CN104678901A - Cubic spline interpolation-based full-automatic mask sprinkler - Google Patents

Cubic spline interpolation-based full-automatic mask sprinkler Download PDF

Info

Publication number
CN104678901A
CN104678901A CN201410852936.7A CN201410852936A CN104678901A CN 104678901 A CN104678901 A CN 104678901A CN 201410852936 A CN201410852936 A CN 201410852936A CN 104678901 A CN104678901 A CN 104678901A
Authority
CN
China
Prior art keywords
motion
system
controller
shaft
motion controller
Prior art date
Application number
CN201410852936.7A
Other languages
Chinese (zh)
Inventor
范贤光
阙靖
王秀芬
王昕�
许英杰
Original Assignee
厦门大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 厦门大学 filed Critical 厦门大学
Priority to CN201410852936.7A priority Critical patent/CN104678901A/en
Publication of CN104678901A publication Critical patent/CN104678901A/en

Links

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller

Abstract

The invention discloses a cubic spline interpolation-based full-automatic mask sprinkler, and relates to a mask sprinkler. The cubic spline interpolation-based full-automatic mask sprinkler is provided with a computer, a motion controller, a driving system, a motion system and a sprayer; the motion controller consists of a main control chip and a peripheral interface circuit; the motion controller is connected with the computer through a cross network cable; programming can be performed on the motion controller to realize communication between the motion controller and the computer; the driving system consists of four servo drivers, and the four servo drivers are directly connected with the motion controller; the motion system consists of four shafts which refer to a front and back motion shaft, a left and right motion shaft, a vertical motion shaft and a rotation motion shaft respectively; the four shafts are respectively controlled by the four servo drivers of the driving system, and meanwhile, a motion state is fed back to the motion controller in real time, and therefore accurate control is realized; the sprayer is arranged on the rotation motion shaft of the motion system; under the link of the four shafts of the motion system, the sprayer can reach any point within a motion range.

Description

一种基于三次样条插值的全自动面罩喷淋装置 Automatic sprinklers mask based on cubic spline interpolation

技术领域 FIELD

[0001] 本发明涉及面罩喷淋装置,尤其是涉及一种基于三次样条插值的全自动面罩喷淋装置。 [0001] The present invention relates to a mask spray device, particularly to a cubic spline interpolation based on the mask automatic sprinkler.

背景技术 Background technique

[0002] 面罩广泛的应用在我们日常的生产与生活中,如:摩托车的头盔、劳保用品等,因此,人们对于面罩的需求量很大。 [0002] The mask is widely used in our daily production and life, such as: motorcycle helmets, labor supplies, etc. Therefore, it is a great demand for masks. 同时,为了适应不同环境、不同产品等的要求,面罩的种类和外形也是千差万别。 Meanwhile, in order to adapt to different environments, different products and the like, and the mask shape is vastly different species.

[0003] 根据面罩的工艺要求,面罩生产出来后并不是直接投入使用的,还需要对其进行镀膜,内侧镀上防止起雾的膜,外侧镀上防止刮伤的膜。 [0003] The process according to claim mask, the mask is not produced directly put into use, it needs to be coated, the inner coating preventing fogging on the film, the outer coated film to prevent scratches. 而镀膜的方法是将一侧完全喷淋上含有特殊化学物质的液体,然后进行烘干。 The method of the coating liquid containing a specific chemical substance on the spray side completely, and then drying.

[0004] 现阶段,在工厂中对面罩进行喷淋的方法主要有两种:人工喷淋和机器喷淋。 [0004] At this stage, the mask at the factory for the spray method are mainly two: artificial spray and spray machines. 对于人工喷淋的方法,主要存在生产效率低、次品率高的问题,因此,难以满足面罩需求量大的特点。 For spraying artificial, mainly in low productivity, high defective problems, it is difficult to meet the large demand of the mask features. 对于机器喷淋,现有的机器是通过靠模的方法来实现的,该方法首先需要加工出一个模具,该模具的加工费用需要上万元,加工的时间需要一周以上,而且,不同面罩所需的模具不一样,这大大增加了生产成本和时间;其次,得到该模具后并不能直接使用,还需要对其进行进一步的修整,以达到使用的要求,这样也影响了整体的生产效率。 For spray machines, by means of conventional machines is achieved by the mold, this method first requires a machined die, the die processing cost needs million processing time to a week or more, and the different masks need not the same mold, which greatly increases the production cost and time; secondly, to give not available directly after the mold, it needs to be further trimmed to meet the requirements of use, which also affect the overall productivity. 针对现阶段喷淋方法存在的问题,面罩工厂迫切需要一种装置来降低成本,提高生产效率。 Present methods for the existing spray problem urgent need for a plant mask means to reduce costs and improve productivity.

发明内容 SUMMARY

[0005] 本发明的目的在于提供能满足工厂面罩加工工艺需求的一种基于三次样条插值的全自动面罩喷淋装置。 [0005] The object of the present invention to provide a mask can meet the automatic sprinkler plant mask processing apparatus based on the needs of the cubic spline interpolation.

[0006] 本发明设有计算机、运动控制器、驱动系统、运动系统和喷头; [0006] The present invention is provided with a computer, the motion controller, drive system, and the head movement system;

[0007] 所述运动控制器由主控芯片和外围接口电路组成,运动控制器通过交叉网线与计算机相连,可对运动控制器进行编程,实现运动控制器与计算机之间的通讯;所述驱动系统由4个伺服驱动器组成,4个伺服驱动器直接与运动控制器相连;所述运动系统由4个轴组成,分别是前后运动轴(X轴)、左右运动轴(Y轴)、上下运动轴(Z轴)和旋转运动轴(A 轴),所述4个轴分别受控于驱动系统的4个伺服驱动器,同时将运动状况实时反馈给运动控制器,从而实现精确控制;所述喷头安装在运动系统的旋转运动轴上,在运动系统四轴联动下,能到达运动范围内的任意一个点。 [0007] The motion controller by a master chip and a peripheral interface circuit, the motion controller is connected to the computer via crossover cable, the motion controller may be programmed to achieve communication between the motion controller and computer; the drive the system consists of four servo drives that four servo drive connected directly to the motion controller; the motion system consists of four axes, namely the movement of the shaft back and forth (X-axis), horizontal movement axis (Y-axis), vertical movement of the shaft (Z-axis) and rotational movement of the shaft (a axis), the four shafts are four servo controlled drive system driven, while the motion to the motion status of real-time feedback control, thereby achieving accurate control; said head installation in the rotary motion axis of motion system, the motion system at axis, can reach any point of a range of motion.

[0008] 所述计算机上安装有运动控制软件和运动控制器编程软件。 [0008] The motion control software is installed and the motion controller software programmed on the computer.

[0009] 本发明提供一种利用三次样条插值进行轨迹规划的方法: [0009] The present invention provides a method of using a cubic spline interpolation trajectory planning:

[0010] 首先,简要介绍一下三次样条插值。 [0010] First, a brief overview of cubic spline interpolation. 早期工程师制图时,把富有弹性的细长木条(所谓样条)用压铁固定在样点上,在其他地方让它自由弯曲,然后沿木条画下曲线,称为样条曲线。 Early engineer drawing, the flexible elongated wood (a so-called spline) with a press iron fixed to the sample, it is bent freely in other places, painted wood and then along the curve, called spline. 三次样条插值(简称Spline插值)是用一条平滑曲线对各插值点进行拟合的方法,数学上通过构造多项式(一个或一组不同阶多项式)来形成一条把所有主干点连接起来的平滑曲线。 Cubic spline interpolation (the interpolation Spline) is a method of fitting each interpolated point with a smooth curve, to form a smooth curve connecting all points of the trunk is configured by a polynomial (or a group of a different order polynomial) mathematically .

[0011] 由于面罩的上边缘时连续而光滑的空间曲线,我们不可能无限制地去取点来获得面罩的轨迹数据,因此只能选取面罩上离散的、不够密集的有限点,通过对这些点进行插值和拟合,得到面罩轨迹数据。 [0011] Since the upper edge of the mask and smooth continuous space curve, it is impossible to get unlimited point trajectory data to obtain the mask, the mask can only select a discrete, finite dense enough points, through which and interpolation points obtained by fitting the mask trace data.

[0012] 在本发明中,只需要选取面罩上11个点进行三次样条插值,即可满足加工的精度要求,在这些点的数据中,跨度从左至右均满足: [0012] In the present invention, only selected points on the mask 11 cubic spline interpolation, can meet the requirements of machining precision, these data points in the span from left to right are satisfied:

[0013] a=y!<y20.<yn=b [0013] a = y! <Y20. <Yn = b

[0014] 且每一位置(跨度)都对应三组几何参数:前后位置X1, X2…,X11,上下高度Z1, Z2…,Z11和旋转角度A1,A2…,An,现以前后位置为例简单介绍通过三弯矩法求三次样条插值函数。 [0014] and each position (Span) corresponds to three sets of geometrical parameters: longitudinal positions X1, X2 ..., X11, vertical height Z1, Z2 ..., Z11, and the rotation angle A1, A2 ..., An, the current position of the previous Example brief cubic spline interpolation method by a three moment.

[0015] 选择二阶导数作为待定参数: [0015] As the second derivative to select parameters to be determined:

[0016] Mk=S" (yk)(k= 1,2,…,11) [0016] Mk = S "(yk) (k = 1,2, ..., 11)

[0017] 由于三次样条S(y)是三次多项式,故它的二阶导数是一次多项式,从而 [0017] Since the cubic spline S (y) is a cubic polynomial, so it is a second derivative of the polynomial, thereby

Figure CN104678901AD00041

Figure CN104678901AD00051

[0032] 在这个三弯矩基本方程中只包括了n-1个方程,而我们需要的待定系数有n个,因此欠方程组。 [0032] In this three basic equation contains only the moment of the n-1 equations, and we need to have undetermined coefficients of n, and therefore less of equations. 可以通过插入边界条件来增加方程组,边界条件有多种,在本发明中使用自然边界条件: May be increased by inserting equations the boundary conditions, a variety of boundary conditions, natural boundary conditions used in the present invention:

[0033] M1= 0,Mn= 0 [0033] M1 = 0, Mn = 0

[0034] 这样从三弯矩基本方程可以导数确定其他9个待定参数的方程组: [0034] This derivative equations determine the other nine parameters to be determined from the moment three basic equations:

[0035] [0035]

Figure CN104678901AD00052

[0036] 根据以上过程,即可完成跨度与前后距离之间的三次样条插值,同理可以实现跨度与另外两组数据的插值,从而得到满足精度要求的方程组。 [0036] According to the above process, to complete the cubic spline interpolation between the front and rear distance span, the span of the interpolation can be implemented the same way the other two sets of data to obtain equations meet the accuracy requirements.

[0037] 本发明所述的装置与方法具有获取面罩轨迹数据的速度快、精度高的特点,能对几乎所有类型的面罩进行喷淋加工,且加工速度快,质量好。 The method and apparatus of the [0037] present invention has a fast acquisition mask trajectory data speed, high accuracy, capable of spraying almost all types of machining masks and processing speed, good quality.

附图说明 BRIEF DESCRIPTION

[0038] 图1为全自动面罩喷淋装置组成结构图。 [0038] Figure 1 is composed of automatic sprinklers mask structure of FIG.

[0039] 图2为面罩轨迹规划原理图。 [0039] FIG. 2 is a schematic diagram of the mask trajectory planning.

[0040] 图3为全自动面罩喷淋装置的加工流程图。 [0040] FIG. 3 is a process flow of automatic sprinkler mask.

具体实施方式 Detailed ways

[0041] 参见图1,本发明设有计算机1、运动控制器2、驱动系统3、运动系统4和喷头5 ; 所述计算机1上安装有运动控制软件和运动控制器编程软件;所述运动控制器2由主控芯片和外围接口电路组成,通过交叉网线可以将运动控制器与计算机相连,可对运动控制器进行编程,实现运动控制器与计算机之间的通讯;所述驱动系统3由4个伺服驱动器3-1、 3- 2、3-3、3-4组成,直接与运动控制器相连;所述运动系统4由4个轴组成,分别是X轴4- 1 (前后运动轴)、Y轴4-2 (左右运动轴)、Z轴4-3 (上下运动轴)和A轴4-4 (旋转运动轴),这四个轴分别受控于驱动系统3的4个伺服驱动器,同时将运动状况实时反馈给运动控制器2,从而实现精确控制;所述喷头5安装在运动系统的A轴4-4 (旋转运动轴)上,在运动系统4四轴联动下,能到达运动范围内的任意一个点。 [0041] Referring to Figure 1, the present invention is provided with a computer, the motion controller 2, the drive system 3, the movement system 5 and the head 4; motion control software is installed and the motion controller software programming on the computer 1; the motion 2 by the master controller and the peripheral interface chip circuits, can be connected to a crossover cable motion controller and computer, the motion controller may be programmed to achieve communication between the motion controller and computer; the drive system 3 by a four servo drives 3-1, 3-2,3-3,3-4 composition, directly connected to the motion controller; the motion system 4 consists of four axes, namely the 4-1 (longitudinal axis X-axis motion ), Y axis 4-2 (left and right movement axis), Z 4-3 axis (vertical moving shaft) 4-4 and a-axis (the rotational movement of the shaft), which are controlled by the four-axis drive servo system 4 3 drive, while the real-time feedback to the motion status of the motion controller 2, in order to achieve accurate control; the spray head 5 is mounted on the shaft a 4-4 (rotational movement of the shaft) of the motion system, the motion system at 4 axis, can reach any point of a range of motion.

[0042] 参见图2和图3,装置开启后首先进行初始化与回零操作,建立坐标系和坐标原点,接着根据需求进行功能选择:若已经有面罩的数据(即面罩上11个点的坐标),则可以直接读取数据;若没有面罩数据,则需要使用手轮(图中未表示)移动喷头,读取面罩上的点的数据,进行保存,然后进入读取数据阶段。 [0042] Referring to FIGS. 2 and 3, the device turns on firstly initializes the zero return operation, to establish the coordinate system and the origin of coordinates, followed by the function selection on demand: If there is another mask data (i.e., the coordinates of 11 points on the mask ), it can be read directly; if there is no mask data, you need to use a hand wheel (not shown) moves the head, the reading of data points on the mask, save, and then into the read data phase. 获取数据之后,输入加工参数,如喷头与面罩之间的距离、喷头上升下降的距离、喷淋的速度、延时的时间等,计算机上的运动控制软件根据输入的参数,对数据进行调整,然后调用三次样条插值函数对调整后的数据进行插补, 得到轨迹方程,并将数据发送到运动控制器上,之后即可进入加工状态。 After obtaining the data, the input processing parameters, such as the distance between the mask and the head, rising from the head descending, the spray velocity, the delay time, the motion control software on the computer in accordance with the input parameters, to adjust the data, then call cubic spline interpolation function of the adjusted data are interpolated to obtain the trajectory equation, and the data sent to the motion controller, can then enter the working state. 在本装置中,设有两种加工模式:单次模式和连续运行模式。 In the present apparatus, it is provided with two process modes: one-shot mode and continuous operation mode. 单次模式适用于刚开始时,加工参数的调整,刚开始是,输入的加工参数不一定能够满足加工要求,操作人员可以根据单次运行的效果,来考虑参数的增减,直到满足加工需求;连续运行模式使用于正常加工,当参数调整好后,即可进入连续模式,操作人员只需要在喷淋结束后进行工件更换即可,不需要进行别的操作。 Single mode is suitable for beginning, process parameters adjustment, the beginning is, the input of the processing parameters may not be able to meet the processing requirements, the operator can effect a single operation, to consider changes in the parameters of processing up to meet demand ; continuous operation mode used in normal processing, when the adjusted parameters, to enter the continuous mode, the operator need only replace the workpiece at the end of the spray can, does not require other operations.

Claims (1)

1. 一种基于=次样条插值的全自动面罩喷淋装置,其特征在于设有计算机、运动控制器、驱动系统、运动系统和喷头; 所述运动控制器由主控巧片和外围接口电路组成,运动控制器通过交叉网线与计算机相连,可对运动控制器进行编程,实现运动控制器与计算机之间的通讯;所述驱动系统由4 个伺服驱动器组成,4个伺服驱动器直接与运动控制器相连;所述运动系统由4个轴组成, 分别是前后运动轴、左右运动轴、上下运动轴和旋转运动轴,所述4个轴分别受控于驱动系统的4个伺服驱动器,同时将运动状况实时反馈给运动控制器,从而实现精确控制;所述喷头安装在运动系统的旋转运动轴上,在运动系统四轴联动下,能到达运动范围内的任意一个点。 An automatic sprinkler mask = spline-based interpolation, wherein the computer is provided, the motion controller, drive system, and the head movement system; the motion is controlled by a master sheet and a peripheral interface clever circuit, the motion controller crossover cable connected to a computer, the motion controller may be programmed to achieve communication between the motion controller and computer; the drive system by a servo driver 4 consisting of four servo drive motion directly connected to the controller; the system consists of four motion axis, namely the axis moving back and forth, left and right movement of the shaft, up and down movement of the shaft and the rotational movement of the shaft, the four shafts are four servo controlled drive system drives, while the movement to the motion controller status real-time feedback to achieve precise control; the spray head mounted on a rotary axis of motion of the motion system, the motion system at axis, can reach any point of a range of motion.
CN201410852936.7A 2014-12-31 2014-12-31 Cubic spline interpolation-based full-automatic mask sprinkler CN104678901A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410852936.7A CN104678901A (en) 2014-12-31 2014-12-31 Cubic spline interpolation-based full-automatic mask sprinkler

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410852936.7A CN104678901A (en) 2014-12-31 2014-12-31 Cubic spline interpolation-based full-automatic mask sprinkler

Publications (1)

Publication Number Publication Date
CN104678901A true CN104678901A (en) 2015-06-03

Family

ID=53314138

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410852936.7A CN104678901A (en) 2014-12-31 2014-12-31 Cubic spline interpolation-based full-automatic mask sprinkler

Country Status (1)

Country Link
CN (1) CN104678901A (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006048244A (en) * 2004-08-02 2006-02-16 Fanuc Ltd Working program generating device
CN2907912Y (en) * 2005-12-16 2007-06-06 曾健 Oscillating arm helmet paint spraying machine
CN103464344A (en) * 2013-09-23 2013-12-25 电子科技大学中山学院 Economical planning method for spray gun track of spraying robot
CN203484271U (en) * 2013-09-13 2014-03-19 滨州市虎森数控设备科技有限公司 Numerical control irregular workpiece paint sprayer

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006048244A (en) * 2004-08-02 2006-02-16 Fanuc Ltd Working program generating device
CN2907912Y (en) * 2005-12-16 2007-06-06 曾健 Oscillating arm helmet paint spraying machine
CN203484271U (en) * 2013-09-13 2014-03-19 滨州市虎森数控设备科技有限公司 Numerical control irregular workpiece paint sprayer
CN103464344A (en) * 2013-09-23 2013-12-25 电子科技大学中山学院 Economical planning method for spray gun track of spraying robot

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
赵潭羿: "基于运动控制器的喷涂机控制系统的研究", 《中国优秀硕士学位论文全文数据库信息科技辑》 *

Similar Documents

Publication Publication Date Title
CN103056759B (en) Robot grinding system based on feedback of sensor
CN102135776B (en) Industrial robot control method based on visual positioning
CN103074625B (en) Movable laser cladding and repairing system
EP1958436A1 (en) Method and device for moving a camera disposed on a pan/tilt head along a given trajectory
CN101961819B (en) Device for realizing laser welding and seam tracking and control method thereof
Sun et al. Accurate robotic belt grinding of workpieces with complex geometries using relative calibration techniques
WO2010003289A1 (en) Apparatus and method for robots tracking appointed path with high precision
WO2008097252A3 (en) Method and apparatus for robotic path planning, selection, and visualization
CN104786226A (en) Posture and moving track positioning system and method of robot grabbing online workpiece
CN104741270A (en) Series-parallel connection mechanism for spray-coating of automobile bumpers
DK2285537T3 (en) Device and method for computer-assisted generation of a manipulatorbane
US8504188B2 (en) Device and method for the computer-assisted generation of a manipulator path
EP0084523A3 (en) Process for automatically painting pieces fed in along a processing line and apparatus capable of performing the same process
CN101462248B (en) Method for shaping, grinding and processing abrasive band based on standard workpiece
DE112007003475T5 (en) Numerical control device and numerical control system
CN202278307U (en) An adjustable double line structured light weld tracking visual sensing system
EP1927404B1 (en) Method for determining spray parameters for controlling a paint gun using a spray agent
EP0408563B1 (en) Method and robot system for repair painting of motorcars
CN102905859A (en) Method and control element for controlling a robot arrangement
CN101362511A (en) Synergetic control method of aircraft part pose alignment based on four locater
CN103128645B (en) Active compliance robot grinding system with controlled pressure and changeable speed and method
CN104440864B (en) A master-remote operating an industrial robot system and a control method from the formula
CN104384765B (en) Automatic welding method with three-dimensional model based on machine vision
CN101013309A (en) Controller for electric motor
CN104972362A (en) Intelligent force control robot grinding system and method

Legal Events

Date Code Title Description
C06 Publication
C10 Entry into substantive examination
WD01