CN111258273B - Variable zero-returning method and system based on multi-axis point drilling machine motion platform - Google Patents
Variable zero-returning method and system based on multi-axis point drilling machine motion platform Download PDFInfo
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- CN111258273B CN111258273B CN202010033672.8A CN202010033672A CN111258273B CN 111258273 B CN111258273 B CN 111258273B CN 202010033672 A CN202010033672 A CN 202010033672A CN 111258273 B CN111258273 B CN 111258273B
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical 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
- G05B19/4155—Numerical 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 characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32026—Order code follows article through all operations
Abstract
The invention discloses a variable zero returning method and system based on a multi-axis point drilling machine motion platform, which are used for realizing self-defined zero returning on the multi-axis point drilling machine motion platform. The system includes host computer display screen, some rig control panels and one set of multiaxis servo, and the main process includes: the number and sequence of the axes of the zero return, the direction of the original point and the zero return speed are set on the display screen of the upper computer in a touch mode, and after the setting is completed, the upper computer simplifies the zero return information into an array type according to the display condition and sends the array type to the point drilling machine control panel for storage. And when the control board receives a zero returning command sent by the upper computer, the stored zero returning information is read and analyzed, and a zero returning instruction is sent to the servo system to control the moving part to complete zero returning operation. The method is flexible and efficient, the setting of the zeroing process is completed through a simple touch display mode, the zeroing process is controlled by converting the setting into a simple array structure, the stability is high, the reliability is high, and the production efficiency is effectively improved.
Description
Technical Field
The application belongs to the technical field of motion control, and particularly relates to a variable zero returning method and system based on a multi-axis point drilling machine motion platform.
Background
In recent years, with the continuous expansion of the decoration requirements of various hardware, photo frames, artware, key rings and other products, the production and process requirements cannot be met by manual dispensing and spot drilling. The invention of the automatic point drilling machine improves the precision and the production efficiency, but in the processing process, because after different storage bins or products are replaced, the zero returning teaching is required again to reduce the coordinate error, and the prior zero returning method is that all the axes are completely returned to zero according to a certain sequence every time the zero returning is carried out, so that the method can not adapt to the situation when only the storage bins or only the products are replaced, the workload of reprogramming is increased, and the time and the labor are wasted.
The machine for realizing automatic processing is subjected to zero returning operation before starting to move, and is widely applied to the prior art that all motion axes are sequentially returned to zero according to a specific sequence or partial axes are returned to zero through PLC programming, the methods have poor variability and are complex to realize, the method is more complicated for a multi-axis point drilling machine and low in efficiency, for example, under the conditions that a workpiece is not processed and a bin is empty, only the bin needs to be replaced, then two axes for recording the coordinates of the bin are returned to zero, and then the coordinates of the bin are taught again, and the axes for controlling the position and the posture of the workpiece do not need to be returned to zero and taught again; similarly, when a batch of products are processed, a large amount of residue remains in the bin, the coordinates of the bin do not need to be changed, and the coordinates of the workpiece are taught again only after the position axis of the workpiece is reset to zero and the workpiece to be processed is placed. When complex-form ornaments are processed, the variable zeroing and resetting sequence is more important.
Disclosure of Invention
The application aims to provide a variable zero returning method and system based on a multi-axis point drilling machine motion platform, the user-defined zero returning of a motion axis is realized, and the user-defined method is simple and clear and has strong adaptability.
In order to achieve the purpose, the technical scheme adopted by the application is as follows:
a variable zero-returning method based on a multi-axis point drilling machine motion platform is used for self-defining zero-returning of all motion axes in the multi-axis point drilling machine motion platform, the multi-axis point drilling machine motion platform is provided with a touch-screen software interface, and the variable zero-returning method based on the multi-axis point drilling machine motion platform comprises the following steps:
step S1, receiving zero-returning information, wherein the zero-returning information is generated according to the touch operation of a user on the software interface, and the zero-returning information generation process comprises the following steps:
displaying n rows and n columns of first controls in a first area of the software interface, wherein n first controls in each row correspond to different motion axes, n first controls in each column correspond to different zeroing sequences, at most only one first control in each row and each column can be selected, and n simultaneously represents the number of rows and columns of the first controls in the first area;
receiving a first touch operation of a user on any one of a plurality of first controls;
responding to the first touch operation, identifying a first control corresponding to the first touch operation as a selected state, and changing other first controls of a row where the first control is located and a column where the first control is located into unselected states;
displaying n rows and columns of second controls in a second area of the software interface, wherein the n second controls correspond to different motion axes and have a first display state and a second display state;
receiving a second touch operation of the user on any one of the n second controls;
responding to the second touch operation, and switching the display state of the corresponding second control;
displaying n rows and n columns of third controls in a third area of the software interface, wherein the n third controls correspond to different motion axes;
receiving a third touch operation of a user on any one of the n third controls;
responding to the third touch operation, displaying a soft keyboard on the software interface, receiving a numerical value set by a user through the soft keyboard, and displaying the numerical value in a corresponding third control;
a fourth control is displayed in a fourth area of the software interface;
receiving a fourth touch operation of the user on a fourth control;
in response to the fourth touch operation, traversing all the first controls by rows to generate a first array for recording a return-to-zero motion axis and a return-to-zero sequence, traversing all the second controls to generate a second array for recording an origin direction, traversing all the third controls to generate a third array for recording a return-to-zero speed, and generating the return-to-zero information by the first array, the second array and the third array;
step S2, receiving a zero returning command, analyzing the zero returning information, and generating a zero returning instruction of each motion axis needing zero returning;
and step S3, sequentially controlling the motors corresponding to the motion shafts to operate according to the zero returning instruction, and finishing the zero returning operation of the motion shafts.
Preferably, the first array comprises n elements, indexes 0 to n-1 of the array are used as a sequence of returning to zero, the element value corresponding to each index is a sequence number corresponding to the first control identified as the selected state in each row of the first controls, and if the first controls in one row are all identified as the unselected state, the corresponding element value in the first array is 0;
the second numeric group comprises n elements, the index of each element plus 1 corresponds to the serial number of each second control, the element value of each element is the display state of each second control, the element value of 0 represents the first display state, the element value of 1 represents the second display state, one of the first display state and the second display state represents that the direction of the origin point when the time returns to zero is the forward direction, and the other one represents that the direction of the origin point when the time returns to zero is the reverse direction;
the third array comprises n elements, the index plus 1 of each element corresponds to the sequence number of each third control, and the element value of each element is the numerical value displayed in the corresponding third control;
and the first control, the second control and the third control of the same sequence number correspond to the same axis of motion.
Preferably, the receiving a zero-returning command, analyzing the zero-returning information, and generating a zero-returning command for each motion axis that needs to be returned to zero includes:
the first array is represented by Axis [5], the second array is represented by Dir [5], and the third array is represented by Speed [5 ];
taking the value of Axis [0] as Axis [0] a, and if a is more than or equal to 1 and less than or equal to n, the first zero-returning motion Axis is the motion Axis with the serial number a; then, the origin direction of the motion axis with the sequence number a is obtained by taking the value of Dir [ a-1], and the zero returning Speed of the motion axis with the sequence number a is obtained by taking the value of Speed [ a-1], so as to obtain the first zero returning related information;
sequentially traversing the element values in the first array, acquiring the original point direction and the zero returning speed of the corresponding motion axis, and if the element value obtained by traversing is 0, judging the next element value until the traversing is finished;
and combining all the zero-returning related information according to the traversal order to form a zero-returning instruction.
Preferably, according to the zero-returning instruction, sequentially controlling the motors corresponding to the moving shafts to operate, and completing the zero-returning operation of the moving shafts, the method includes:
controlling a motor corresponding to a motion shaft with the sequence number a to move along the direction of the original point at the zero returning speed according to the first zero returning related information until a limit signal is triggered; after triggering the limit signal, continuing to move along the direction opposite to the direction of the original point until triggering the limit signal again, and finishing the zero returning operation by the moving shaft with the sequence number a;
and continuing to perform zero returning operation according to the relevant information of zero returning until the zero returning operation of all the motion axes in the zero returning command is completed.
The application still provides a variable zero system that returns based on multiaxis point rig motion platform for the custom of all motion axes returns zero in the multiaxis point rig motion platform, a variable zero system that returns based on multiaxis point rig motion platform includes host computer display screen, control panel, servo controller and motor, the host computer display screen has the software interface that can touch the screen, wherein:
the upper computer display screen is used for displaying and receiving zero returning information generated by touch operation of a user on the software interface, and sending the zero returning information to the control panel for storage, and the zero returning information generating process comprises the following steps:
displaying n rows and n columns of first controls in a first area of the software interface, wherein n first controls in each row correspond to different motion axes, n first controls in each column correspond to different zeroing sequences, and at most only one first control in each row and each column can be selected;
receiving a first touch operation of a user on any one of a plurality of first controls;
responding to the first touch operation, identifying a first control corresponding to the first touch operation as a selected state, and changing other first controls of a row where the first control is located and a column where the first control is located into unselected states;
displaying n rows and columns of second controls in a second area of the software interface, wherein the n second controls correspond to different motion axes and have a first display state and a second display state;
receiving a second touch operation of the user on any one of the n second controls;
responding to the second touch operation, and switching the display state of the corresponding second control;
displaying n rows and n columns of third controls in a third area of the software interface, wherein the n third controls correspond to different motion axes;
receiving a third touch operation of a user on any one of the n third controls;
responding to the third touch operation, displaying a soft keyboard on the software interface, receiving a numerical value set by a user through the soft keyboard, and displaying the numerical value in a corresponding third control;
a fourth control is displayed in a fourth area of the software interface;
receiving a fourth touch operation of the user on a fourth control;
in response to the fourth touch operation, traversing all the first controls by rows to generate a first array for recording a return-to-zero motion axis and a return-to-zero sequence, traversing all the second controls to generate a second array for recording an origin direction, traversing all the third controls to generate a third array for recording a return-to-zero speed, and generating the return-to-zero information by the first array, the second array and the third array;
the control panel is used for receiving and storing the zeroing information issued by the upper computer display screen, waiting for receiving the zeroing command, analyzing the stored zeroing information after receiving the zeroing command, generating zeroing instructions of all movement axes needing zeroing, and sending the zeroing instructions to the servo controller;
and the servo controller is used for receiving the zero returning instruction sent by the control panel, sequentially controlling the motors corresponding to the motion shafts to operate according to the zero returning instruction, and finishing the zero returning operation of the motion shafts.
Preferably, the first array comprises n elements, indexes 0 to n-1 of the array are used as a sequence of returning to zero, the element value corresponding to each index is a sequence number corresponding to the first control identified as the selected state in each row of the first controls, and if the first controls in one row are all identified as the unselected state, the corresponding element value in the first array is 0;
the second numeric group comprises n elements, the index of each element plus 1 corresponds to the serial number of each second control, the element value of each element is the display state of each second control, the element value of 0 represents the first display state, the element value of 1 represents the second display state, one of the first display state and the second display state represents that the direction of the origin point when the time returns to zero is the forward direction, and the other one represents that the direction of the origin point when the time returns to zero is the reverse direction;
the third array comprises n elements, the index plus 1 of each element corresponds to the sequence number of each third control, and the element value of each element is the numerical value displayed in the corresponding third control;
and the first control, the second control and the third control of the same sequence number correspond to the same axis of motion.
Preferably, after receiving the zeroing command, the control board analyzes the stored zeroing information, generates a zeroing instruction for each motion axis that needs to be zeroed, and executes the following operations:
the first array is represented by Axis [5], the second array is represented by Dir [5], and the third array is represented by Speed [5 ];
taking the value of Axis [0] as Axis [0] a, and if a is more than or equal to 1 and less than or equal to n, the first zero-returning motion Axis is the motion Axis with the serial number a; then, the origin direction of the motion axis with the sequence number a is obtained by taking the value of Dir [ a-1], and the zero returning Speed of the motion axis with the sequence number a is obtained by taking the value of Speed [ a-1], so as to obtain the first zero returning related information;
sequentially traversing the element values in the first array, acquiring the original point direction and the zero returning speed of the corresponding motion axis, and if the element value obtained by traversing is 0, judging the next element value until the traversing is finished;
and combining all relevant information of the return-to-zero according to the traversal order to form a return-to-zero instruction.
Preferably, the servo controller controls the servo motors corresponding to the motion axes to operate in sequence according to the zero-returning instruction, so as to complete the zero-returning operation of the motion axes, and execute the following operations:
controlling a motor corresponding to a motion shaft with the sequence number a to move along the direction of the original point at the zero returning speed according to the first zero returning related information until a limit signal is triggered; after triggering the limit signal, continuing to move along the direction opposite to the direction of the original point until triggering the limit signal again, and finishing the zero returning operation by the moving shaft with the sequence number a;
and continuing to perform zero returning operation according to the relevant information of zero returning until the zero returning operation of all the motion axes in the zero returning command is completed.
Preferably, the control panel is further used for monitoring the operation condition of the motor, generating alarm information when the motor is in operation error, and sending a return-to-zero execution result and the alarm information to the upper computer display screen.
Preferably, the upper computer display screen is further used for receiving the zero-returning execution result and the alarm information sent by the control panel and displaying the zero-returning execution result and the alarm information.
The application provides a variable zero returning method and system based on a multi-axis point drilling machine motion platform, a zero returning sequence and the number of zero returning shafts are set through a touchable software interface, simultaneously, display information of the interfaces is processed into three simple array types to be issued and stored, and the display information can be directly read and called from a control panel when the zero returning is carried out. Compared with the existing fixed and complex setting, the method is simpler and clearer, more autonomy is provided for operators to adapt to the actual production process, and the production and processing process is simpler, more flexible and more efficient.
Drawings
FIG. 1 is a flow chart of a variable zeroing method based on a multi-axis point drill motion platform of the present application;
FIG. 2 is a schematic structural diagram of an embodiment of a variable zero returning system based on a multi-axis point drilling machine moving platform according to the present application;
FIG. 3 is a flow chart of zeroing in example 1 of the present application;
FIG. 4 is a schematic diagram of a software interface in embodiment 1 of the present application;
fig. 5 is a flowchart of assigning values to an array through a software interface touch operation in embodiment 1 of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
In one embodiment, a variable zero returning method based on a multi-axis point drilling machine motion platform is provided, and is used for self-defining zero returning of all motion axes in the multi-axis point drilling machine motion platform.
As shown in fig. 1, the multi-axis point drill-based motion platform of the present embodiment has a touch-screen software interface, and the variable zero-returning method based on the multi-axis point drill-based motion platform includes the following steps:
step S1, receiving zero-returning information, wherein the zero-returning information is generated according to the touch operation of a user on the software interface, and the zero-returning information generation process comprises the following steps:
step S1.1, n rows and n columns of first controls are displayed in a first area of the software interface, n first controls in each row correspond to different motion axes, n first controls in each column correspond to different zeroing sequences, at most one first control in each row and each column can be selected, and n simultaneously represents the number of rows and columns of the first controls in the first area.
And receiving a first touch operation of a user on any first control in the plurality of first controls.
And responding to the first touch operation, identifying the first control corresponding to the first touch operation as a selected state, and changing other first controls of the row and the column where the first control is located into unselected states.
S1.2, displaying n rows of second controls in a second area of the software interface, wherein the n second controls correspond to different motion axes and have a first display state and a second display state.
And receiving a second touch operation of the user on any one of the n second controls.
And responding to the second touch operation, and switching the display state of the corresponding second control.
And S1.3, displaying n rows of third controls in a third area of the software interface, wherein the n third controls correspond to different motion axes.
And receiving a third touch operation of the user on any one of the n third controls.
And responding to the third touch operation, displaying a soft keyboard on the software interface, receiving a numerical value set by a user through the soft keyboard, and displaying the numerical value in a corresponding third control.
And S1.4, displaying a fourth control in a fourth area of the software interface.
And receiving a fourth touch operation of the user on the fourth control.
And responding to the third touch operation, traversing all the first controls by rows to generate a first array for recording a return-to-zero motion axis and a return-to-zero sequence, traversing all the second controls to generate a second array for recording an origin direction, traversing all the third controls to generate a third array for recording a return-to-zero speed, and generating the return-to-zero information by the first array, the second array and the third array.
The first array comprises n elements, indexes 0 to n-1 of the array are used as a sequence of returning to zero, the element value corresponding to each element is a sequence number corresponding to the first control identified as the selected state in each row of the first controls, and if the first controls in one row are all identified as the unselected state, the element value corresponding to the first array is 0.
The second numeric group comprises n elements, the index of each element plus 1 corresponds to the serial number of each second control, the element value of each element is the display state of each second control, the element value of 0 represents the first display state, the element value of 1 represents the second display state, one of the first display state and the second display state represents that the origin point direction of zero return is a forward direction, and the other one represents that the origin point direction of zero return is a reverse direction.
The third array comprises n elements, the index plus 1 of each element corresponds to the sequence number of each third control, and the element value of each element is the numerical value displayed in the corresponding third control.
And the first control, the second control and the third control of the same sequence number correspond to the same axis of motion.
And step S2, receiving a zero returning command, analyzing the zero returning information, and generating a zero returning instruction of each motion axis needing zero returning.
For ease of understanding, in one embodiment, the first array is represented by Axis [5], the second array is represented by Dir [5], and the third array is represented by Speed [5 ].
Step S2.1, if the value of Axis [0] is Axis [0] ═ a, and a is not less than 1 and not more than n, then the first motion Axis with number a returning to zero is represented; then, the origin direction of the motion axis with sequence number a is obtained by taking the value of Dir [ a-1], and the zero returning Speed of the motion axis with sequence number a is obtained by taking the value of Speed [ a-1], so as to obtain the related information of the zero returning under the first sequence.
And S2.2, sequentially traversing the element values in the first array, acquiring the origin direction and the zero returning speed of the corresponding motion axis, and judging the next element value if the element value obtained by traversing is 0 until the traversing is finished.
And S2.3, combining all relevant information of the return-to-zero according to the traversal sequence to form a return-to-zero instruction.
And step S3, sequentially controlling the motors corresponding to the motion shafts to operate according to the zero returning instruction, and finishing the zero returning operation of the motion shafts.
S3.1, controlling a motor corresponding to a motion shaft with the sequence number a to move along the direction of an original point at a zero returning speed according to related information of zero returning under the first sequence until a limit signal is triggered; after triggering the limit signal, the motion continues along the direction opposite to the direction of the original point until triggering the limit signal again, and the motion axis with the sequence number a finishes the zero returning operation.
And S3.2, continuing to perform zero returning operation according to the related information of zero returning until the zero returning operation of all the motion axes in the zero returning instruction is completed.
According to the variable zero-returning method based on the multi-axis point drilling machine motion platform, the zero-returning sequence and the zero-returning axis number are set through a touchable software interface, meanwhile, the information is processed into a simple array to be issued and stored, and the information can be directly read and called when the zero-returning is carried out. Compared with the existing fixed and complex setting, the method is simpler and clearer, more autonomy is provided for operators to adapt to the actual production process, and the production and processing process is simpler, more flexible and more efficient.
In another embodiment, a variable zero-returning system based on a multi-axis point drill moving platform is further provided, and is used for self-defining zero-returning of all moving axes in the multi-axis point drill moving platform.
As shown in fig. 2, the variable zero returning system based on the multi-axis point drill motion platform of the present embodiment includes an upper computer display screen, a control board, a servo controller, and a motor, where the upper computer display screen has a software interface capable of touching a screen, where:
the upper computer display screen is used for displaying and receiving zero returning information generated by touch operation of a user on the software interface, and sending the zero returning information to the control panel for storage, and the zero returning information generating process comprises the following steps:
displaying n rows and n columns of first controls in a first area of the software interface, wherein n first controls in each row correspond to different motion axes, n first controls in each column correspond to different zeroing sequences, and at most only one first control in each row and each column can be selected;
receiving a first touch operation of a user on any one of a plurality of first controls;
responding to the first touch operation, identifying a first control corresponding to the first touch operation as a selected state, and changing other first controls of a row where the first control is located and a column where the first control is located into unselected states;
displaying n rows and columns of second controls in a second area of the software interface, wherein the n second controls correspond to different motion axes and have a first display state and a second display state;
receiving a second touch operation of the user on any one of the n second controls;
responding to the second touch operation, and switching the display state of the corresponding second control;
displaying n rows and n columns of third controls in a third area of the software interface, wherein the n third controls correspond to different motion axes;
receiving a third touch operation of a user on any one of the n third controls;
responding to the third touch operation, displaying a soft keyboard on the software interface, receiving a numerical value set by a user through the soft keyboard, and displaying the numerical value in a corresponding third control;
a fourth control is displayed in a fourth area of the software interface;
receiving a fourth touch operation of the user on a fourth control;
in response to the fourth touch operation, traversing all the first controls by rows to generate a first array for recording a return-to-zero motion axis and a return-to-zero sequence, traversing all the second controls to generate a second array for recording an origin direction, traversing all the third controls to generate a third array for recording a return-to-zero speed, and generating the return-to-zero information by the first array, the second array and the third array;
the control panel is used for receiving and storing the zeroing information issued by the upper computer display screen, waiting for receiving the zeroing command, analyzing the stored zeroing information after receiving the zeroing command, generating zeroing instructions of all movement axes needing zeroing, and sending the zeroing instructions to the servo controller;
and the servo controller is used for receiving the zero returning instruction sent by the control panel, sequentially controlling the motors corresponding to the motion shafts to operate according to the zero returning instruction, and finishing the zero returning operation of the motion shafts.
Specifically, the first array includes n elements, indexes 0 to n-1 of the array are used as a sequence of returning to zero, an element value corresponding to each index is a sequence number corresponding to a first control identified as a selected state in each row of first controls, and if all the first controls in one row are identified as unselected states, a corresponding element value in the first array is 0;
the second numeric group comprises n elements, the index of each element plus 1 corresponds to the serial number of each second control, the element value of each element is the display state of each second control, the element value of 0 represents the first display state, the element value of 1 represents the second display state, one of the first display state and the second display state represents that the direction of the origin point when the time returns to zero is the forward direction, and the other one represents that the direction of the origin point when the time returns to zero is the reverse direction;
the third array comprises n elements, the index plus 1 of each element corresponds to the sequence number of each third control, and the element value of each element is the numerical value displayed in the corresponding third control;
and the first control, the second control and the third control of the same sequence number correspond to the same axis of motion.
Specifically, after receiving the zeroing command, the control board analyzes the stored zeroing information, generates a zeroing instruction for each motion axis that needs to be zeroed, and executes the following operations:
the first array is represented by Axis [5], the second array is represented by Dir [5], and the third array is represented by Speed [5 ];
taking the value of Axis [0] as Axis [0] a, and if a is more than or equal to 1 and less than or equal to n, the first zero-returning motion Axis is the motion Axis with the serial number a; then, the origin direction of the motion axis with the sequence number a is obtained by taking the value of Dir [ a-1], and the zero returning Speed of the motion axis with the sequence number a is obtained by taking the value of Speed [ a-1], so as to obtain the first zero returning related information;
sequentially traversing the element values in the first array, acquiring the original point direction and the zero returning speed of the corresponding motion axis, and if the element value obtained by traversing is 0, judging the next element value until the traversing is finished;
and combining all relevant information of the return-to-zero according to the traversal order to form a return-to-zero instruction.
Specifically, the servo controller sequentially controls the servo motors corresponding to the motion axes to operate according to the zero-returning instruction, so as to complete the zero-returning operation of the motion axes, and execute the following operations:
controlling a motor corresponding to a motion shaft with the sequence number a to move along the direction of the original point at the zero returning speed according to the first zero returning related information until a limit signal is triggered; after triggering the limit signal, continuing to move along the direction opposite to the direction of the original point until triggering the limit signal again, and finishing the zero returning operation by the moving shaft with the sequence number a;
and continuing to perform zero returning operation according to the relevant information of zero returning until the zero returning operation of all the motion axes in the zero returning command is completed.
Specifically, the control panel still is used for monitoring the operation condition of motor, produces alarm information when the motor operation is makeed mistakes, and to host computer display screen sends back zero execution result and alarm information.
Specifically, the upper computer display screen is further used for receiving a return-to-zero execution result and alarm information sent by the control panel and displaying the return-to-zero execution result and the alarm information.
The variable zero returning system based on the multi-axis point drilling machine motion platform further comprises a limiting component, the limiting component can be a photoelectric limiting switch, the upper computer display screen 1 is communicated with the control panel 2 through a communication protocol, and the protocol can be RS232, RS485 communication protocols or TCP/IP communication protocols and the like. The upper computer display screen 1 sends zero-returning information to the control panel 2, and the main control panel 2 and the servo controller in the actuating mechanism 3 communicate through a CAN open communication protocol based on a CAN bus.
For the convenience of control, a plurality of servo controllers are provided in the present embodiment, and each servo controller is connected to one motor, which is represented by a node in fig. 2. The control panel 2 receives the zero returning information and then sends the zero returning information to the servo controller, the servo controller drives the motor according to the zero returning information so as to control the axial movement in the direction of the original point, when the position of the limiting component 4 is reached, the servo controller receives the triggered limiting signal, the motor moves back at a small speed, and the shaft returns to zero after the limiting signal is triggered again, so that the shaft is finished.
And control panel 2 in this embodiment still has the warning detection function, can monitor actuating mechanism 3's execution process, if the execution process error then triggers and the record warning, acquires actuating mechanism's execution state simultaneously to return the execution state to host computer display screen 1, so that host computer display screen 1 follows up the execution progress in real time, and demonstrates the execution progress to operating personnel.
To facilitate an understanding of the variable return to zero method and system of the present embodiment, a detailed example is provided below for further details.
Example 1
As shown in fig. 3, the zeroing procedure is as follows:
the first step is as follows: and setting zero-returning information.
The zeroing information includes which axes are zeroed, the respective zeroing order, and the zeroing speed and origin direction. The zero-returning speed is set in a numerical value form, the direction of the original point is set in a positive direction or a negative direction by switching and selecting Boolean types, and the number and the sequence of the zero-returning shafts are set by clicking selection or cancellation.
As shown in fig. 4, in the embodiment, the point drill motion platform has five shafts, that is, 1 to 5, and the motion axis x is set to be the serial number 1, the motion axis y is the serial number 2, the motion axis z is the serial number 3, the motion axis a is the serial number 4, and the motion axis B is the serial number 5.
In the program execution process, interface display can be continuously refreshed, and the upper computer display screen displays the first control corresponding to the address according to touch operation or does not display the checkmark.
If addresses 0x1010, 0x1020, 0x1030, 0x1040, 0x1050 represent five first controls of a first row, addresses 0x2010, 0x2020, 0x2030, 0x2040, 0x2050 represent five first controls of a second row, …, and addresses 0x5010, 0x5020, 0x5030, 0x5040, 0x5050 represent five first controls of a fifth row.
Each element of the two-dimensional array List [5] [5] represents a variable corresponding to each box. And record the number and sequence of zero-returning axes by Axis [5], Dir [5] is used to record the origin direction of each Axis, Speed [5] is used to record the zero-returning Speed of each Axis, and Axis [5], Dir [5] and Speed [5] are saved after the zero-returning interface is set. As shown in fig. 5, the zero-return information generation process is as follows:
1) initializing arrays List [5] [5] and Axis [5], Dir [5], Speed [5 ];
set List [5] [5] { {0,0,0,0,0}, {0,0,0,0,0}, {0,0,0,0,0}, {0,0, 0} }; axis [5] = {0,0,0,0 }; dir [5] ═ {0,0,0,0 }; speed [5] ═ {0,0,0,0 }.
2) Starting from the first row, it is detected whether the row receives an assignment signal.
After the system is powered on, the upper computer display screen and the control panel start to be in a communication state for exchanging data and detecting states. At the moment, the zeroing information can be set on the display screen of the upper computer through touch. For example, clicking the box in the first row and the third column at this time, the first control with the address 0x1030 is obtained. And clicking the box in the first column of the second row to acquire the first control with the address of 0x 2010.
2) And assigning the corresponding variable according to the displayed information.
After the address 0x1030 is acquired, the branch execution corresponding to the address 0x1030 is entered. The program content of this branch is: the value of the variable List [0] [2] is first judged, and if List [0] [2] is equal to 1, then List [0] [2] is executed to be equal to 0, and then the branch is jumped out, and the next line is detected continuously. If List [0] [2] ═ 0, then List [0] [2] ═ 1, List [0] [0] ═ List [0] [3] ═ List [0] [4] ═ 0, and List [1] [2] ═ List [2] [2] ═ List [3] [2] ═ List [4] [2] ═ 0 are executed.
After acquiring address 0x2010, branch execution corresponding to address 0x2020 is entered. The program content of this branch is: the value of the variable List [1] [0] is first judged, and if List [1] [0] is equal to 1, then List [1] [0] is executed to be equal to 0, and then the branch is jumped out, and the next line is detected continuously. If List [1] [0] is 0, then List [1] [0] is executed to 1, List [1] [1] is List [1] [2] is List [1] [3] is List [1] [4] is 0, and List [0] [0] is List [2] [0] is List [3] [0] is List [4] [0] is executed to 0.
3) And refreshing the interface display according to the value of the variable.
Based on the result obtained from the previous List [5] [5], the display information of the interface may be refreshed, and for example, when it is determined that List [0] [2] ═ 1, List [0] [0] ═ List [0] [3] ═ List [0] [4] ═ 0, List [1] [2] ═ List [2] [2] } List [3] ═ List [4] [2] ═ 0, the display information of the interface is the first row, the third control is selected, and the other first controls of the first row and the third column are not selected. According to the following, that List [1] [0], List [1] [1], (List [1] [2], (List [1] [3], (List [1] [4], (0), and List [0] [0], (List [2] [0], (List [3] [0], (List [4] [0], (0), the interface display information is that the first control in the second row is selected, and the first controls in the second row and the other first controls in the first column are not selected may be obtained.
It should be noted that the program execution speed is very fast, and the refresh frequency of the software interface can be fed back to the screen in real time according to the click of the user.
4) After clicking to save, assigning Axis [5], Dir [5] and Speed [5] and sending down for saving.
Axis [5] is assigned based on the results obtained from List [5] [5] above.
If the state after the final touch is as shown in fig. 2, it can be determined that List [0] [0] ═ List [0] [1] ═ List [0] [3] ═ List [0] [4] ═ 0, and List [0] [2] ═ 1 in the first row, so Axis [0] - [3] is set, and the motion Axis indicating the return-to-zero in the 1 st order is the motion Axis with the sequence number of 3, that is, the Z Axis. Since the second row List [1] [0] is determined to be 1 and List [1] [1] is determined to be List [1] [2] is determined to be List [1] [3] is determined to be List [1] [4] is determined to be 0, Axis [1] is determined to be 1, and the motion Axis returning to zero in the order 2 is the motion Axis with the index 1, that is, the X Axis. Since the third row List [2] [1] is determined to be 1 and List [2] [0] is determined to be List [2] [3] is determined to be List [2] [4] is determined to be 0, Axis [2] is determined to be 2, and the motion Axis indicating the return to zero in the order 3 is the motion Axis with the index 2, that is, the Y Axis. Judging the fourth line and the fifth line respectively to obtain that Axis [3] is equal to 0, Axis [4] is equal to 0, and the sequence 4 and the sequence 5 have no movement Axis and return to zero.
After the number and sequence of the movement axes to be reset to zero are selected, the direction and Speed of each movement axis to zero can be set, when the square frame in the line of the direction of the original point is clicked, the positive and negative directions are alternately switched and displayed, the direction signal Dir [5] of the original point is switched between 0 and 1, and the Speed to zero Speed [5] is directly set by clicking the corresponding square frame to pop up the keyboard.
After the setting is completed on the page, clicking back to store Axis 5, Dir 5 and Speed 5, the upper computer display screen returns to the main page, and the return-to-zero information is sent to the control panel to be stored at the fixed address.
The second step is that: and receiving a zero returning instruction, and reading and analyzing zero returning information.
The return-to-zero information is read and processed according to the address of the stored return-to-zero information, first enabling the corresponding servo node i according to the value i of Axis [0], and then starting the motion according to the Speed [ i-1] and the direction Dir [ i-1 ]. If Axis [0] is equal to 0, the value of Axis [1] continues to be detected, and so on.
The third step: and controlling the motor to complete zero returning according to the zero returning instruction.
When a zero-returning button on the main page of the upper computer display screen is clicked, the upper computer display screen sends an instruction to the control panel. At the moment, the display of the upper computer display screen is returning to zero, and the control panel starts to process to control the motor to return to zero. After receiving the zero-returning instruction, the control board reads and processes the zero-returning information according to the address of the stored zero-returning information, firstly, the corresponding servo controller node i is enabled according to the value i of Axis [0], then, the control board starts to move according to the issued return Speed [ i-1] and the direction Dir [ i-1], after triggering a limit signal, the motor searches the origin again in the reverse direction of the Dir [ i-1] at a small Speed, and the control board triggers the limit shaft again to zero again to complete the zero-returning. The second Axis of motion is initially zeroed based on the value of Axis [1], as described above. And ending the whole zero returning process until the servo node corresponding to the information in Axis [4] is returned to zero. The upper computer display screen enters the main interface, and the control panel keeps communicating with the upper computer display screen and continues to perform the work of state monitoring, data exchange and the like.
According to the zero-returning process, the selected shafts can be sequentially returned to zero, the zero-returning operation is simplified, the initialization before the automatic operation of the machine is more flexible and convenient, and the production efficiency is improved.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A variable zero-returning method based on a multi-axis point drilling machine motion platform is used for self-defining zero-returning of all motion axes in the multi-axis point drilling machine motion platform, and is characterized in that the multi-axis point drilling machine motion platform is provided with a touch-screen software interface, and the variable zero-returning method based on the multi-axis point drilling machine motion platform comprises the following steps:
step S1, receiving zero-returning information, wherein the zero-returning information is generated according to the touch operation of a user on the software interface, and the zero-returning information generation process comprises the following steps:
displaying n rows and n columns of first controls in a first area of the software interface, wherein n first controls in each row correspond to different motion axes, n first controls in each column correspond to different zeroing sequences, at most only one first control in each row and each column can be selected, and n simultaneously represents the number of rows and columns of the first controls in the first area;
receiving a first touch operation of a user on any one of a plurality of first controls;
responding to the first touch operation, identifying a first control corresponding to the first touch operation as a selected state, and changing other first controls of a row where the first control is located and a column where the first control is located into unselected states;
displaying n rows and columns of second controls in a second area of the software interface, wherein the n second controls correspond to different motion axes and have a first display state and a second display state;
receiving a second touch operation of the user on any one of the n second controls;
responding to the second touch operation, and switching the display state of the corresponding second control;
displaying n rows and n columns of third controls in a third area of the software interface, wherein the n third controls correspond to different motion axes;
receiving a third touch operation of a user on any one of the n third controls;
responding to the third touch operation, displaying a soft keyboard on the software interface, receiving a numerical value set by a user through the soft keyboard, and displaying the numerical value in a corresponding third control;
a fourth control is displayed in a fourth area of the software interface;
receiving a fourth touch operation of the user on a fourth control;
in response to the fourth touch operation, traversing all the first controls by rows to generate a first array for recording a return-to-zero motion axis and a return-to-zero sequence, traversing all the second controls to generate a second array for recording an origin direction, traversing all the third controls to generate a third array for recording a return-to-zero speed, and generating the return-to-zero information by the first array, the second array and the third array;
step S2, receiving a zero returning command, analyzing the zero returning information, and generating a zero returning instruction of each motion axis needing zero returning;
and step S3, sequentially controlling the motors corresponding to the motion shafts to operate according to the zero returning instruction, and finishing the zero returning operation of the motion shafts.
2. The variable zero-returning method based on the multi-axis point drill motion platform as claimed in claim 1, wherein the first array contains n elements, the indexes 0 to n-1 of the array are used as the sequence of zero-returning, the value of the element corresponding to each index is the sequence number corresponding to the first control identified as the selected state in each row of the first controls, and if the first controls in a row are all identified as the unselected state, the value of the element corresponding to the first array is 0;
the second numeric group comprises n elements, the index of each element plus 1 corresponds to the serial number of each second control, the element value of each element is the display state of each second control, the element value of 0 represents the first display state, the element value of 1 represents the second display state, one of the first display state and the second display state represents that the direction of the origin point when the time returns to zero is the forward direction, and the other one represents that the direction of the origin point when the time returns to zero is the reverse direction;
the third array comprises n elements, the index plus 1 of each element corresponds to the sequence number of each third control, and the element value of each element is the numerical value displayed in the corresponding third control;
and the first control, the second control and the third control of the same sequence number correspond to the same axis of motion.
3. The variable zero-returning method based on the multi-axis point drill motion platform as claimed in claim 2, wherein the receiving the zero-returning command, analyzing the zero-returning information, and generating the zero-returning instruction of each motion axis needing zero-returning comprises:
the first array is represented by Axis [5], the second array is represented by Dir [5], and the third array is represented by Speed [5 ];
taking the value of Axis [0] as Axis [0] a, and if a is more than or equal to 1 and less than or equal to n, the first zero-returning motion Axis is the motion Axis with the serial number a; then, the origin direction of the motion axis with the sequence number a is obtained by taking the value of Dir [ a-1], and the zero returning Speed of the motion axis with the sequence number a is obtained by taking the value of Speed [ a-1], so as to obtain the first zero returning related information;
sequentially traversing the element values in the first array, acquiring the original point direction and the zero returning speed of the corresponding motion axis, and if the element value obtained by traversing is 0, judging the next element value until the traversing is finished;
and combining all the zero-returning related information according to the traversal order to form a zero-returning instruction.
4. The variable zero returning method based on the multi-axis point drilling machine motion platform as claimed in claim 3, wherein according to the zero returning command, the operation of the motor corresponding to each motion axis is controlled in sequence, and the zero returning operation of the motion axis is completed, including:
controlling a motor corresponding to a motion shaft with the sequence number a to move along the direction of the original point at the zero returning speed according to the first zero returning related information until a limit signal is triggered; after triggering the limit signal, continuing to move along the direction opposite to the direction of the original point until triggering the limit signal again, and finishing the zero returning operation by the moving shaft with the sequence number a;
and continuing to perform zero returning operation according to the relevant information of zero returning until the zero returning operation of all the motion axes in the zero returning command is completed.
5. The utility model provides a variable zero system that returns based on multiaxis point rig motion platform for the self-defined zero that returns of all moving axes in the multiaxis point rig motion platform, its characterized in that, a variable zero system that returns based on multiaxis point rig motion platform includes host computer display screen, control panel, servo controller and motor, the host computer display screen has the software interface that can touch the screen, wherein:
the upper computer display screen is used for displaying and receiving zero returning information generated by touch operation of a user on the software interface, and sending the zero returning information to the control panel for storage, and the zero returning information generating process comprises the following steps:
displaying n rows and n columns of first controls in a first area of the software interface, wherein n first controls in each row correspond to different motion axes, n first controls in each column correspond to different zeroing sequences, and at most only one first control in each row and each column can be selected;
receiving a first touch operation of a user on any one of a plurality of first controls;
responding to the first touch operation, identifying a first control corresponding to the first touch operation as a selected state, and changing other first controls of a row where the first control is located and a column where the first control is located into unselected states;
displaying n rows and columns of second controls in a second area of the software interface, wherein the n second controls correspond to different motion axes and have a first display state and a second display state;
receiving a second touch operation of the user on any one of the n second controls;
responding to the second touch operation, and switching the display state of the corresponding second control;
displaying n rows and n columns of third controls in a third area of the software interface, wherein the n third controls correspond to different motion axes;
receiving a third touch operation of a user on any one of the n third controls;
responding to the third touch operation, displaying a soft keyboard on the software interface, receiving a numerical value set by a user through the soft keyboard, and displaying the numerical value in a corresponding third control;
a fourth control is displayed in a fourth area of the software interface;
receiving a fourth touch operation of the user on a fourth control;
in response to the fourth touch operation, traversing all the first controls by rows to generate a first array for recording a return-to-zero motion axis and a return-to-zero sequence, traversing all the second controls to generate a second array for recording an origin direction, traversing all the third controls to generate a third array for recording a return-to-zero speed, and generating the return-to-zero information by the first array, the second array and the third array;
the control panel is used for receiving and storing the zeroing information issued by the upper computer display screen, waiting for receiving the zeroing command, analyzing the stored zeroing information after receiving the zeroing command, generating zeroing instructions of all movement axes needing zeroing, and sending the zeroing instructions to the servo controller;
and the servo controller is used for receiving the zero returning instruction sent by the control panel, sequentially controlling the motors corresponding to the motion shafts to operate according to the zero returning instruction, and finishing the zero returning operation of the motion shafts.
6. The multi-axis point drill motion platform based variable zero-returning system of claim 5, wherein the first array comprises n elements, indexes 0 to n-1 of the array are used as the sequence of zero-returning, the value of the element corresponding to each index is the sequence number corresponding to the first control identified as the selected state in each row of the first controls, and the value of the element corresponding to the first array is 0 if the first controls in a row are all identified as the unselected state;
the second numeric group comprises n elements, the index of each element plus 1 corresponds to the serial number of each second control, the element value of each element is the display state of each second control, the element value of 0 represents the first display state, the element value of 1 represents the second display state, one of the first display state and the second display state represents that the direction of the origin point when the time returns to zero is the forward direction, and the other one represents that the direction of the origin point when the time returns to zero is the reverse direction;
the third array comprises n elements, the index plus 1 of each element corresponds to the sequence number of each third control, and the element value of each element is the numerical value displayed in the corresponding third control;
and the first control, the second control and the third control of the same sequence number correspond to the same axis of motion.
7. The variable zero returning system based on the multi-axis point drill motion platform as claimed in claim 6, wherein the control board analyzes the stored zero returning information after receiving the zero returning command, generates the zero returning instruction of each motion axis needing zero returning, and performs the following operations:
the first array is represented by Axis [5], the second array is represented by Dir [5], and the third array is represented by Speed [5 ];
taking the value of Axis [0] as Axis [0] a, and if a is more than or equal to 1 and less than or equal to n, the first zero-returning motion Axis is the motion Axis with the serial number a; then, the origin direction of the motion axis with the sequence number a is obtained by taking the value of Dir [ a-1], and the zero returning Speed of the motion axis with the sequence number a is obtained by taking the value of Speed [ a-1], so as to obtain the first zero returning related information;
sequentially traversing the element values in the first array, acquiring the original point direction and the zero returning speed of the corresponding motion axis, and if the element value obtained by traversing is 0, judging the next element value until the traversing is finished;
and combining all relevant information of the return-to-zero according to the traversal order to form a return-to-zero instruction.
8. The variable zero returning system based on the multi-axis point drilling machine motion platform as claimed in claim 7, wherein the servo controller controls the servo motors corresponding to the motion axes to operate in sequence according to the zero returning command, so as to complete the zero returning operation of the motion axes, and execute the following operations:
controlling a motor corresponding to a motion shaft with the sequence number a to move along the direction of the original point at the zero returning speed according to the first zero returning related information until a limit signal is triggered; after triggering the limit signal, continuing to move along the direction opposite to the direction of the original point until triggering the limit signal again, and finishing the zero returning operation by the moving shaft with the sequence number a;
and continuing to perform zero returning operation according to the relevant information of zero returning until the zero returning operation of all the motion axes in the zero returning command is completed.
9. The variable zero returning system based on the multi-axis point drilling machine motion platform as claimed in claim 5, wherein the control board is further used for monitoring the operation condition of the motor, generating alarm information when the motor operates incorrectly, and sending a zero returning execution result and the alarm information to the upper computer display screen.
10. The variable zero returning system based on the multi-axis point drill motion platform as claimed in claim 9, wherein the upper computer display screen is further used for receiving the zero returning execution result and the alarm information sent by the control board and displaying the zero returning execution result and the alarm information.
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| JPH10254520A (en) * | 1997-03-14 | 1998-09-25 | Komatsu Koki Kk | Original point returning method for nc control axis |
| CN100378607C (en) * | 2005-09-01 | 2008-04-02 | 广东省机械研究所 | A method for numerically controlled machine tool to return to reference point from any position |
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| CN102085623B (en) * | 2010-09-25 | 2012-06-27 | 宁波天瑞精工机械有限公司 | Method and device for controlling regression of feeding shaft of processing center to reference point |
| CN102707662B (en) * | 2012-05-15 | 2014-06-25 | 广州数控设备有限公司 | Zero returning control method based on industrial Ethernet bus technology |
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