Design And Research Of Insulation Sheet Loading And Assembly Control System

With the continuous advancement of society,the market is increasingly demanding various types of electronic products,and PCB boards are one of the most important electronic components in electronic products,and their demand is also growing rapidly.In the PCB board assembly process,the insulation sheet loading and PCB board and insulation sheet assembly are involved.In order to solve the problem of low productivity of manual loading and assembly,automatic loading and automatic assembly are generally adopted.The insulating sheet has the characteristics of small volume and irregular shape,and position and angle deviation occur when the insulating sheet is sucked.The shape of the PCB board is regular and the positioning accuracy is high.It is necessary to adopt a suitable method to ensure accurate assembly of the insulating sheet onto the PCB.By taking photos,image processing and coordinate conversion of the insulating sheet sucked by the robot,the current value of the position and angle of the insulating sheet is obtained,and the current value is compared with the standard template value to obtain the position and angular deviation value of the insulating sheet,and the camera takes a picture on the PCB board.It is able to judge whether the PCB board is in place to ensure that the insulating sheet can be accurately assembled to the PCB.In order to realize the conversion of the insulating sheet into the robot world coordinate system,this paper selects the nine-point calibration method,and introduces the nine-point calibration process of the insulating sheet fixed camera.In order to meet the time requirements of the assembly of the insulation sheet,it is necessary to plan the trajectory of the manipulator.This paper first teaches the position of the robot,the position of the photographing position,and the position of the photographing position.The least square method is used to obtain the fitting curve,and the simulation software is used to fit.The curve motion obtains the simulation of the motion trajectory.The simulation results show that the planned trajectory meets the requirements of the robot movement time.According to the planned trajectory,the robot movement time is tested,and the time required for the robot to move according to the planned trajectory can also meet the requirements.The hardware design of the control system was completed according to the insulation sheet loading and the control requirements of the assembly machine.It mainly includes control system communication network design,selection of hardware such as controller,touch screen and servo driver,design of electrical schematic of control system,and detailed introduction of 220 V incoming main circuit,servo power supply circuit and I/O module part input signal.And X1 axis servo drive.On the basis of introducing the manipulator's action flow,the manipulator control program is designed,and the robot initialization program and automatic work program are introduced in detail.According to the process requirements of the insulation sheet loading and assembly process,the PLC control program is designed,and the basis of the control program structure is introduced.The PLC feeding process program and some assembly action programs are introduced in detail.Through the analysis of the functional requirements of the human-machine interface,the touch screen interface is designed,and the functions realized by the main human-machine interface are introduced in detail.Through on-site debugging,the machine is guaranteed to operate normally,and the insulation sheet loading and assembly control system is finally completed and developed.