Suzhou Lingchen Acquisition Computer Co.Ltd

Suzhou Lingchen Acquisition Computer Co.Ltd We are manufacturer of industrial automation components. The main products include remote I/O modules, HMI, PLCs, industrial PCs, and more.

Lingchen Technology provides you with the most professional automation solutions. Please contact us if needed.

In the packaging industry, airplane box folding and forming is a critical step in post-packaging operations, widely used...
15/08/2026

In the packaging industry, airplane box folding and forming is a critical step in post-packaging operations, widely used in food, pharmaceutical, cosmetic, and 3C electronics packaging scenarios. Traditional folding solutions often use PTP (point-to-point) control, where bending actions start and stop abruptly, causing high impact, uneven creases, and low success rates. Additionally, switching between different box types requires reprogramming and debugging, which is time-consuming and demands high technical expertise, severely impacting production efficiency and market responsiveness.

The customer's original folding process used PTP control, with high impact and lengthy changeover times. The customer clearly requested an upgrade from PTP to a cam-based solution to increase production capacity while enabling workers to easily adjust parameters for different box types and achieve rapid production.

Lingchen Technology, with over 20 years of industrial automation expertise, has successfully delivered a complete solution for airplane box folding machines, centered on the Lingchen PLC + electronic cam, helping customers achieve breakthroughs in both efficiency and quality.

🌟Airplane Box Folding Process Flow
The airplane box (also known as courier box or postal box) gets its name from its shape resembling an airplane when unfolded. It is one of the most widely used box types in the packaging industry. The equipment is mainly used for folding and forming airplane boxes, consisting of two major parts: the loading section and the folding section.

①Loading Section
The paper box loading system uses a continuous feeding cycle process, divided into three workstations:
· Pick-up station: Suck paperboard from the magazine
· Shaking station: Separate stuck paperboards through shaking action; the system supports custom settings for shake cycle count via HMI to adapt to different paperboard hardness and adhesion levels
· Placement station: Place paperboard onto the folding station

Action logic interlock: After the single-box placement process is complete, the X-axis transfer mechanism must return to the pick-up origin before the system allows the folding process to start, ensuring interlocking between stations and eliminating interference risks.

Parallel front/rear processes: While the folding station performs folding actions, the front-end loading suction mechanism simultaneously completes the pre-grasping of the next paperboard and stands by. Once the current box folding is complete, the pre-grasped paperboard is immediately transferred to the folding station, achieving parallel processing without waiting and significantly improving overall continuous production efficiency.

②Folding & Forming Section
The airplane box folding process consists of multiple precise steps, performed in the following sequence:

· Small flap pre-folding: Front and rear small flaps are folded along preset crease lines to form a 90° vertical state with the front/rear main folds, completing small flap pre-positioning.
· Front/rear fold wrapping: Front and rear main folds are bent inward 90°, simultaneously enclosing the pre-folded small flaps inside the box body.
· Left/right folds and ears synchronous pre-folding: Left and right main folds are bent inward 90°, simultaneously driving the side ears to pre-fold to the preset angle.
· Ear locking bottom engagement: Both side ears are fully pressed and bent inward, engaging the ear snap structure with the corresponding slots on the box bottom, completing bottom locking and forming.
The entire folding process involves multiple actuators including left/right small flap shafts, front/rear fold shafts, left/right fold shafts, left/right pressing shafts, and left/right locking shafts. Each axis must coordinate according to specific timing and phase relationships, placing extremely high demands on the control system's synchronization accuracy and trajectory smoothness.

🌟Lingchen Technology Solution
Hardware Configuration
This solution uses the Lingchen PLC as the core controller, managing the folding servo and encoder via EtherCAT bus, while remaining compatible with the machine's existing peripherals. Lingchen GWS series cabinet IO modules offer high stability and convenient network cabling, suitable for distributed industrial control scenarios, significantly saving system integration time and cost. The Lingchen HMI enables parameter setting, cam curve monitoring, recipe management, and alarm display.

· Virtual Master Axis + Electronic Cam Synchronization
A virtual master axis is built inside the PLC, serving only as a motion reference for the folding mechanism without modifying other machine structures. An exclusive electronic cam curve is programmed according to the folding process, with bending and pressing axes following the virtual axis phase synchronously. With smooth motion algorithms, the entire acceleration/deceleration process is seamless, completely eliminating rigid impact.

· Zoned Motion Control
The controller only enables virtual axis, electronic cam, and multi-axis synchronization functions for the folding unit, while other mechanisms retain their original control logic. New and old programs coexist, reducing upgrade costs and risks. The EtherCAT bus architecture achieves zoned management, collaborative efficiency, and high-speed command/data interaction.

· Multi-Recipe Cam Curve Application
Multiple cam curves for different box types are pre-programmed and saved as recipes. Operators can switch with one touch via the touchscreen without reprogramming. Trajectory buffering optimizes key positions for direction changes and end bending, preventing speed spikes that could damage the box. The fixed preset cam trajectory ensures consistent forming standards across every batch.

· Closed-Loop Position Feedback Logic
Encoders collect actual folding axis positions in real time and compare them with the electronic cam theoretical positions, ensuring the axes follow the preset trajectory precisely. Long-term position stability and consistent folding accuracy are maintained.

The airplane box folding machine is a critical piece of post-packaging automation equipment in the packaging industry. Its control precision and operational efficiency directly determine packaging quality and production capacity. Traditional PTP control starts and stops abruptly, causing high impact, low precision, and difficult changeovers. Lingchen Technology, with the Lingchen PLC at its core, has successfully upgraded the airplane box folding process from PTP mode to electronic cam control through innovations such as virtual master axis + electronic cam synchronization, EtherCAT high-speed bus, one-touch recipe switching, and closed-loop position feedback. This comprehensively solves quality issues, eliminates action waiting time, enables one-touch changeover, and significantly improves machine uptime and production flexibility.

This solution's multi-dimensional value—quality leap, capacity breakthrough, cost optimization, and maintenance simplification—has been fully validated at customer sites. In the future, Lingchen Technology will continue to deepen its presence in industrial automation, focusing on packaging, 3C, semiconductor, new energy, and other industries, providing more comprehensive PLC products and motion control solutions to empower China's intelligent manufacturing transformation and upgrade, contributing to the high-quality development of China's manufacturing industry.

07/08/2026

Video Product Showcase of Invisible Cutting Equipment for Semiconductor Wafers. 👀
· Speed: 1.5 m/s,acceleration: 3 g,straightness: 1 μm,flatness: 0.5 μm
· flatness repeatability: ±0.1 μm,positioning accuracy: 1 μm,repeatability: 0.5 μm
Suitable for high-end applications such as wafer dicing, advanced packaging, and precision optical device manufacturing.

30/07/2026

Higher efficiency and faster mold change speeds, upgrading traditional PTP-controlled carton folding machines.View solutions from Lingchen.
DM us for a free quote. Let's speed up your production.
👉 For more information, please visit our official website below.
https://www.lctautomation.com/

As the automotive industry accelerates its transition toward electrification, intelligent systems, and lightweight desig...
28/07/2026

As the automotive industry accelerates its transition toward electrification, intelligent systems, and lightweight design, the bonding, sealing, and fastening processes for components are facing unprecedented challenges in terms of precision and reliability. As high-precision automated fluid control equipment, dispensing systems play a critical role in applications such as sensor encapsulation, controller protection, and speaker mounting by precisely applying fluid materials such as adhesives, greases, and sealants. The precision and stability of motion modules directly determine the accuracy of the dispensing path and the consistency of adhesive volume.

With their high-rigidity structure, micron-level repeatability, and high dynamic response characteristics, TOKK linear modules provide a reliable motion core for automotive component dispensing equipment, helping the industry achieve a process upgrade from “precise dispensing” to “quality assurance.”

🌟Adhesive Dispensing for Automotive Parts
The automotive electronics and parts manufacturing industries impose extremely stringent requirements on dispensing processes. Electronic devices such as sensors and controllers must be encapsulated with precise adhesive volume control and positioning to protect internal circuits and components from vibration, moisture, and temperature fluctuations. Processes such as speaker mounting and sealing in automotive audio systems also rely on high-precision dispensing operations.

Unlike traditional industrial dispensing, automotive component dispensing faces three core challenges:

· High precision requirements: The dispensing positions for precision components such as sensors and ECUs must be accurate to the micrometer level; deviations in adhesive volume can lead to seal failure or electrical malfunctions.
· Strict reliability requirements: Automotive components are constantly exposed to harsh operating conditions such as high temperatures, high pressure, and vibration; the bond strength and durability of the dispensed adhesive directly affect vehicle safety.
· Balancing Efficiency and Flexibility: With a vast array of automotive component models, dispensing equipment must support rapid changeovers and adaptability to multiple product varieties.

To address these challenges, modern automotive dispensing equipment is generally equipped with CCD vision positioning systems. Using high-definition cameras and image processing algorithms, these systems precisely identify product positions, enabling accurate dispensing on complex shapes or tiny components and effectively eliminating human error. The linear modules that carry the dispensing head and execute precise trajectory movements serve as the “cornerstone of precision” for the entire system.

🌟TOKK Linear Modules
TOKK linear modules feature an integrated design combining high-precision ball screws and linear guides, and are widely used in the 3C, lithium-ion battery, and photovoltaic industries for applications such as dispensing, material handling, and inspection. Designed to meet the demanding operating conditions of automotive parts dispensing equipment, TOKK modules offer the following core advantages:

1. High-rigidity structure to withstand dispensing reaction forces

During the dispensing process, reaction forces generated when the dispensing head contacts the workpiece or during jet dispensing can cause trajectory deviation. TOKK linear modules employ a high-rigidity structural design that effectively counteracts these reaction forces, ensuring trajectory accuracy. Whether in contact dispensing or non-contact jet dispensing, the modules maintain smooth motion, preventing adhesive path deviation or overflow caused by vibration.

2. Micrometer-level repeatability ensures dispensing consistency

TOKK linear modules achieve micrometer-level repeatability, ensuring that the dispensing head precisely reaches the predetermined coordinates with every movement. In applications requiring repeated dispensing—such as sensor packaging and controller protection—this feature guarantees the consistency and reliability of every product, significantly reducing the risk of failures caused by poor dispensing.

3. High Dynamic Response, Suitable for Complex Dispensing Trajectories

Automotive components come in a variety of shapes, and dispensing paths often involve complex trajectories such as curves and inclined surfaces. TOKK linear modules feature high acceleration and rapid start-stop response capabilities. Combined with real-time positioning and deviation compensation from CCD vision systems, they enable precise dispensing on complex workpiece surfaces. The modules’ multi-axis combination capability also allows for flexible integration into three-axis, four-axis, or even five-axis dispensing systems.

4. Long Service Life and Maintenance-Free Operation, Suitable for Continuous Production

Automotive parts production typically involves high-volume, continuous operations, and equipment downtime results in significant losses in production capacity. TOKK linear modules utilize high-quality lead screws and dust-proof designs, offering excellent wear resistance and precision retention, as well as extended maintenance intervals. This effectively reduces the frequency of equipment maintenance and ensures long-term, stable operation of the production line.

🌟Application Value
Automotive parts dispensing equipment equipped with TOKK linear modules has delivered significant benefits in actual production:

· Improved dispensing accuracy: Micrometer-level repeatability, combined with CCD vision positioning, ensures precise and error-free dispensing locations and accurate adhesive volume control, effectively preventing issues such as adhesive overflow and leakage.
· Enhanced Product Reliability: Precise sealing and bonding effectively protect electronic components such as sensors and controllers, improving the durability of automotive parts under harsh conditions such as high temperatures and vibration.
· Improved Production Efficiency: High dynamic response and rapid start-stop capabilities shorten the dispensing cycle per part, significantly improving the equipment’s overall efficiency.
· Quick Changeover and Adaptability: The modular design supports rapid changeovers, flexibly adapting to the dispensing needs of components of different specifications and reducing production line changeover time.

This solution has been widely adopted in automotive component dispensing applications such as sensor encapsulation, controller protection, speaker mounting, and sealant application, helping customers achieve a smooth transition from traditional manual methods or low-precision equipment to high-precision automated dispensing.

🌟Summary
From the precision encapsulation of a single sensor to the reliable sealing of a control unit, every dispensing operation on automotive components affects the safety and performance of the entire vehicle. With its high-rigidity structure, micron-level repeatability, and high dynamic response as its core strengths, the TOKK linear module provides a stable and reliable motion solution for automotive component dispensing equipment. In the future, TOKK will continue to deepen its expertise in the field of precision motion control, helping the automotive manufacturing industry advance toward higher quality and greater efficiency.

In the PCB manufacturing industry, every technological innovation propels the electronics industry towards higher densit...
24/07/2026

In the PCB manufacturing industry, every technological innovation propels the electronics industry towards higher densities and finer linewidths. LDI (Laser Direct Imaging) technology completely eliminates the need for traditional film masks, using high-energy ultraviolet lasers to directly pattern and expose the substrate surface, achieving a leap from "mold-based manufacturing" to "moldless direct writing." This technology, like an ultra-precise industrial projector, directly converts PCB design data (such as Ge**er files) into laser beams, which are then rapidly scanned and exposed on a photoresist-coated substrate, constructing a circuit "latent image" and significantly improving the precision and flexibility of circuit fabrication.

However, the imaging quality and production efficiency of LDI equipment are highly dependent on the precision, speed, and stability of the motion control system. TOKK's core motion platform for LDI exposure machines, with its innovative dual-table mechanical structure, multi-axis synchronous motion control technology, and micron-level positioning accuracy, redefines industry imaging standards.

🌟LDI technology
Traditional exposure processes rely on film masks, which are cumbersome, costly, and have limited precision. LDI (Limited-Distribution) technology, through a four-step process of "precise data input → high-energy laser generation → spatial optical path modulation → precision scanning exposure," directly transforms digital designs into circuit patterns. Its core advantages are:

Breakthrough in Precision: It eliminates physical limitations such as film expansion and contraction and alignment deviations, meeting the fine-line requirements of high-density interconnect (HDI) boards.

Flexible Manufacturing: No physical mask is required, allowing for rapid switching between different product models and adapting to multi-variety, small-batch production.

Improved Yield: Direct digital writing avoids pattern distortion and pad misalignment issues inherent in traditional processes.

🌟TOKK LDI Exposure Platform
TOKK's core motion platform for LDI exposure machines features an innovative mechanical structure design and integrates ultra-high precision multi-axis synchronous motion control technology, enabling a dual-table alternating operation mode.

1. Dual-Table Asynchronous Independent Control: The Core Design for Doubling Capacity

The platform employs a Y1 and Y2 dual-exposed-table design, allowing for alternating operation of "one table for exposure, one table for loading and unloading." Both tables are equipped with independent linear motor drive systems, ensuring rapid movement without interference. This parallel operation mode completely eliminates the waiting time for loading and unloading in traditional single-table systems, achieving zero-gap process connections and increasing overall equipment efficiency (UPH) by 30%-50%.

2. Top-Tier Hardware Configuration and Hybrid Drive Solution

The platform is equipped with an ACS motion controller, integrating ACS linear motors with a Panasonic servo hybrid drive solution. The X/Y/K core axes use water-cooled linear motors to eliminate transmission errors and ensure high-speed, high-precision scanning; the Z-axis uses a dedicated servo screw structure to meet precision focusing requirements, and a power-off locking function ensures the safety of the equipment and workpiece. Linear motors offer high speed, high acceleration/deceleration, and low speed fluctuation performance, while ball screw servos enable low-speed precision lifting and lowering and power-off braking locking.

3. Industry-Leading Motion Accuracy

High precision is the lifeline for ensuring PCB circuit quality and yield. The TOKK motion platform achieves top-tier industry performance in positioning, repeatability, and feedback accuracy:

◇ Positioning Accuracy: The compensated overall positioning accuracy of the X/Y/K axes reaches ±2μm throughout the entire stroke, fundamentally eliminating system motion errors.

◇ Repeatability Accuracy: The repeatability positioning accuracy of the X/K axes reaches ±1μm, ensuring high consistency in pattern reproduction on every PCB in mass production.

◇ Feedback Resolution: Equipped with a 0.1μm ultra-high resolution grating ruler, providing the most accurate data support for real-time correction of the servo system.

4. High-Speed Response and High-Efficiency Cycle Time

The Y-axis (exposure stage) has a maximum operating speed of 1.5 m/s, achieving high-speed positioning with millisecond-level response.

The K-axis (camera axis) achieves an 800 mm movement in just 1.2 seconds, significantly compressing the image acquisition and alignment cycle.

5. PSO Hardware Synchronous Laser Trigger

In LDI high-speed scanning, laser trigger delays can cause image misalignment. The TOKK platform uses a dedicated DB9 differential synchronization line to directly connect the grating A/B/Z phase signals to the hardware trigger, bypassing software processing and achieving zero-delay signal transmission. This technology completely eliminates scanning misalignment caused by software delays, representing a key technological breakthrough in ensuring dynamic imaging quality and improving image consistency.

6. Hierarchical Safety Hardwiring and Cleanroom Adaptation

Critical safety signals such as emergency stop and grating failure utilize independent hardwiring design, completely independent of motion bus communication. In case of bus failure, the drive enable can be directly cut off, ensuring the safety of personnel and equipment. Meanwhile, the use of highly flexible shielded drag chain cables and a unified grounding design effectively suppresses static electricity and electromagnetic interference, perfectly meeting the requirements of a Class 100,000 clean environment.

🌟Application value
The LDI exposure machine equipped with the TOKK motion platform has achieved significant benefits in actual production:

Yield Guarantee: ±2μm positioning accuracy and ±1μm repeatability eliminate error accumulation at the source, ensuring precise exposure positioning, perfectly adapting to Fine Line and HDI boards, and significantly improving the final yield.

Capacity Breakthrough: Dual-table parallel operation enables simultaneous exposure and loading/unloading. Combined with a table speed of 1.5m/s, the overall equipment efficiency (UPH) is increased by 30%-50%.

Stability and Reliability: Graded safety hardwiring and cleanroom adaptation design ensure the safety and reliability of the equipment during long-term continuous operation.

🌟Summarize
From film to digital, LDI technology is redefining the boundaries of precision and efficiency in PCB manufacturing. TOKK, with its core technologies of dual-table asynchronous control, micron-level positioning accuracy, PSO hardware synchronous triggering, and hybrid drive solutions, provides a complete, efficient, and stable motion control solution for LDI exposure machines. In the future, TOKK will continue to deepen its expertise in precision motion control, helping PCB intelligent manufacturing reach even greater heights.

🌟About TOKK
TOKK Robotics (Suzhou) Co., Ltd. is controlled by Lingchen Group. Currently, Lingchen has two wholly-owned subsidiaries: Suzhou Xunya Automation Technology Co., Ltd. and TOKK Robotics (Suzhou) Co., Ltd., which are engaged in the sales of robots and the research, development, production and sales of linear transmission products, respectively.

17/07/2026

TOKK Ultra-Precision Electric Platform
– Precision Motion Solutions

TOKK's ultra-precision electric platforms include linear lifting, rotary angle measuring instruments, multi-axis integrated, and combined types, suitable for precision positioning in machining, assembly, handling, calibration, and testing.

In addition, superior performance, short lead times, rapid response local technical support, and cost-effective localized production are all our advantages.

Please see the video presentation below for more product details. 👇

On June 26, the "2026 China Industrial Control Industry Development White Paper Release & Industrial Control Industry Co...
14/07/2026

On June 26, the "2026 China Industrial Control Industry Development White Paper Release & Industrial Control Industry Conference", co-hosted by MIR Datalink, Motion Control Industry Alliance and Shenzhen Industrial Motion Control Industry Association, grandly kicked off at Suzhou Taihu Marriott Hotel. Centered on the core theme "From Automation to Intelligence & Autonomy", the event gathered elites from government, industry, academia, research and end-user sectors.

The authoritative 2026 China Industrial Control Industry Development White Paper was officially released, comprehensively sorting out the development status of the entire industrial control industrial chain and delivering in-depth professional research on key hot topics including domestic substitution, IT-OT integration and AI-enabled industrial control.

As a backbone domestic industrial control enterprise with over 20 years of experience in industrial automation, Lingchen Technology took an in-depth part in this grand event. It exchanged insights on industrial frontiers with industry peers and demonstrated its full-chain technical capabilities.

The landmark 2026 China Industrial Control Industry Development White Paper unveiled at the conference covers all core segments of the industrial control industry chain. Lingchen Technology was invited as a co-compiling enterprise to jointly deliver this vital industrial research report with dozens of renowned industry players.

During the compilation process, Lingchen Technology shared its independent R&D experience of core technologies focusing on domestic substitution, motion control technology evolution, PC-Based control architecture and software-defined automation. The contributions included R&D practices of core products such as NAC independent motion controllers, LCTASK motion control frameworks, PLCs and remote I/O modules, as well as real-world implementation cases and systematic solutions across 3C, semiconductor, new energy, printing & packaging and other industries. It provided first-hand empirical cases for the industry, enabling the white paper to combine theoretical depth with practical guiding value.

At the "Industrial Control Industry Annual Awards (Golden Control Awards)" ceremony held alongside the conference, Lingchen Technology claimed two top honors for its outstanding technological innovation and market performance.

Lingchen Technology was awarded the "2026 Annual Benchmark Enterprise in Industrial Control", a recognition of its comprehensive corporate strength. For over two decades in industrial automation, Lingchen has adhered to independent innovation and built a complete product matrix covering industrial PCs, motion control cards, PLCs, I/O modules and industrial software. From NAC independent motion controllers and LCTASK motion control frameworks to remote I/O and PLC controllers, Lingchen has continuously fueled the development of the industrial control industry with full-stack self-developed capabilities.

Meanwhile, Lingchen Technology’s NAC independent motion controller earned the "2026 Annual High-Precision Motion Control Innovative Product Award" thanks to its superior product performance and technological breakthroughs. Boasting remarkable strengths in high-speed & high-precision motion control, multi-axis coordination and user-friendliness, this product is widely deployed in high-end manufacturing scenarios including 3C electronics, semiconductor equipment and lithium battery machinery, fully reflecting Lingchen’s profound technical accumulation and innovative prowess in the motion control sector.

At the Precision Motion Control Sub-forum of the conference, Dai Xingyu, Director of Industrial Product Development at Lingchen Technology, delivered a keynote speech titled Control as the Brain, Transmission as the Vein: Lingchen Full-Stack Solutions Empower High-End Manufacturing Upgrade. The speech elaborated on how Lingchen leverages its full-stack independent R&D capacity spanning industrial PCs, motion control cards, marble platforms, linear motors, motion modules and industrial control software to build a complete technical closed-loop covering the control layer down to the ex*****on layer. It shared verified application cases in high-end manufacturing sectors such as 3C, semiconductors and new energy, as well as the company’s forward-looking technical layout targeting AI and industrial autonomy trends.

Concurrently, Lingchen showcased its core products and industrial solutions at the conference venue, including industrial PCs, motion control cards, remote I/O modules, PLCs, NAC independent motion controllers and the LCTASK motion control framework. The technical team held in-depth exchanges with visiting clients and partners around practical demands in high-end manufacturing, further expanding ecological cooperation channels.

11/07/2026

Demonstration and Packaging of an 8.6G LCD Panel Inspection Platform with Long‑Stroke Micron‑Level Positioning 👇


For more information about the company, please visit the official website link below.
https://www.lctautomation.com/

In automated production lines in industries such as electronics, pharmaceuticals, and precision components, the demand f...
10/07/2026

In automated production lines in industries such as electronics, pharmaceuticals, and precision components, the demand for flexibility and high precision in the feeding process is increasingly prominent. Traditional feeding equipment is bulky and slow to respond, making it difficult to adapt to narrow production line spaces and high-tempo production requirements.

Lingchen Technology has launched a flexible feeding solution for Spider Hand (Delta Robot) with Lingchen compact PLC as the core controller. The robotic arm features a compact structure and small size, allowing it to be integrated into narrow production line spaces. With extremely fast motion response, it can accurately grasp tiny workpieces and is suitable for high-precision assembly scenarios, helping enterprises achieve efficient, stable, and flexible automated feeding.

🌟Customer needs and core technological challenges

1.Core customer needs

·Production efficiency: The takt time for the next process in the customer's specified path is required to reach 1 second per piece
·Movement speed: The uniform speed at the end must reach 2 m/s to ensure the feeding cycle time
·Positioning accuracy: The repeatability of positioning accuracy should reach ±0.03mm, meeting the requirements of high-precision assembly
·Space adaptability: Compact structure, capable of being integrated into narrow production line spaces
·Smooth operation: smooth speed, optimized instructions, avoiding shock and vibration

2.Technical implementation difficulties

Spider-like mobile robots must maintain high-precision positioning while moving at high speeds, posing extreme demands on the control system in terms of trajectory planning, speed smoothing, and hardware accuracy. At the same time, they need to work in coordination with peripheral devices such as vision systems, flexible vibration plates, and material bins to ensure seamless material feeding processes.

🌟Robot mechanical structure and kinematic model

Mechanical structure analysis

The Delta robot consists of three fixed links, three sets of movable links, and a worktable. All movements of the movable links are rotational movements.

·Core parameters of mechanical structure:

· Fixed connecting rod: The length from the base to the connection point of each movable connecting rod is equal and fixed, allowing only rotation and not movement
· Active linkage arm: Each set of arms connecting the workbench to the fixed linkage has equal length and possesses three degrees of freedom, allowing rotational movements around the X, Y, and Z axes
· Three sets of active connecting rods: defined as A0, A1, and A2, each set consisting of two connecting rods with equal spacing length

🌟Kinematics model configuration

Establish a mechanical coordinate system (MCS) and determine the zero point: When the three active link arms are horizontal, the center position of their workbench serves as the zero point of the coordinate system.

Configuration of structural parameters:
dArmLength1: 200
dArmLength2: 300
dArm1Radius: 112
dStewartRadius: 53
dDistance: 41
dMaxAngleBallJoint: 41

Axis parameter configuration:
A1 is mapped to Axis0
A2 is mapped to Axis1
The Z axis is mapped to Axis2

Configure shaft parameters based on the actual rotation ratio.
The Lingchen bus PLC integrates the Delta robot kinematics algorithm, enabling real-time calculation and precise control of the end-effector trajectory through the aforementioned parameter configuration.

🌟Lingchen Solutions
hardware configuration

This solution utilizes the full suite of automation products from Lingchen Technology:

·Main controller: Lingchen compact PLC, supporting high-speed motion control and EtherCAT communication
·Servo drive: Lingchen series servo driver, compatible with all axes of Delta robots
·Vision system: Cooperate with flexible vibration disc to achieve workpiece positioning and recognition
·Human-machine interface: Lingchen HMI, enabling parameter setting, status monitoring, and alarm prompting

🌟Self-developed HMI teaching pendant

The HMI teaching pendant independently developed by Lingchen Technology provides a convenient on-site debugging and operation experience for the Spider Hand.

Through the teaching pendant and pseudo-code editor, operators can complete robot trajectory teaching and process editing without requiring a professional programming background, significantly reducing the threshold and time cost of on-site debugging.

🌟Core technology implementation

① High-speed motion control, with a terminal speed of up to 2m/s

Lingchen PLC optimizes the command speed and trajectory planning algorithm to achieve a terminal speed of 2 m/s for the Delta robot, while ensuring smooth and impact-free movement, meeting the efficient takt time of 1 second per piece.

② High-precision positioning, with a repeatability of ±0.03mm

By combining a high-resolution encoder with a precise motion control algorithm, the robot achieves a repeatable positioning accuracy of ±0.03mm, enabling it to stably grasp tiny workpieces such as chips, micro connectors, and precision gears, making it suitable for high-precision assembly scenarios.

③ Compact structure, suitable for narrow spaces

The robotic arm body is designed to be compact and small in size, allowing it to be easily integrated into existing production lines or narrow equipment gaps without requiring significant modifications to the production line layout.

④ Visual guidance + flexible vibration disc coordination

PLC communicates with the vision system in real-time, and the flexible vibration disc disperses the workpieces into appropriate orientations. After the vision system recognizes the coordinates, the PLC controls the spider hand to quickly grab and place the workpieces into the target position, achieving fully automated flexible feeding.

⑤ Speed smoothing and command optimization

For high-speed start-stop scenarios, the PLC incorporates a built-in speed planning algorithm that automatically optimizes the acceleration and deceleration curves, preventing robot jitter and ensuring stable grasping and releasing.

⑥ Flexible configuration of kinematic parameters

Through the HMI interface, kinematic parameters such as dArmLength, dArm1Radius, and dStewartRadius can be adjusted in real-time, quickly adapting to different specifications of Delta robot bodies and shortening the on-site debugging cycle.

🌟Highlights of the plan and customer value
Highlights of technological innovation

·High speed and high precision: 2m/s tip speed + ±0.03mm repeatability, balancing efficiency and quality
·Compact design: Small size, allowing integration without significant modification to the production line
·Flexible feeding: With the integration of vision technology and flexible vibration feeders, it can adapt to various workpiece shapes
·Speed smoothing optimization: Reduce mechanical shock and extend equipment lifespan
·Bus communication: EtherCAT high-speed communication ensures real-time synchronization across multiple axes

Value created for customers

·Enhance production capacity: With a high-speed takt time of 1 second per piece, the feeding efficiency is significantly improved
·Quality assurance: ±0.03mm high precision, reducing the rate of incorrect grasping and workpiece damage
·Space-saving: Compact structure, suitable for old production lines or narrow workstations
·Reduce debugging difficulty: Visual HMI and rapid calibration tools to shorten delivery cycle
·High cost-effectiveness: Lingchen's solution boasts a short cycle, significant price advantage, and efficient service response

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江苏省苏州市望亭镇华阳村巨华路55号
Suzhou
215000

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