桁架式自动插装机器人控制系统设计  

Design of Control System for Truss Type Automatic Inserting and Assembling Robot

作　　者：吴昊天 戚展豪 赵明 芦金石[1] 陶学恒[1] WU Haotian;QI Zhanhao;ZHAO Ming;LU Jinshi;TAO Xueheng(School of Mechanical Engineering and Automation,Dalian Polytechnic University,Dalian 116034,China)

机构地区：[1]大连工业大学机械工程与自动化学院,大连116034

出　　处：《组合机床与自动化加工技术》2024年第2期85-88,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：辽宁省教育厅2021年度科学研究经费项目(LJKZ0524);大连市科技创新基金项目(2022JJ12GX018)。

摘　　要：为了解决人工插装电子元件存在的效率及合格率低等问题,面向中小型3C企业的低成本桁架式线路板插装机器的控制系统开发,以电容插装为例,完成系统的上料、拾取、检测和插件等控制过程的设计,利用数据库完成插装关键信息的存储。系统采用通讯方式完成桁架式机器人的运动控制,具有控制灵活、成本低的优点;利用光电检测技术完成电容引脚距离检测、利用扭矩检测完成电容插入状态的判断,具有时间短、效率高的优点。系统经过实验测试,各项指标均满足设计要求。In order to solve the problems of manual insertion of electronic components such as low efficiency and qualification rate,this paper completes the development of control system of low-cost truss type circuit board insertion machine for small and medium-sized 3C enterprises,taking capacitor insertion as an example,completes the design of control process of loading,picking,detecting and insertion of the system,and uses database to complete the storage of key information of insertion.The system uses communication to complete the motion control of the truss robot,which has the advantages of flexible control and low cost;it uses photoelectric detection technology to complete the detection of capacitor pin distance and torque detection to complete the judgment of capacitor insertion status,which has the advantages of short time and high efficiency.The system has been tested experimentally and all the indexes meet the design requirements.

关 键 词：电容插装 桁架式 通讯控制 光电检测 扭矩检测 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]