core chip, and then output it serially after processing. Introduction of 2 DW board (data writing board)
Function: DW unit is mainly responsible for processing various digital output signals. It receives data in the following ways
The host computer processes and outputs the digital signal to control the action of the solenoid valve.
Press the key to switch the light on and off and the display state of the counter.
Output signal is: 1). Transmission system solenoid valve control signal.
2). Send motor control signal.
3). Schematic diagram of camera light source measurement control signal function
2-3 DW function diagram
3 LC card introduces Led control board.
LC board function
Liquid crystal panel: LED control panel
The function of LC board is to control the brightness of LED for camera illumination. It is mainly composed of communication control module and lighting control module.
Overall frame diagram:
4 CC card introduces conveyor control panel
Cc board function
Cc board: conveyor control board
The role of CC board is to control the forward and reverse rotation of motor, and it works with LC board and EMG board.
Communication. The module is divided into three parts: front-end signal processing and optocoupler front-end.
Control, optical coupling control
CC board connection diagram:
2-5 CC board connection diagram
5 EL card introduces EMG I/L board
EL board function
EL card: EMG input/output board
The function of EL card: it is a control card responsible for the input and processing of alarm signals.
It is the core part of machine fault handling.
Emergency stop and alarm signals received by EL board mainly include:
(1). Various emergency stop button signals in the man-machine unit;
(2) Emergency stop signals of machines before and after the production line.
(3) watchdog signal of servo board SY-EX
(4) Servo alarm signal of servo board SY-IF
(5) alarm signals DV-EMG 1 and dv-emg2 in the drive unit;
(6) transmit the alarm signal of the conveyor control panel (that is, the alarm signal of six drivers in series).
2.4 stepper motor and AC servo motor
2.4. 1 stepper motor
2.4. 1 stepper motor
Type characteristics
direct-current motor
AC motors have better power output.
servomotor
The control precision of stepping motor is high.
Driving principle of stepping motor;
The driving principle of stepping motor is similar to that of DC and AC motor, but the driving voltage signals used by DC motor and AC motor are continuous DC and AC signals, while stepping motor is discontinuous pulse signal.
The control of stepping motor is based on position control, the movement speed is determined by the rate of change of position, and the acceleration is determined by the rate of change of speed.
1. application of stepping motor;
(1). Positioning control of small motors, such as printers and scanners.
(2) Because of poor energy efficiency, it is not suitable for the control of high-power motors.
(3) In the mounter, the stepping motor is used for the horizontal transfer (SR/SL) of the tray feeding mechanism, the track adjustment (AD) of the printing plate feeding mechanism and the quick discharge (CE) of the printing plate feeding mechanism.
2. The advantages of stepping motor include:
(1). The position control adopts open loop, and no feedback from photoelectric disk is needed. The control method is simple.
(2) The static moment is large, and the position is very stable after arrival.
3. The disadvantages of stepping motor include:
(1). The acceleration and deceleration control must be carried out carefully, otherwise once out of step, it will cause irreparable positioning deviation.
(2) Using high-voltage power supply (24V) to drive low-voltage motor has poor energy efficiency.
(3) Even if the motor is stationary, it needs to provide power, resulting in energy waste.
Ac servo motor
servomotor
Servo motor is an important part of servo system and the executive component of speed and trajectory control.
Commonly used servo motor:
DC servo motor (good regulation performance)
AC servo motor (widely used motor)
Stepping motor (suitable for light load with little load change)
Basic requirements of servo motor
(1) Wide conveying range, good stability and stable speed at low speed.
(2) The motor should have a large long-term overload capacity to meet the requirements of low speed and large torque.
(3) The reaction speed is fast, and the motor must have small moment of inertia, large torque, as small as possible electromechanical time constant and large acceleration.
(4) Can withstand frequent starting, braking and forward and reverse rotation.
Working principle of AC synchronous servo motor
1. The rotor is a permanent magnet.
2. The stator is a three-phase coil.
3. By controlling the three-phase currents respectively, the stator magnetic field perpendicular to the rotor magnetic field can be established.
4. When the rotor magnetic field and the stator magnetic field are perpendicular to each other, the rotating torque of the motor is established.
Summary of AC synchronous motor
The control of AC motor is based on torque control, which controls the acceleration and deceleration of movement, determines the speed of movement through the rate of change of acceleration and deceleration, and determines the position through the rate of change of speed.
Advantages: 1 The electro-optical disk can control the speed and position with high precision after feedback.
2. Steady-state current is not needed when stopping, and the energy efficiency is better.
3. Brushless mechanism, no wear problem.
Disadvantages: Because the control circuit is complex, the circuit manufacturing cost is high.
Application:
1. Precise positioning and constant speed control.
2. Due to the rapid development of electronic circuits, the application market of various DC motors has been gradually replaced by AC motors.