Research On The Compact Pick-and-Place Machine System

For the real need of low cost pick-and-place machine of middle and small enterprises and individual users, the compact pick-and-place machine is designed. Under the premise of satisfying its basic functions, the precision and speed of the machine are enhanced. The following works are mainly completed:1) An extensible concept of “6 + 1” mode of the compact pick-and-place machine is proposed. The design of three dimensional mechanical virtual prototype is completed based on the case of the “2 + 1” mode compact machine,which equips with two mounting head and one dragging head. Four basic axis, X axis, Y axis, Z axis and W axis, of the machine are all driven by stepper motor.2) Considering the shortage of open-loop control of the traditional stepper motor and problems of the controller, such as high cost, large volume and poor use and maintenance, which caused by separating drive and control, the low cost motion controller of the pick-and-place machine is designed,which characterized by independent intellectual property rights. Based on the architecture of the heterogeneous multi-core programmable automation controller(PAC) with completely independent properties, the internal modules’ functions of PAC are defined. And all modules communicate with each other by the custom data bus. The motion control module of the pick-and-place machine is implemented, which integrates with stepper motor driving and motion control. And the module with two application situations, including independent and combination mode, succeeds in realizing closed-loop control of stepper motors. The subdividing function of the motion controller can improve the mounting precision and stability of the machine.3) The basic instruction system, based on the motion control system’s software functions of the pick-and-place machine and the dedicated motion control instructions of stepper motor, is compiled for supporting the G-code. And then the underlying control program of the embedded software system and the PC testing software is developed, which achieves real-time surveillance of the component placement process.The basic hardware and software’s functions of the motion control system of the compact pick-and-place machine are proved by the board and equipment test.