CN101362128B - Tridimensional glue coater control system and tridimensional glue coating method - Google Patents
Tridimensional glue coater control system and tridimensional glue coating method Download PDFInfo
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- CN101362128B CN101362128B CN2007100755478A CN200710075547A CN101362128B CN 101362128 B CN101362128 B CN 101362128B CN 2007100755478 A CN2007100755478 A CN 2007100755478A CN 200710075547 A CN200710075547 A CN 200710075547A CN 101362128 B CN101362128 B CN 101362128B
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Abstract
The invention discloses a 3D (3-dimensional) glue spreader control system and a 3D glue spreading method; the method comprises the following steps: a control host computer acquires 3D glue spreading data and explains, analyzes and processes the acquired data, then the data is expressed into pulse signals by a motion control unit, and the pulse signals can be recognized by a servo actuator unit and transmitted to the servo actuator unit for actuating and carrying out 3D motions, thus realizing 3D glue spreading. The invention can adopt presently common used industrial computer to realize the control of 3D glue spreading, and a motion control card can be any of the existing types. The system control software can be developed by the platforms such as VB, VC++, LabView, Delphi and the like, and the operation system can be common used Windows 2000, Windows XP, Windows 98 and the like, so the interface is friendly, visual and easy to use. Therefore, the glue spreading method can not only realize 3D glue spreading walking in arbitrary space curves, but also has the advantages of good operability, strong commonality, comparatively low cost, and the like.
Description
[technical field]
The invention belongs to a kind of fields of numeric control technique of electromechanical integration, be specifically related to three-dimensional glue spreading machine control technology based on industrial computer.
[background technology]
Current glue spreader great majority can only carry out a diaxon straight line, the gluing of circular interpolation in the plane.When needs were coated with plane regular curve glue, current most of glue spreaders had the hand weaving device, can carry out the track editor through the hand weaving device; And the glue spreader that has control system can discern CAD figure shelves, and such glue spreader can be coated with any track glue in plane.The gluing of above-described glue spreader in the plane.When the track of wanting gluing is irregular space curve, limited by its control systemic-function, it is powerless that current glue spreader just seems.
The controller of current kinetic control system mainly contains PLC, CNC digital control system, nonshared control unit etc.PLC can simply locate, and add the extension movement module and also carry out diaxon straight line, a circular interpolation in the plane, if but movement locus when requiring to be the complex spatial three-dimensional curve, it is powerless that the PLC scheme just seems; The CNC digital control system can be carried out three-shaft linkage control, but it costs an arm and a leg, and generally only is used for the High Grade CNC lathe.
[summary of the invention]
Main purpose of the present invention is: a kind of realization, lower cost, three-dimensional glue spreading machine control system and three-dimensional glue spreading method that versatility is good of being prone to is provided.
For realizing above-mentioned purpose, the present invention proposes a kind of three-dimensional glue spreading machine and controls system, comprises main control system, motion control unit, servo performance element; Said main control system, servo performance element link to each other with said motion control unit respectively; Said main control system obtains the three-dimensional glue spreading data; The data of being obtained are made an explanation analyzing and processing to obtain single motion control instruction and the motion path data that motion control unit can be carried out through translation, explanation G code; Reach the pulse signal that servo performance element can be discerned to tables of data by said motion control unit, signal is sent to servo performance element carry out three-dimensional motion.Above-mentioned main control system is an industrial computer, and this industrial computer obtains single motion control instruction and the motion path data that motion control unit can be carried out through translation, explanation G code; After motion control unit obtains motion control instruction and motion path data, send corresponding pulse to said servo performance element; Said servo performance element comprises X, Y, Z axle motion performance element, carries out the motion of X, Y, Z axle respectively, realizes the motion of any track of three dimensions.Above-mentioned three-dimensional glue spreading machine control system, said Y axle motion performance element comprises Y1 axle motion performance element and Y2 axle motion performance element, the two can be used alternatingly, and carries out the motion of Y axle.Above-mentioned three-dimensional glue spreading machine control system, said motion control unit comprises motion control card and peripheral driver plate, said motion control card is the PCI type, directly is plugged in the PCI slot of said industrial computer.Above-mentioned three-dimensional glue spreading machine control system, said X motion performance element or Y axle motion performance element or Z axle motion performance element comprise servomotor, servo-driver, gear unit; The code device signal of said servomotor feeds back to said servo-driver, and said servo-driver output is connected with said servomotor input, said servomotor output shaft and said gear unit mechanical connection.
Simultaneously; The invention discloses a kind of three-dimensional glue spreading method; Comprise the steps: that the control system obtains the three-dimensional glue spreading data, the data of being obtained are made an explanation analyzing and processing to obtain single motion control instruction and the motion path data that motion control unit can be carried out through translation, explanation G code, reach the pulse signal that performance element can be discerned to tables of data again; Signal is sent to performance element carry out three-dimensional motion, thereby realize three-dimensional glue spreading.Above-mentioned three-dimensional glue spreading method specifically comprises the steps: 61) industrial computer through translation, explain that G code obtains single motion control instruction and the motion path data that motion control unit can be carried out; 62) after motion control unit obtains motion control instruction and motion path data, send corresponding pulse to servo performance element; 63) servo performance element is carried out the motion of X, Y, Z axle, drives glue rifle Glue dripping head and carries out the motion of any track of three dimensions, thereby realize three-dimensional glue spreading.Above-mentioned three-dimensional glue spreading method, said servo performance element comprise servo performance element of Y1 axle and the servo performance element of Y2 axle, and the two can be used alternatingly, and carry out the motion of Y axle.Above-mentioned three-dimensional glue spreading method, the procurement process of the motion path data of said X, Y, Z axle comprise the steps: that (A) reads the G code file, in the G code file, extract G code instruction array; (B) be decomposed into function command and motion path data to G code instruction number group; (C) send to said motion control unit to instruction and motion path data.The detailed process of said step (A) comprising: (A1) read the G code file, deposit character variable a; (A2) get delegation to character variable a, obtain character variable b; (A3) convert character variable b into decimal system ASCII character array; (A4) be combined into G code instruction array to the ASCII character array.Said step (A2) comprises the steps: also to judge whether character variable a has a terminating symbol, if then finish; If not, then carry out (A3) step.
Owing to adopted above scheme, the present invention uses motion control card and industrial computer component movement control system, obtains the 3 D motion trace data through translation, explanation G code, and these data send to motion control card after treatment; After motion control card obtains data, send corresponding pulse to three cover servo-drive system, control three and link, thus the purpose of realization three-dimensional glue spreading.The present invention can adopt current industrial computer commonly used, such as association's work of nature, grind China, Ling Hua etc., realizes the control of three-dimensional glue spreading machine, and motion control card of the present invention can be existing any type; System controlling software of the present invention can use development platform exploitations such as VB, VC++, LabView, Delphi; Operating system is used windows2000 commonly used, windows XP, windows98 etc., friendly interface, directly perceived, operation easily; Therefore, the present invention not only can realize away the three-dimensional glue spreading of any space curve, and have that operability is good, advantage such as highly versatile, cost are lower.
[description of drawings]
The three-dimensional glue spreading machine control system hardware structure figure of Fig. 1 embodiment of the invention;
The structure chart of the servo performance element of three-dimensional glue spreading machine control system of Fig. 2 embodiment of the invention;
Fig. 3 glue spreading method flow chart of the present invention;
The flow chart of the G code translation explanation module of the three-dimensional glue spreading machine control systems soft ware of Fig. 4 embodiment of the invention.
[specific embodiment]
Below through concrete embodiment and combine accompanying drawing that the present invention is described in further detail.
The three-dimensional glue spreading method that this is routine; The three-dimensional glue spreading machine control system hardware structure figure that adopts sees also Fig. 1, mainly comprises: industrial computer main frame 1, touching-type monitor 2, input equipment 3, motion control unit 5, switch control unit 4, electromagnetic valve unit 6, servo performance element 7.
This routine three-dimensional glue spreading machine control system uses industrial computer, motion control card forming control system, and industrial computer obtains three-dimensional motion function command, motion path data through translation, explanation G code, obtaining data after treatment, sends to motion control card.After motion control card obtains motor function instruction motion path data, send corresponding pulse to three cover servo-drive system, control X, Y, three of Z link.
This routine three-dimensional glue spreading machine control system, motion control unit 4 comprises motion control card and peripheral driver plate, motion control card employing PCI type, can directly be inserted into the PCI slot the inside on the industrial control computer mainboard; The peripheral driver plate then is fixed on the electric cabinet the inside, is connected with exterior I O control module.
Switch control unit 4 mainly is made up of start button, scram button, pause button, initial point button, indicator lamp, head-shaking switch and initial point, limiting photoelectric switch etc.Electromagnetic valve unit 6 comprises the plastic emitting magnetic valve, is used to control the gel quantity of gluing.
See also Fig. 2, be the structure chart of servo performance element 7.
Servo performance element comprises motion performance element and gluing performance element two major parts, and wherein the motion performance element comprises X, Y, Z axle motion performance element.X axle motion performance element comprises X axle servo-driver 701, X axle servomotor 702, X through-drive unit 703; Z axle motion performance element comprises Z axle servo-driver 704, Z axle servomotor 705, Z through-drive unit 706, and X axle motion performance element and Z axle motion performance element drive the rubber-coated mechanism level and move up and down.Adopted the motion platform of two place work pieces in the native system, carried out work in turn, Y1 axle motion performance element comprises Y1 axle servo-driver 708, Y1 axle servomotor 709, Y1 through-drive unit 710, Y1 axle motion platform 714; Y2 axle motion performance element comprises Y2 axle servo-driver 711, Y2 axle servomotor 712, Y2 through-drive unit 713, Y2 axle motion platform motion 715, Y1 axle motion performance element and Y2 axle motion performance element, and the two can be used alternatingly, and carries out the motion of Y axle.Linkage unit in X, Y1, Y2, the Z axle motion performance element is made up of shaft coupling, ball, leading screw, slide unit respectively.Servomotor feeds back to driver to code device signal, thereby forms semi-closed loop system.The motion of X axle motion performance element control Glue dripping head X axle, the motion of the motion of Y1 axle motion performance element control Glue dripping head Y1 axle, Y2 axle motion performance element control Glue dripping head Y2 axle, the motion of Z axle motion performance element control Glue dripping head Z axle.When needs are changed workpiece, maintenance etc., do not need to shut down, Y1 axle and Y2 axle can take turns to operate, and increase work efficiency.
Above-mentioned gluing performance element comprises plastic squeeze stepper motor driver 716, plastic squeeze stepper motor 717, plastic squeeze wheel 718 compositions, and the plastic squeeze wheel is positioned at the syringe of glue, and it is regulated syringe and draws the glue amount.When the control system provided the gluing signal, the stepper motor rotation drove the motion of plastic squeeze wheel, thus the output of control glue, the air of Teflon tubule the inside is extruded, and glue is extruded from the mouth of pipe.
This routine three-dimensional glue spreading machine control system, input equipment is made up of mouse and keyboard.The industrial computer main frame is the core of native system.Industrial computer main frame 1 can move operating systems such as windows2000, windows XP, windows98, through carrying out the purpose that gluing control software reaches three-shaft linkage control carrying out space arbitrary curve gluing.
See also Fig. 3; The gluing control method that this is routine is at first obtained the gluing data, through industrial computer to the data of the being obtained analyzing and processing that makes an explanation; Reaching performance element to tables of data again can identified signal type (being pulse signal), and signal is sent to performance element carries out.
See also Fig. 4, in the three-dimensional glue spreading machine control system, the flow chart of G code translation explanation module.
(1) reads the G code file, deposit character variable a, be simultaneously displayed on the G code character string control.
(2) get delegation to character variable a, obtain another one character variable b;
(3) convert character variable b into decimal system ASCII character array.
(4) be combined into G code instruction array to the ASCII character array.Set up a pointer variable and point to character element, during beginning, pointer variable is pointed to the 0th element; Judging the decimal system ASCII character array of gained since second element, if between the 65-91, then is character, extracts the pointer variable corresponding element to the character between the currentElement, and pointer variable is pointed to the position at this element place then.If not, continue down inspection.
(5) be decomposed into the simple functions instruction and data to G code instruction number group.Program carried out for (4) step, can obtain a series of simple G code instruction array, as: the form motion control card the GOO X4.336Y-19.587Z10.M09 can't be discerned, so also must translate function command and data.Represent quick location like G00, the target location is X=4.336Y=-19.587Z=10.After obtaining the simple functions instruction, with regard to cope well.When running into G01, carry out linear interpolation, when running into G02, carry out the clockwise arc interpolation.When running into X4.336, decompositing X and 4.336 again, to convert the floating type data again to just passable.
(6) sending to motion control card to instruction and data carries out.Through above the 5th step, G code has been resolved to function command and data.Single G code function command is exactly quick location, linear interpolation, clockwise arc interpolation, counterclockwise arc interpolation etc. usually, and these motion control cards can be carried out.In addition, can also assist the M sign indicating number by self-defined G code,, open the plastic emitting magnetic valve, when running into M08, close the plastic emitting magnetic valve as when running into M09.
(7) line number adds 1, repeating step (2); After handling delegation's G code, line number adds 1, continues to read next line and handles.
(8) judge whether position terminating symbol of character variable a, if, then finish, if not, then repeat (3).Usually the G code sign that begins and finishes as G code with %, so be not that when detecting first is capable and when % is arranged, EP (end of program) is returned.
Popular industrial computer on the current market; Such as association's work of nature, grind China, Ling Hua etc.; Can adopt control scheme provided by the present invention to realize the control of three-dimensional glue spreading machine, employed motion control card can be any type popular on the current market in this specific embodiment; The system controlling software of being mentioned in this specific embodiment can use development platform exploitations such as VB, VC++, LabView, Delphi.The specific embodiment of the above is a preferred embodiments of the present invention; Be not to limit practical implementation scope of the present invention with this; Scope of the present invention comprises and is not limited to this specific embodiment that all shapes according to invention, the equivalence variation that structure is done all comprise in the protection domain of invention.
Claims (10)
1. a three-dimensional glue spreading machine control system comprises main control system, motion control unit, servo performance element; Said main control system, servo performance element link to each other with said motion control unit respectively; It is characterized in that: said main control system obtains the three-dimensional glue spreading data; The data of being obtained are made an explanation analyzing and processing to obtain single motion control instruction and the motion path data that motion control unit can be carried out through translation, explanation G code; Reach the pulse signal that servo performance element can be discerned to tables of data by said motion control unit, signal is sent to servo performance element carry out three-dimensional motion.
2. three-dimensional glue spreading machine according to claim 1 is controlled system, and it is characterized in that: said main control system is an industrial computer, and this industrial computer obtains single motion control instruction and the motion path data that motion control unit can be carried out through translation, explanation G code; After motion control unit obtains motion control instruction and motion path data, send corresponding pulse to said servo performance element; Said servo performance element comprises X, Y, Z axle motion performance element, carries out the motion of X, Y, Z axle respectively, realizes the motion of any track of three dimensions.
3. three-dimensional glue spreading machine according to claim 2 is controlled system, and it is characterized in that: said Y axle motion performance element comprises Y1 axle motion performance element and Y2 axle motion performance element, and the two can be used alternatingly, and carries out the motion of Y axle.
4. three-dimensional glue spreading machine according to claim 2 is controlled system, and it is characterized in that: said X motion performance element or Y axle motion performance element or Z axle motion performance element comprise servomotor, servo-driver, gear unit; The code device signal of said servomotor feeds back to said servo-driver, and said servo-driver output is connected with said servomotor input, said servomotor output shaft and said gear unit mechanical connection.
5. three-dimensional glue spreading method; Comprise the steps: to obtain the three-dimensional glue spreading data by the control system; The data of being obtained are made an explanation analyzing and processing to obtain single motion control instruction and the motion path data that motion control unit can be carried out through translation, explanation G code; Reach the pulse signal that performance element can be discerned to tables of data again, signal is sent to performance element carry out three-dimensional motion, thereby realize three-dimensional glue spreading.
6. three-dimensional glue spreading method according to claim 5 is characterized in that detailed process comprises: 61) industrial computer obtains single motion control instruction and the motion path data that motion control unit can be carried out through translation, explanation G code; 62) after motion control unit obtains motion control instruction and motion path data, send corresponding pulse to servo performance element; 63) servo performance element is carried out the motion of X, Y, Z axle, drives glue rifle Glue dripping head and carries out the motion of any track of three dimensions, thereby realize three-dimensional glue spreading.
7. three-dimensional glue spreading method according to claim 6 is characterized in that: said servo performance element comprises servo performance element of Y1 axle and the servo performance element of Y2 axle, and the two can be used alternatingly, and carries out the motion of Y axle.
8. according to claim 6 or 7 described three-dimensional glue spreading methods, it is characterized in that: the procurement process of the motion path data of said X, Y, Z axle comprises the steps: that (A) reads the G code file, in the G code file, extracts G code instruction array; (B) be decomposed into function command and motion path data to G code instruction number group; (C) send to said motion control unit to instruction and motion path data.
9. three-dimensional glue spreading method according to claim 8 is characterized in that: the detailed process of said step (A) comprising: (A1) read the G code file, deposit character variable a; (A2) get delegation to character variable a, obtain character variable b; (A3) convert character variable b into decimal system ASCII character array; (A4) be combined into G code instruction array to the ASCII character array.
10. three-dimensional glue spreading method according to claim 9 is characterized in that, said step (A2) comprises the steps: also to judge whether character variable a has a terminating symbol, if then finish; If not, then carry out (A3) step.
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| CN2007100755478A CN101362128B (en) | 2007-08-06 | 2007-08-06 | Tridimensional glue coater control system and tridimensional glue coating method |
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| CN2007100755478A CN101362128B (en) | 2007-08-06 | 2007-08-06 | Tridimensional glue coater control system and tridimensional glue coating method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102513265A (en) * | 2011-12-06 | 2012-06-27 | 上海义馨控制设备有限公司 | Glue-pouring integrated machine and coating method thereof |
| CN102841555B (en) * | 2012-09-26 | 2014-11-12 | 苏州工业园区职业技术学院 | Servo control system for three-shaft high-speed dispensing robot |
| CN103592892A (en) * | 2013-10-12 | 2014-02-19 | 欣旺达电子股份有限公司 | Method and system for controlling multi-axis motion |
| CN106444629B (en) * | 2016-12-08 | 2019-11-12 | 湖南戈人自动化科技有限公司 | A kind of control method based on insertion expression formula program |
| CN107273134B (en) * | 2017-06-23 | 2020-08-07 | 深圳市雷赛控制技术有限公司 | Numerical control program execution method and device |
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| US4665492A (en) * | 1984-07-02 | 1987-05-12 | Masters William E | Computer automated manufacturing process and system |
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| US4665492A (en) * | 1984-07-02 | 1987-05-12 | Masters William E | Computer automated manufacturing process and system |
| CN1348848A (en) * | 2001-11-18 | 2002-05-15 | 华中科技大学 | Microassembling robot system based on microvision |
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