| As the core technology of the IOT (Internet of Things), RFID (Radio frequency identification) is considered as the most promising information technology, with broad marketing and application prospects. Due to the demand for low-cost RFID tags, the RFID tags packaging equipment is being promoted towards higher efficiency and better reliability. The high-efficient high-precision motion control of the gantry XY platform is mainly discussed in this thesis, as a result of its important role that plays in the whole packaging equipment.Firstly, this thesis begins with the pick and place module, the core unit in the RFID tags packaging equipment, and the process of the flip chip is introduced. According to its high-efficient and high-precision requirements, the Parker ACR9000 controller is chosen as the motion controller on the basis of analysing the requirements of the module motion control system. Besides, the full close loop position control through the feedback of the optical scale is designed for the gantry XY platform, ensuring the location precision.Point to Point control is the main function of the motion control system. The gantry XY platform's speed directly decides the efficient of the pick and place module and even the whole packaging equipment, making the gantry trajectory planning very important. A trajectory switch method is proposed in the thesis, attributing the gantry movement to the short distance and the long distance point-to-point position, then choosing different trajectory curves according to different kinds of distance. Finally, experiments are performed on the gantry XY platform to test this method. The result shows that the movement time is decreased and the equipment efficiency is improved , with slight residual vibration and small following errors.The motion control system and the trajectory planning method designed in this thesis have been applied in the HZTAL-N3000 RFID tags Inlay production line, gaining a good result. |
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