CN111844052B - Point position teaching programming method of automatic point drilling machine - Google Patents

Point position teaching programming method of automatic point drilling machine Download PDF

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CN111844052B
CN111844052B CN202010620198.9A CN202010620198A CN111844052B CN 111844052 B CN111844052 B CN 111844052B CN 202010620198 A CN202010620198 A CN 202010620198A CN 111844052 B CN111844052 B CN 111844052B
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point
bin
coordinate
teaching
dispensing
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CN111844052A (en
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董辉
唐旺山
邹立
罗立锋
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Hangzhou Zhanhui Technology Co ltd
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Hangzhou Zhanhui Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with master teach-in means
    • 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
    • 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
    • G05B19/4093—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 part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine

Abstract

The invention discloses a point position teaching programming method of an automatic point drilling machine, which comprises a teaching interval and an offset parameter; teaching material storehouse parameter to the first product in the first line in the product dish is the teaching object, teaches to each point location in the teaching object in proper order, reads the coordinate when first point gum head removes the point location on the teaching object and saves as carrying out the coordinate during teaching at every turn to according to the information setting of receiving and the attribute that this point location corresponds, the attribute of point location includes: the method comprises the following steps of (1) performing idle movement instruction, dispensing instruction, drilling instruction, dispensing and drilling instruction; judging whether teaching of all point positions of a teaching object is finished or not, if the teaching of all point positions is finished, finishing teaching programming and generating a teaching program for controlling the motion of the automatic point drilling machine; otherwise, returning to continue teaching. The invention uses the point location as the core to carry out teaching programming, can reduce the number of programming instructions by nearly half, and avoids repeated point-to-point teaching.

Description

Point position teaching programming method of automatic point drilling machine
Technical Field
The application belongs to the technical field of motion control, and particularly relates to a point position teaching programming method of an automatic point drilling machine.
Background
Because of its high refractive index, water diamond is often used in the processing of ornaments because it has a diamond-like shiny and gorgeous visual effect. And the traditional manual gluing and drilling mode has low efficiency, poor precision and high labor intensity, and can not meet the production requirement. The automatic point drilling machine is a machine for dispensing a point on a product to be processed, sucking a rhinestone up and sticking the rhinestone to a point of a decoration drill. The diamond point drill is widely applied to point drill processing of various articles such as hardware, murals, ornaments, watches, photo frames, clothes, shoes, hats, mobile phones and the like. The equipment improves the processing speed to a certain extent, can realize mass production with little human input, is firm and reliable in sticking, and can be packaged into finished products in real time.
The teaching is generated when the robot replaces the manual work. When a robot is used instead of a human to perform a work, it is necessary to give an instruction to the robot in advance and to specify a specific content of an operation and a work to be performed by the robot. This process is referred to as teaching the robot or programming the robot.
In the automatic operation process of the point drilling machine, a set of processing programs edited by a user according to the product type is provided. Because products processed by the point drilling machine have the particularity of more point locations and intensive distribution, a common programming mode of instruction type becomes complicated and complicated when the products are replaced and reprogrammed, and the point drilling machine is mainly embodied in the following two aspects that firstly, a point drilling instruction needs to be taught again on point locations taught by a point dispensing instruction, a large amount of time is wasted for point-to-point debugging, secondly, the product offset processing is difficult to realize, the number of program is increased for repeated programming of the products with the same shape and size, and a large amount of memory space is occupied. The programming mode in which the action instructions are core no longer meets the production requirements.
Disclosure of Invention
The point location teaching programming method of the automatic point drilling machine aims to perform teaching programming by taking the point location as a core, reduce the number of programming instructions by nearly half and avoid repeated point location teaching.
In order to achieve the purpose, the technical scheme adopted by the application is as follows:
several alternatives are provided below, but not as an additional limitation to the above general solution, but merely as a further addition or preference, each alternative being combinable individually for the above general solution or among several alternatives without technical or logical contradictions.
A point location teaching programming method of an automatic point drilling machine, wherein the automatic point drilling machine is provided with n point gluing heads and m point drill bits, and the point location teaching programming method of the automatic point drilling machine comprises the following steps:
step S1, teaching pitch and offset parameter:
acquiring n first coordinates, wherein the first coordinates are mobile coordinates of each point glue head relative to a reference point when moving to the reference point, and acquiring m second coordinates, the second coordinates are mobile coordinates of each point drill head relative to the reference point when moving to the reference point, and determining the distance between each point glue head and each point drill head, the distance between each point glue head and each point drill head and the distance between each point drill head according to the first coordinates and the second coordinates;
the method comprises the steps of obtaining a coordinate when a first dispensing head moves to a first point position of a first product in a first row in a product tray as a first point position coordinate, obtaining a coordinate when the first dispensing head moves to a first point position of a second product in the first row in the product tray as a second point position coordinate, obtaining a coordinate when the first dispensing head moves to the first point position of the first product in the second row in the product tray as a third point position coordinate, and calculating the transverse offset and the longitudinal offset of the product in the product tray according to the first point position coordinate, the second point position coordinate and the third point position coordinate;
step S2, teaching bin parameters:
reading a coordinate when a first point drill bit moves to a starting point of a bin and storing the coordinate as a bin starting coordinate, reading a coordinate when the first point drill bit moves to an X-direction boundary point of the bin along the positive direction of an X axis and storing the coordinate as a X-direction boundary coordinate of the bin, reading a coordinate when the first point drill bit moves to a Y-direction boundary point of the bin along the positive direction of a Y axis and storing the coordinate as a Y-direction boundary coordinate of the bin, and calculating to obtain a coordinate of each bin point in the bin according to the bin starting coordinate, the X-direction boundary coordinate of the bin, the Y-direction boundary coordinate of the bin, the number of the X-direction bin points in the bin and the number of the Y-direction bin points;
step S3, teaching is sequentially carried out on each point location in the teaching object by taking the first product in the first row in the product disc as the teaching object, coordinates when the first dispensing head moves to the point location on the teaching object are read during each teaching and stored as execution coordinates, and attributes corresponding to the point location are set according to received information, wherein the attributes of the point location include: an idle moving instruction, a dispensing instruction, a point drilling instruction and a dispensing point drilling instruction;
step S4, judging whether teaching of all point positions of a teaching object is finished or not, if finishing teaching of all point positions, finishing teaching programming, and generating a teaching program for controlling the motion of the automatic point drilling machine; otherwise, returning to the step S3 to continue teaching;
the method comprises the following steps of performing idle movement instruction, dispensing instruction, point drilling instruction and dispensing point drilling instruction, wherein the execution steps of the instructions are as follows:
for the execution coordinate (x)i,yi,zi,oi) If the attribute of the corresponding point location is the idle instruction, the execution steps are as follows: move to coordinate (x)i,yi,zi,oi) And do nothing;
if the attribute of the corresponding point location is the dispensing instruction, the execution steps are as follows: judging the position of the Z axis, if the Z axis is lower than the dispensing lifting degree, lifting the Z axis to the dispensing lifting degree, and then moving other axes to a target point (x)i,yi,oi) Then the Z axis is lowered to the target position ZiStarting glue discharging, stopping glue discharging after reaching the glue discharging amount, and then lifting the Z axis to the glue dispensing lifting degree to complete the glue dispensing instruction;
if the attribute of the corresponding point location is a point drilling instruction, the execution steps are as follows: firstly according to the selected coordinates from the stock bin to the material taking
Figure GDA0003504756930000031
Taking materials, if the Height of the stock bin is LC _ Height and the back-lifting Height of the stock bin is LC _ HT _ Height, firstly judging the position of a Z axis, if the Height is lower than the back-lifting Height of the stock bin LC _ HT _ Height, firstly lifting the Z axis to the back-lifting Height of the stock bin, then moving to a stock bin point, and reaching the stock bin point
Figure GDA0003504756930000032
The rear Z axis begins to descend to the bin Height LC _ Height and opens the suction nozzle in advance, and after the suction nozzle drills, the Z axis rises to the LC _ HT _ Height and begins to move to the point (x)i,yi,DZ_HT_Height,oi) Motion, where DZ _ HT _ Height is the point drill lift back Height, to point (x)i,yi,DZ_HT_Height,oi) Then Z axis to target position ZiDescending and loosening the suction nozzle in advance, and after the drill is stably released, ascending the Z axis DZ _ HT _ Height to complete the point drill instruction;
if the attribute of the corresponding point location is the dispensing point drill instruction, executingThe method comprises the following steps: executing a dispensing instruction and converting the execution coordinate into a point drill coordinate (x'i,y′i,z′i) And independently storing the data into an array, continuously executing the program after all dispensing instructions of a product are finished, calculating according to the offset parameter to obtain a new product, continuously dispensing, simultaneously storing the offset parameter into the array for recording the point drill coordinates, and starting to execute the point drill instructions when the number of the products subjected to dispensing processing is equal to the number of the point drill bits.
Preferably, the calculating the coordinate of each bin point in the bin according to the bin start coordinate, the bin X boundary coordinate, the bin Y boundary coordinate, the number of X-direction bin points in the bin and the number of Y-direction bin points in the bin includes:
let the bin start coordinate be (X)LC1,YLC1) Bin X boundary coordinate of (X'LC1,Y′LC1) The boundary coordinate of the bin Y is (X ″)LC1,Y″LC1) The number of the X-direction bin points in the bin is H _ Num, and the number of the Y-direction bin points in the bin is V _ Num;
calculating the average distance of the bin in the X direction as
Figure GDA0003504756930000033
Figure GDA0003504756930000034
Calculating the average Y-direction distance of the storage bin as
Figure GDA0003504756930000035
Figure GDA0003504756930000036
Computing X-direction average compensation
Figure GDA0003504756930000037
And Y-direction average compensation
Figure GDA0003504756930000038
Comprises the following steps:
Figure GDA0003504756930000039
Figure GDA0003504756930000041
calculate the coordinate of bin point gk as (X)LCg,YLCk)：
Figure GDA0003504756930000042
Figure GDA0003504756930000043
Wherein g is 1,2,3 … H _ Num, k is 1,2,3 … V _ Num.
According to the point position teaching programming method of the automatic point drilling machine, the teaching interval, the offset parameter and the bin parameter are adopted, so that the teaching programming process is omitted, the corresponding teaching process for each product is omitted, the teaching program amount is greatly reduced, and the teaching efficiency is improved; the processing teaching is carried out by taking a product as a reference, the universality is realized for similar products, the separate teaching of dispensing and point drilling is not required, the complexity of teaching programming is greatly simplified, and the production efficiency is effectively improved.
Drawings
FIG. 1 is a schematic illustration of the components of the automatic point drilling machine of the present application;
FIG. 2 is a flow chart of a point location teaching programming method of the present application for an automatic point drilling machine;
fig. 3 is a schematic diagram of bin point calculation 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 point location teaching programming method of an automatic point drilling machine is provided, and is used for realizing simple teaching programming of the point drilling machine.
As shown in fig. 1, the automatic spot drilling machine has n spot gluing heads and m spot drilling heads, and as known from practical application, n and m are both positive integers, and m is generally set to be an integer multiple of n. And a fixed coordinate system is preset in the point drilling machine in the point dispensing and drilling process so as to facilitate the positioning of the point dispensing head, the electric drill bit, the product and the stock bin point. The coordinate system may have an axis in the X direction, an axis in the Y direction, and an axis in the Z direction, not shown, shown in fig. 1. Certainly, in practical application, the directions and the number of the coordinate systems can be adjusted, so that the point drilling machine is suitable for multiple scenes.
As shown in fig. 2, the point location teaching programming method of the automatic point drilling machine of the present embodiment includes:
step S1, teaching pitch and offset parameter:
acquiring n first coordinates (X)DJa,YDJa,ZDJa) And a is 1,2, …, n, the first coordinate is the moving coordinate of each adhesive head relative to the reference point when the adhesive head moves to the reference point, and m second coordinates (X) are obtainedDZb,YDZb,ZDZb) And b is 1,2, …, m, the second coordinate is the moving coordinate of each point drill head relative to the reference point when the point drill head moves to the reference point, and the distance between the point gluing heads and the point drill head, the distance between the point gluing heads and the distance between the point drill heads are determined according to the first coordinate and the second coordinate.
The reference points corresponding to the first coordinate and the second coordinate are the same, a coordinate system is established in a state after the automatic point drilling machine returns to zero, and the reference points are any points preset in the coordinate system so as to facilitate the conversion of each subsequent distance. And the movement coordinates relative to the reference point are understood to be the change in position of the coordinate axes during the movement of the starting position of the component to the reference point, and the movement coordinates are formed as a function of this change in position. For example, the part start bit is (1,2,3), the coordinates of the preset reference point are (10,10,10), and the movement coordinates are (9,8, 7). The calculation of each distance is a conventional technical means in the coordinate calculation field, and is not described herein.
The product offset is a distance (i.e. a lateral offset, also called an X-direction offset) between the next identical product to be processed and the product after one product is processed, and if there are a plurality of rows of products, a longitudinal offset (also called a Y-direction offset) of the product is also taught. The teaching offset parameter flow disclosed in the embodiment is as follows:
obtaining a coordinate when the first dispensing head moves to a first point position of a first product in a first row in the product tray as a first point position coordinate (X)CP1,YCP1) And the coordinate when the first dispensing head moves to the first point position of the first row of second products in the product tray is obtained as the second point position coordinate (X)CP2,YCP2) And the coordinate when the first dispensing head moves to the first point position of the first product in the second row in the product tray is the third point position coordinate (X)CP3,YCP3) And calculating the transverse offset and the longitudinal offset of the product in the product tray according to the first point position coordinate, the second point position coordinate and the third point position coordinate.
Because the products in the product tray are all positioned at the same height of the product tray, the transverse offset can be obtained as a coordinate (X) only by obtaining data of an X axis and a Y axisCP1,YCP1) And (Z)CP2,YCP2) The longitudinal offset is the coordinate (X)CP2,YCP2) And (X)CP3,YCP3) The spacing therebetween.
Step S2, teaching bin parameters:
the distance parameter in step S1 is determined by the mechanical structure, and the teaching needs to be re-set only after the position of the dispensing head or the bit is changed, i.e., when the machine is not affected by damage, deformation or looseness, the teaching does not need to be performed again. The magazine is determined by the drill type and drill plate specifications required for the product and is set before programming is started for each product change.
According to different processed products, the model and the specification of each bin are not necessarily the same, so that the teaching is required independently. The teaching of one of the bins is taken as an example for explanation:
the coordinate of the first point drill bit moving to the starting point of the bin is read and stored as a bin starting coordinate, the coordinate of the first point drill bit (from the bin starting coordinate) moving to the X-direction boundary point of the bin along the positive direction of the X axis is read and stored as a bin X-direction boundary coordinate, the coordinate of the first point drill bit (from the bin X-direction boundary coordinate) moving to the Y-direction boundary point of the bin along the positive direction of the Y axis is read and stored as a bin Y-direction boundary coordinate, and the coordinate of each bin point in the bin is calculated according to the bin starting coordinate, the bin X-direction boundary coordinate, the bin Y-direction boundary coordinate, the number of the X-direction bin points in the bin and the number of the Y-direction bin points.
To facilitate understanding of the process of teaching the bin parameters, further description is provided below in conjunction with FIG. 3.
Let the bin start coordinate, i.e. the coordinate of the bin point at the top left corner of the bin, be (X)LC1,YLC1) Bin X boundary coordinates, i.e., the coordinates of the rightmost bin point in the first row of bins, are (X'LC1,Y′LC1) The bin Y boundary coordinate, i.e. the coordinate of the bin point at the bottom right corner of the bin, is (X ″)LC1,Y″LC1) The number of the X-direction bin points in the bin is H _ Num, and the number of the Y-direction bin points in the bin is V _ Num.
Calculating the average distance of the bin in the X direction as
Figure GDA0003504756930000061
Figure GDA0003504756930000062
Calculating the average Y-direction distance of the storage bin as
Figure GDA0003504756930000063
Figure GDA0003504756930000064
Computing X-direction average compensation
Figure GDA0003504756930000065
And Y-direction average compensation
Figure GDA0003504756930000066
Comprises the following steps:
Figure GDA0003504756930000067
Figure GDA0003504756930000068
wherein, X'LC1-XLC1Is the X-direction spacing amount, Y ″)LC1-YLC1Is the distance in the Y direction, X ″)LC1-X′LC1Is X-direction compensation quantity, Y'LC1-YLC1Is the compensation quantity in the Y direction.
Calculating the coordinate of the bin gk (namely the bin located in the g-th X direction and the k-th Y direction in the charging tray) as (X)LCg,YLCk)：
Figure GDA0003504756930000069
Figure GDA00035047569300000610
Wherein g is 1,2,3 … HNum，k＝1,2,3…VNum。g＝HNumCoordinate (X) obtained when k is 1LCH_Num,YLC1) I.e. is the coordinate (X'LC1,Y′LC1)，g＝HNum，k＝VNumThe obtained coordinates
Figure GDA00035047569300000611
I.e. the coordinates (X ″)LC1,Y″LC1)。
It should be noted that, when taking the coordinates of 3 bin points, any 3 of 4 bin points located at corners in the bin may be taken, or even 4 are taken for calculation, the present application focuses on determining the coordinates of each bin point in the bin, and the above provides an optimal bin point calculation process, but does not uniquely define the present application, for example, the bin position may also be corrected, so as to omit the calculation of a compensation value in the subsequent calculation process.
Since by default the bin's transverse direction is parallel to the X-axis and the longitudinal direction is parallel to the Y-axis. However, the storage bin may slightly incline in the actual operation process, and only the average distance in the X direction is
Figure GDA0003504756930000071
And an average distance in the Y direction of
Figure GDA0003504756930000072
The position of each bin point in the bin cannot be accurately obtained, so the preferred calculation scheme provided by this embodiment adds the average compensation in the X direction
Figure GDA0003504756930000073
And Y-direction average compensation
Figure GDA0003504756930000074
The error of the calculated bin point can be effectively reduced, and the result is more accurate.
Other bins are taught in the same way, and each bin is independent and is not connected. On the point drill motion platform, point (x)i,yi,zi,oi) X, Y, Z in (1) indicates the left, right, front, back, up and down in space, and O indicatesThe product tray is tilted so there is no O-axis coordinate in the bin teaching. And the Z-axis coordinate representing the height is also for the entire bin, and no bin calculation step needs to be added.
Step S3, teaching is sequentially carried out on each point location in the teaching object by taking the first product in the first row in the product disc as the teaching object, coordinates when the first dispensing head moves to the point location on the teaching object are read during each teaching and stored as execution coordinates, and attributes corresponding to the point location are set according to received information, wherein the attributes of the point location include: the method comprises the following steps of idle movement instruction (neither glue dispensing nor point drilling), glue dispensing instruction (only glue dispensing and no point drilling), point drilling instruction (only point drilling and no glue dispensing), and glue dispensing point drilling instruction (both glue dispensing and point drilling).
When the attribute is set, the idle moving instruction ends the setting of the point and continues to add the next point; the method comprises the steps of dispensing an instruction, entering a stock bin and an IO selection interface (a preset operation interface is used for explaining an operation process, and the specific implementation of the interface is not a key point in the application), selecting the stock bin and an IO port corresponding to an execution instruction (namely selecting a corresponding dispensing head or a corresponding dispensing bit), wherein only one stock bin can be selected, and if the instruction is a dispensing instruction, or dispensing and dispensing are performed, the stock bin must be selected.
The attributes set for each point location have different execution logics, and the execution steps of each instruction in this embodiment are as follows:
for the execution coordinate (x)i,yi,zi,oi) If the attribute of the corresponding point location is the idle instruction, the execution steps are as follows: move to coordinate (x)i,yi,zi,oi) And does not do anything.
If the attribute of the corresponding point location is the dispensing instruction, the execution steps are as follows: judging the position of the Z axis, if the Z axis is lower than the dispensing lifting degree, lifting the Z axis to the dispensing lifting degree, and then moving other axes to a target point (x)i,yi,oi) Then the Z axis is lowered to the target position ZiStarting to discharge the glue, stopping discharging the glue after reaching the glue discharge amount, then lifting the Z axis to the glue dispensing lifting degree to finish the glue dispensing fingerAnd (5) making.
If the attribute of the corresponding point location is a point drilling instruction, the execution steps are as follows: firstly according to the selected coordinates from the stock bin to the material taking
Figure GDA0003504756930000081
And (4) material taking, wherein material taking coordinates are calculated and generated by a controller of the automatic point drilling machine after the material bins are taught in the step S2, namely specific coordinates of each material bin point in the material bins.
If the Height of the bin is LC _ Height and the back-lifting Height of the bin is LC _ HT _ Height, firstly judging the position of the Z axis, if the Height is lower than the back-lifting Height of the bin, firstly lifting the Z axis to the back-lifting Height of the bin, then moving to a bin point, and reaching the bin point
Figure GDA0003504756930000082
The rear Z axis begins to descend to the bin Height LC _ Height and opens the suction nozzle in advance, and after the suction nozzle drills, the Z axis rises to the LC _ HT _ Height and begins to move to the point (x)i,yi,DZ_HT_Height,oi) Motion, where DZ _ HT _ Height is the point drill lift back Height, to point (x)i,yi,DZ_HT_Height,oi) Then Z axis to target position ZiAnd descending and loosening the suction nozzle in advance, and after the drill is stably released, ascending the Z axis DZ _ HT _ Height to finish the point drill instruction.
If the attribute of the corresponding point location is a point-dispensing point-drilling instruction, the execution steps are as follows: the dispensing command is executed first, and the dot drill coordinate (x ') obtained by converting the execution coordinate (i.e., the execution coordinate at the time of dispensing command) is converted'i,y′i,z′i) And independently storing the data into an array, continuously executing the program after all dispensing instructions of a product are finished, calculating according to the offset parameter to obtain a new product, continuously dispensing, simultaneously storing the offset parameter into the array for recording the point drill coordinates, and starting to execute the point drill instructions when the number of the products subjected to dispensing processing is equal to the number of the point drill bits.
The dispensing point drill command is actually to calculate coordinates according to the distance and the offset, and perform both dispensing and point drilling at the same point of the product. Except that the two instructions are not executed consecutively.
In the actual dispensing point drill, after one point drill operation, the point to be dispensed and the point to be drilled on the product disc are processed. And calculating the offset according to the number of the processed products, and starting to perform point drilling operation when the number of the products processed by point drilling is equal to the number of the point drilling bits again. And circularly executing until the products on the whole product tray are processed.
The teaching programming method of the embodiment, only teach one to the product of the same type can, the loaded down with trivial details of the repeated teaching programming of the same product has been saved, and in the teaching process, add corresponding data according to the actual required operation of each point location, the teaching process is simple, it must possess stronger professional programming ability to need not the teaching personnel, and to every point location have and only have an attribute, make teaching programming changeable strong, in order to avoid appearing the condition that makes mistakes and lead to useless power, greatly reduced teaching cost, improve teaching efficiency.
Step S4, judging whether teaching of all point positions of a teaching object is finished or not, if finishing teaching of all point positions, finishing teaching programming, and generating a teaching program for controlling the motion of the automatic point drilling machine; otherwise, the teaching is continued by returning to step S3.
And the teaching programming is not completed after the attribute is added every time, and the condition for completing the teaching programming is that each point on the first product is taught. Each point has its own attributes, added one point at a time of programming.
According to the teaching method, teaching intervals, offset parameters and bin parameters, the teaching programming saves the process of correspondingly teaching each product, the teaching program amount is greatly reduced, and the teaching efficiency is improved; the processing teaching is carried out by taking a product as a reference, the universality is realized for similar products, the separate teaching of dispensing and point drilling is not required, the complexity of teaching programming is greatly simplified, and the production efficiency is effectively 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 (2)

1. A point location teaching programming method of an automatic point drilling machine is characterized in that the automatic point drilling machine is provided with n point gluing heads and m point drill bits, and the point location teaching programming method of the automatic point drilling machine comprises the following steps:
step S1, teaching pitch and offset parameter:
acquiring n first coordinates, wherein the first coordinates are mobile coordinates of each point glue head relative to a reference point when moving to the reference point, and acquiring m second coordinates, the second coordinates are mobile coordinates of each point drill head relative to the reference point when moving to the reference point, and determining the distance between each point glue head and each point drill head, the distance between each point glue head and each point drill head and the distance between each point drill head according to the first coordinates and the second coordinates;
the method comprises the steps of obtaining a coordinate when a first dispensing head moves to a first point position of a first product in a first row in a product tray as a first point position coordinate, obtaining a coordinate when the first dispensing head moves to a first point position of a second product in the first row in the product tray as a second point position coordinate, obtaining a coordinate when the first dispensing head moves to the first point position of the first product in the second row in the product tray as a third point position coordinate, and calculating the transverse offset and the longitudinal offset of the product in the product tray according to the first point position coordinate, the second point position coordinate and the third point position coordinate;
step S2, teaching bin parameters:
reading a coordinate when a first point drill bit moves to a starting point of a bin and storing the coordinate as a bin starting coordinate, reading a coordinate when the first point drill bit moves to an X-direction boundary point of the bin along the positive direction of an X axis and storing the coordinate as a X-direction boundary coordinate of the bin, reading a coordinate when the first point drill bit moves to a Y-direction boundary point of the bin along the positive direction of a Y axis and storing the coordinate as a Y-direction boundary coordinate of the bin, and calculating to obtain a coordinate of each bin point in the bin according to the bin starting coordinate, the X-direction boundary coordinate of the bin, the Y-direction boundary coordinate of the bin, the number of the X-direction bin points in the bin and the number of the Y-direction bin points;
step S3, teaching is sequentially carried out on each point location in the teaching object by taking the first product in the first row in the product disc as the teaching object, coordinates when the first dispensing head moves to the point location on the teaching object are read during each teaching and stored as execution coordinates, and attributes corresponding to the point location are set according to received information, wherein the attributes of the point location include: an idle moving instruction, a dispensing instruction, a point drilling instruction and a dispensing point drilling instruction;
step S4, judging whether teaching of all point positions of a teaching object is finished or not, if finishing teaching of all point positions, finishing teaching programming, and generating a teaching program for controlling the motion of the automatic point drilling machine; otherwise, returning to the step S3 to continue teaching;
the method comprises the following steps of performing idle movement instruction, dispensing instruction, point drilling instruction and dispensing point drilling instruction, wherein the execution steps of the instructions are as follows:
for the execution coordinate (x)i,yi,zi,oi) If the attribute of the corresponding point location is the idle instruction, the execution steps are as follows: move to coordinate (x)i,yi,zi,oi) And do nothing;
if the attribute of the corresponding point location is the dispensing instruction, the execution steps are as follows: judging the position of the Z axis, if the Z axis is lower than the dispensing lifting degree, lifting the Z axis to the dispensing lifting degree, and then moving other axes to a target point (x)i,yi,oi) Then the Z axis is lowered to the target position ZiStarting glue discharging, stopping glue discharging after reaching the glue discharging amount, and then lifting the Z axis to the glue dispensing lifting degree to complete the glue dispensing instruction;
if the attribute of the corresponding point location is a point drilling instruction, the execution steps are as follows: firstly according to the selected coordinates from the stock bin to the material taking
Figure FDA0003504756920000029
Taking materials, if the Height of the stock bin is LC _ Height and the back-lifting Height of the stock bin is LC _ HT _ Height, firstly judging the position of a Z axis, if the Height is lower than the back-lifting Height of the stock bin LC _ HT _ Height, firstly lifting the Z axis to the back-lifting Height of the stock bin, then moving to a stock bin point, and reaching the stock bin point
Figure FDA00035047569200000210
The rear Z axis begins to descend to the bin Height LC _ Height and opens the suction nozzle in advance, and after the suction nozzle drills, the Z axis rises to the LC _ HT _ Height and begins to move to the point (x)i,yi,DZ_HT_Height,oi) Motion, where DZ _ HT _ Height is the point drill lift back Height, to point (x)i,yi,DZ_HT_Height,oi) Then Z axis to target position ZiDescending and loosening the suction nozzle in advance, and after the drill is stably released, ascending the Z axis DZ _ HT _ Height to complete the point drill instruction;
if the attribute of the corresponding point location is a point-dispensing point-drilling instruction, the execution steps are as follows: executing a dispensing instruction and converting the execution coordinate into a point drill coordinate (x'i,y′i,z′i) And independently storing the data into an array, continuously executing the program after all dispensing instructions of a product are finished, calculating according to the offset parameter to obtain a new product, continuously dispensing, simultaneously storing the offset parameter into the array for recording the point drill coordinates, and starting to execute the point drill instructions when the number of the products subjected to dispensing processing is equal to the number of the point drill bits.
2. The point location teaching programming method of an automatic point drilling machine according to claim 1, wherein the calculating the coordinates of each bin point in the bin according to the bin start coordinates, the bin X boundary coordinates, the bin Y boundary coordinates, and the number of X-direction bin points and the number of Y-direction bin points in the bin comprises:
let the bin start coordinate be (X)LC1,YLC1) Bin X boundary coordinate of (X'LC1,Y′LC1) The boundary coordinate of the bin Y is (X ″)LC1,Y″LC1) The number of the X-direction bin points in the bin is H _ Num, and the number of the Y-direction bin points in the bin is V _ Num;
calculating the average distance of the bin in the X direction as
Figure FDA0003504756920000021
Figure FDA0003504756920000022
Calculating the average Y-direction distance of the storage bin as
Figure FDA0003504756920000023
Figure FDA0003504756920000024
Computing X-direction average compensation
Figure FDA0003504756920000025
And Y-direction average compensation
Figure FDA0003504756920000026
Comprises the following steps:
Figure FDA0003504756920000027
Figure FDA0003504756920000028
calculate the coordinate of bin point gk as (X)LCg,YLCk)：
Figure FDA0003504756920000031
Figure FDA0003504756920000032
Wherein g is 1,2,3 … H _ Num, k is 1,2,3 … V _ Num.
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