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[导读]分析总结了现有3C行业对焊锡的基本要求和检测的必要性 ,说明了检测隔离机的基本结构 , 分析了该机的功能要求 ,做了简略部件选型 ,设计了相应的电控图纸 , 并在装机调试过程中实现了对应的控制 目 的 , 同时说明该机可作为通用设备的基础 ,搭配不同的CCD和控制要求 , 实现不同的检测功能 。

0引言

3C消费电子产品中经常有线圈线头与焊盘的焊接工艺,此类焊接工艺较成熟,良率很高。不过此工序是产品质量的关键工序,一旦不良品流入到客户工厂,往往引起巨额索赔,因此制程中要求全检,检测此类不良的检测机成为此类产品生产的重要设备。笔者团队为此设计了一台检测隔离机,用于自动检测产品焊点,并自动隔离焊点有缺陷的产品载具。

1功能逻辑分析和零件选型

1.1 功能逻辑分析

本机的结构简图如图1所示,整机下方是支架电箱组件,大底板安装在支架上,所有的零部件均安装在大底板上。大底板上有来料线和空载具回流线两条流水线,来料线又由来料待存线和来料拍照线两部分组成。装满产品的载具沿来料线前行,空载具就沿空载具回流线返回。本机的流水线只是整条产线的一段制程。来料拍照线的上方是CCD三轴平台及其上的CCD组件,用于给载具上的不同产品拍照检测。来料拍照线的右方是隔离Z轴和隔离弹仓,用于隔离载有不良品的载具。三轴平台和隔离Z轴之间是隔离弹仓的隔离弹仓电机,当弹仓需要转动时,气缸推动隔离弹仓电机前行,通过齿轮啮合,带动当前层的隔离弹仓皮带转动,配合挡板组件的动作,接纳来自来料拍照线的载具。当有不良品时,将载具留在隔离弹仓皮带中间,隔离Z轴上升一格,用下一层空的隔离弹仓再次对准满料载具流水线。当来料全部为良品时,隔离弹仓持续运转,将载具送出本设备。当所有隔离弹仓都满料时,系统报警提示操作员来人工处理不良品。由于良品率很高,经制程工程师计算,6层弹仓即可满足一个班的生产需求。

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" alt="基于PLC的焊点检测隔离机的电控设计" />

根据上述结构和运行逻辑分析,本机所用的流水线无精确定位要求,可用普通调速电机。满料载具流水线需分等待段和拍照段两段控制,另有空载具回流线和隔离弹仓,共需4台调速电机和5个气缸挡板组件、1个隔离弹仓电机的推动气缸。隔离Z轴需要带动隔离弹仓精确对准满料载具前行线,CCD三轴平台需要定位拍照,因此需要4个精定位轴。综合算下来,合计需要控制4台调速电机、6个气缸和4台伺服电机。

1.2 零件选型

各处负载的具体计算过程不是本文所述重点,此处从略,只给出选型结果。流水线调速电机选用天力调速电机4IK10RGN—CT,配5GU10K减速机,流水线上的光电开关为沪工光电开关E3F—DS30C3。CCD三轴平台的Y轴是最底层的轴,负载最重,选用松下伺服电机MHMF042L1V2,对应的驱动器是MBDLT—25SE。X和Z轴电机型号为MSMF012L1V2,对应的驱动器为MADLT05SE。隔离Z轴同样选用松下MHM—F042L1V2伺服电机,合计4根轴。所有伺服电机均采用位置控制模式,驱动器和电机配线见说明书[1]第2章12、13页,驱动器X4接线在位置模式下的配线见说明书[1]第3章22页。

流水线的5个挡板气缸选用亚德客的TCM16×25S气缸,推动隔离弹仓电机的气缸选用SDA20 ×15SB,每个气缸均配2条DMSG—020磁性开关,另有流水线进出料感应、到位感应灯传感器,统计IO点如表1所示。根据这些要求,选用松下AFPXHC60TD的PLC控制单元和AFPX—IN8插卡[2]。人机界面选用威纶通的TK6072IP。

基于PLC的焊点检测隔离机的电控设计2电路设计

电路是整机逻辑控制的物理基础,是电控设计的另一主要内容,其主要包括一次线路、二次线路及控制器、继电器的接线图等。

2.1 一次线路图

根据要求,一次线路图如图2所示,电源为220 V交流电,通过负载开关、断路器、熔断器来控制下面的各个负载。24 V开关电源为控制器和各个传感器、气阀的电源,12 V开关电源为相机电源,另有4台伺服驱动器和CCD所用的工控机和显示器。

基于PLC的焊点检测隔离机的电控设计

2.2 二次线路图

二次线路为本机的控制电路,包括PLC及插卡、继电器模组和各个传感器等,由24 V开关电源供电,如图3所示。通风用的排风扇选用24 V风扇,也设计在本图中。继电器模组为JKM—16L1Y—24V,由PLC的Y8~Y19控制,用于控制各个气缸、调速电机、相机信号和三色灯。

基于PLC的焊点检测隔离机的电控设计

2.3 PLC线路图

松下AFPXHC60TD的PLC控制单元和AFPX—IN8插卡是本机控制的核心,接线图如图4和图5所示。X侧是输入侧,Y侧是输出侧,各信号对应的功能如表1所示,图中5D、RD和5G接威纶通触摸屏DB9接头的2、3和5,如图3所示。

基于PLC的焊点检测隔离机的电控设计基于PLC的焊点检测隔离机的电控设计AFPX—IN8插卡占用了100数据段,其8路输入信号地址为X100~X107。在本机中,AFPX—IN8插卡只接X100~X103,剩余X104~X107备用。控制单元Y侧的Y0~Y7控制4根轴的脉冲和方向,Y8~Y19控制气缸、调速电机、相机和三色灯等,剩余Y1A~Y1D备用。

2.4继电器模组接线图

本机PLC控制单元输出侧的Y8~Y19通过继电器模组来实现对气缸、调速电机、相机和三色灯等的控制,继电器模组起到隔离作用,接线如图6所示。

基于PLC的焊点检测隔离机的电控设计控制单元PLC及人机界面的程序设计、AI相机的选型和焊点照片学习是本机另一重要内容,后续另文介绍。

3结束语

本文分析了检测隔离机的功能逻辑,并对所需各部分配件进行了选型,统计了IO点,并设计了所需的电路图。目前,此机已经进入调试阶段,本文设计的电控部分也已组装完毕,已经能稳定实现控制 目的。另从设计中可以看出,本机可作为通用检测隔离设备的基础,搭配不同的CCD和控制要求,就可以检测其他缺陷,如外观不良、胶水不良、装配不良等。

[参考文献]

[1]松下株式会社电机事业部.使用说明书(综合篇)AC伺服电机.驱动器MINASA6系列[Z],2015.

[2]松下电气机电(中国)有限公司.可编程控制器FP—XH系列用户手册基本篇[Z],2014.

《机电信息》2025年第20期第16篇

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