CN112612244A - PLC control-based Tray disc cavity three-point positioning method - Google Patents

PLC control-based Tray disc cavity three-point positioning method Download PDF

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CN112612244A
CN112612244A CN202110045275.7A CN202110045275A CN112612244A CN 112612244 A CN112612244 A CN 112612244A CN 202110045275 A CN202110045275 A CN 202110045275A CN 112612244 A CN112612244 A CN 112612244A
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tray
point
coordinates
column
row
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张宝
张科
贾群
袁炜
娄建国
陶伟兵
李秀峰
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Huainan Normal University
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Huainan Normal University
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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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G05B19/058—Safety, monitoring
    • 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
    • G05B2219/10—Plc systems
    • G05B2219/14—Plc safety
    • G05B2219/14006—Safety, monitoring in general

Abstract

The invention discloses a PLC (programmable logic controller) control-based Tray disc cavity three-point positioning method, which comprises the following steps of: the Tray disks are regular rectangular disks with the same cavity row spacing and the same column spacing; the PLC sends a pulse to control the movement of a manipulator motor, and a data register in the PLC is used for recording the pulse number; the three-point positioning is that the PLC sends pulses to control the motor to move and obtain a row A and a column A of the holes on the Tray disk11Pulse coordinates, one row m columns A1mPulse coordinates, n rows and one column An1The pulse coordinates are converted into position coordinates by using the three-point pulse coordinates, and then the coordinates of any point cavity discharging position on the Tray are calculated by using the method provided by the invention.

Description

PLC control-based Tray disc cavity three-point positioning method
Technical Field
The invention relates to the technical field of Tray disc positioning, in particular to a three-point Tray disc cavity positioning method based on PLC control.
Background
In recent years, the requirement of industrial production on the process is continuously improved, when parts are machined and manufactured, the position deviation cannot occur, the calculation of a controller is required to be accurate, and the machining error of a jig is small. In the actual operation process, because the machining error of the jig is inversely proportional to the manufacturing cost, the method for reducing the machining precision and improving the control precision is often adopted in production to reduce the position deviation. The conventional method for controlling the manipulator to be positioned on the Tray disk has the modes of original point positioning and image acquisition positioning, wherein the former method causes position errors due to production deviation or abrasion of a jig, and the latter method increases equipment cost and design cost due to the fact that images need to be acquired.
Disclosure of Invention
In order to solve the problems, the invention provides a three-point positioning method of a hollow point of a Tray disc based on PLC control, which can accurately calculate the coordinate of any point position on the Tray disc by collecting the positions of three points of the Tray disc through the PLC, has low requirements on the parallelism between a jig and an X axis and the parallelism between the jig and a Y axis on a plane coordinate system, realizes accurate positioning and has low design cost,
the invention adopts the following technical scheme:
and the PLC is used for sending out pulses to control the movement of the manipulator motor, collecting point pulse coordinates of three positions of the Tray disc and calculating the coordinate of any discharging position point of the Tray disc.
The Tray disc is a regular rectangular Tray disc with the same row spacing and column spacing of cavities, and each cavity on the Tray disc is used for placing an article to be processed.
Three-point positioning is carried out to obtain a row A and a column A of the cavity on the Tray11Pulse coordinates, one row m columns A1mPulse coordinates, m columns being any other columns than the first column, n rows and n columnsn1And (4) converting the pulse coordinates of the three points into position coordinates by using any other line except the first line in the n line, and calculating the coordinates of the discharge position of any point of the Tray.
It is further characterized in that: the Tray disks are regular rectangular Tray disks with the same space between rows and the same space between columns of cavities, and each cavity on the Tray disk is used for placing an article to be processed.
It is further characterized in that: the three-point positioning is to use the coordinates of three points of the cavity on the Tray disk to obtain the coordinates of any point, and the three cavity points of the Tray disk are in a row A and a column A11And A is11For reference point of position calculation, one row m columns A1mN rows first column An1Acquiring pulse coordinates of three cavity points moved to a Tray disc by a manipulator motor by using a PLC (programmable logic controller), converting the pulse coordinates of the three points of the Tray disc into position coordinates, and arranging a plurality of rows and a plurality of columns on the Tray disc11The coordinates of the point are (A)11X1，A11Y1) One row, m columns, A, of Tray disk1mThe coordinates of the point are (A)1mX1，A1mYm) Tray disk n rows first column an1The coordinates of the point are (A)n1Xn，An1Y1)。
It is further characterized in that: calculating the position A of the cavity in any point, x rows and y columns of the Tray diskxyCoordinates on a planar coordinate system (A)xyX，AxyY) comprises the following specific steps:
s1, because the Tray disc is placed transversely and can not be completely coincided with the X axis, vertically and can not be completely coincided with the Y axis, the same row of the X axis direction intervals of the Tray discs at the discharging positions on the Tray disc, the same row of the Y axis direction intervals of the Tray discs, the X axis direction intervals of the Tray discs in the same row and the Y axis direction intervals of the Tray discs in the same row are solved, and the expression is as follows:
same row Tray disk X-axis spacing:
Figure BSA0000230741820000021
same row Tray disk Y-axis direction spacing:
Figure BSA0000230741820000022
same row Tray disk X-axis direction spacing:
Figure BSA0000230741820000023
same row Tray disk Y-axis direction pitch:
Figure BSA0000230741820000024
s2, obtaining the X-row and Y-column position A according to the X-axis direction distance of the same-row Tray disc, the Y-axis direction distance of the same-row Tray disc, the X-axis direction distance of the same-column Tray disc and the Y-axis direction distance of the same-column Tray discxyPoint X axis direction and A11Coordinate distance of reference point, x row and y column position AxyPoint in Y-axis direction with A11The coordinate distance of the reference point is represented by the formula:
Axypoint X axis direction and A11Coordinate distance of reference point: a. theX＝LX×(y-1)+RX×(x-1)
AxyPoint in Y-axis direction with A11Coordinate distance of reference point: a. theY＝LY×(y-1)+RY×(x-1)
S3, according to AxyPoint X axis direction and A11Coordinate distance of reference point, AxyPoint in Y-axis direction with A11Coordinate distance of reference point, ray disk row by row A11Coordinates of points (A)11X1，A11Y1) Obtaining AxyThe coordinate positions of the points are:
Axydot abscissa: a. thexyX＝A11X1+AX
AxyPoint ordinate: a. thexyY＝A11Y1+AY
It is further characterized in that: the PLC sends out pulses to control the mechanical arm motor to move in the X-axis and Y-axis directions, a data register inside the PLC is used for recording the pulse number, the coordinate of any one cavity discharging position point of the Tray is calculated through a three-point positioning method, the position coordinate is converted into the pulse number through the PLC, and the pulses are sent out to control the X-axis and Y-axis motors to move to corresponding positions.
Compared with the prior art, the method has the beneficial effects that: can gather three cavity points of Tray dish as a line A through PLC11，A11As a reference point, one row m columns a1mN rows first column An1The invention has low requirement on the parallelism of the jig and the X axis and the parallelism of the jig and the Y axis, and has the advantages of realizing accurate positioning, low design cost, easy design, strong universality and the like.
Drawings
FIG. 1 is a schematic diagram of the position of a Tray disk according to the present invention.
Detailed Description
The invention will be further described with reference to the drawings and specific preferred embodiments in the description, without thereby limiting the scope of protection of the invention.
As shown in fig. 1, the present embodiment is a three-point positioning method for Tray disk cavity based on PLC control.
The PLC is mainly a programmable logic controller and is used for controlling the production process of mechanical motion. The PLC has the characteristics of stable and reliable performance. Currently, PLCs have played an important role in critical process manufacturing control systems.
In the embodiment, a PLC sends a pulse to control a motor of the manipulator to move in the X-axis and Y-axis directions, and the manipulator moves to any cavity position on the Tray accurately to execute processing operation.
Preferably, the Tray disks are regular rectangular Tray disks with the same row spacing and the same column spacing, each cavity on the Tray disks is used for placing an article to be processed, each cavity is the same in size, and the Tray disks are placed on the workbench and ensure the stability of the Tray disks in the working process.
Three-point positioning is to use the coordinates of three points of the cavity on the Tray disk to calculate the coordinates of any point position, and select the three positioning point cavities of the Tray disk to be respectively a line A and a column A11And A is11For reference point of position calculation, one row m columns A1mPulse coordinates, m columns being any other columns than the first column, n rows and n columnsn1Pulse coordinates are obtained by the PLC, the pulse coordinates of three cavity points moved to a Tray disk by a mechanical arm motor are obtained by the PLC, the pulse coordinates of the three points of the Tray disk are converted into position coordinates, and the Tray disk is arranged in a row and a column A11The coordinates of the point are (A)11X1，A11Y1) One row, m columns, A, of Tray disk1mThe coordinates of the point are (A)1mX1，A1mYm) Tray disk n rows first column an1The coordinates of the point are (A)n1Xn，An1Y1)。
The manipulator moves to any point of the Tray disc at the X row and Y column cavity position AxyCoordinate (A) ofxyX，AxyY) comprises the following specific steps:
s1, because the Tray disc is placed transversely and can not be completely coincided with the X axis, vertically and can not be completely coincided with the Y axis, the same row of the X axis direction intervals of the Tray discs at the discharging positions on the Tray disc, the same row of the Y axis direction intervals of the Tray discs, the X axis direction intervals of the Tray discs in the same row and the Y axis direction intervals of the Tray discs in the same row are solved, and the expression is as follows:
same row Tray disk X-axis spacing:
Figure BSA0000230741820000031
same row Tray disk Y-axis direction spacing:
Figure BSA0000230741820000032
same row Tray disk X-axis direction spacing:
Figure BSA0000230741820000033
same row Tray disk Y-axis direction pitch:
Figure BSA0000230741820000034
s2, according to the X-axis direction spacing of the Tray disks in the same row, the Y-axis direction spacing of the Tray disks in the same row, the X-axis direction spacing of the Tray disks in the same column, and the sameThe distance between the columns and the track disk in the Y-axis direction is calculated to obtain the x-row and Y-column positions AxyPoint X axis direction and A11Coordinate distance of reference point, x row and y column position AxyPoint in Y-axis direction with A11The coordinate distance of the reference point is represented by the formula:
Axypoint X axis direction and A11Coordinate distance of reference point: a. theX＝LX×(y-1)+RX×(x-1)
AxyPoint in Y-axis direction with A11Coordinate distance of reference point: a. theY＝LY×(y-1)+RY×(x-1)
S3, according to AxyPoint X axis direction and A11Coordinate distance of reference point, AxyPoint in Y-axis direction with A11Coordinate distance of reference point, ray disk row by row A11Coordinates of points (A)11X1，A11Y1) Obtaining AxyThe coordinate positions of the points are:
Axydot abscissa: a. thexyX＝A11X1+AX
AxyPoint ordinate: a. thexyY＝A11Y1+AY
To obtain AxyCoordinates of points (A)xyX，AxyY)。
The pulse number is recorded by utilizing a data register in the PLC, the coordinate of any one hole discharging position point of the Tray disc is calculated by a three-point positioning method, the PLC converts the hole position coordinate into the pulse number, and the pulse is sent to control the X-axis Y-axis motor to accurately move to the corresponding hole position.
The foregoing is illustrative of the present application and is not intended to limit the present invention to the particular steps or structures described above and shown in the accompanying drawings. Also, a detailed description of known process techniques is omitted herein for the sake of brevity. Various modifications and alterations to this application will become apparent to those skilled in the art without departing from the scope of this invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (5)

1. A Tray disk cavity three-point positioning method based on PLC control is characterized by comprising the following steps:
the PLC is used for sending out pulses to control the movement of the manipulator motor, collecting point pulse coordinates of three positions of the Tray disc and calculating the coordinate of any material placing position point of the Tray disc;
the Tray disc is a regular rectangular Tray disc with the same row spacing and column spacing of cavities, and each cavity on the Tray disc is used for placing an article to be processed;
and (3) three-point positioning, namely acquiring a row and column A11 pulse coordinate, a last row and column A1m pulse coordinate and a first column An1 pulse coordinate of the cavity on the Tray, converting the three-point pulse coordinates into position coordinates, and calculating the coordinates of any point discharging position of the Tray.
2. The PLC-control-based Tray disk hole three-point positioning method as claimed in claim 1, wherein: the Tray disks are regular rectangular Tray disks with the same space between rows and the same space between columns of cavities, and each cavity on the Tray disk is used for placing an article to be processed.
3. The PLC-control-based Tray disk hole three-point positioning method as claimed in claim 1, wherein: the three-point positioning is to use the coordinates of three points of the cavity on the Tray disk to obtain the coordinates of any point position, the three cavity points of the Tray disk are a line A11, a11 is the reference point for position calculation, and a line m is a line A1mM columns are any other columns except the first column, n rows are the first column An1In the case of the n-line, the pulse coordinates of three cavity points moved to the Tray disk by the robot motor are acquired by the PLC, the pulse coordinates of the three points on the Tray disk are converted into position coordinates, and the coordinates of a point a11 in one line and one column on the Tray disk are (a 11) (i.e., a11X1，A11Y1) The coordinate of the point A1m on the Tray disk at row m column is (A)1mX1，A1mYm) Train disk row first column An1 point seatIs marked as (A)n1Xn，An1Y1)。
4. The PLC-control-based Tray disk hole three-point positioning method as claimed in claim 1, wherein: calculating the coordinates of any point cavity discharging position of the Tray disc, and solving the position A of any point X row y column cavityxyCoordinates on a planar coordinate system (A)xyX，AxyY) comprises the following specific steps:
s1, because the Tray disc is placed transversely and can not be completely coincided with the X axis, vertically and can not be completely coincided with the Y axis, the same row of the X axis direction intervals of the Tray discs at the discharging positions on the Tray disc, the same row of the Y axis direction intervals of the Tray discs, the X axis direction intervals of the Tray discs in the same row and the Y axis direction intervals of the Tray discs in the same row are solved, and the expression is as follows:
same row Tray disk X-axis spacing:
Figure FSA0000230741810000011
same row Tray disk Y-axis direction spacing:
Figure FSA0000230741810000012
same row Tray disk X-axis direction spacing:
Figure FSA0000230741810000013
same row Tray disk Y-axis direction pitch:
Figure FSA0000230741810000014
s2, according to the distance between the X axis of the same row of Tray disks, the distance between the Y axis of the same row of Tray disks, the distance between the X axis of the same column of Tray disks and the distance between the Y axis of the same column of Tray disks, the coordinate distance between the Axy point of the X row and Y column position and the A11 reference point in the X axis direction and the coordinate distance between the Axy point of the X row and Y column position and the A11 reference point in the Y axis direction, the formula is as follows:
axy point in the X-axis directionCoordinate distance from a11 reference point: a. theX＝LX×(y-1)+RX×(x-1)
Axy coordinate distance from the A11 reference point in the Y-axis direction: a. theY＝LY×(y-1)+RY×(x-1)
S3, according to the coordinate distance between Axy point and A11 reference point in X axis direction, the coordinate distance between Axy point and A11 reference point in Y axis direction, the coordinate of A11 point (A) on one row and one column of Tray11X1，A11Y1) The coordinate position of point Axy is found as:
axy points abscissa: a. thexyX＝A11X1+AX
Axy points ordinate: a. thexyY＝A11Y1+AY
The coordinates (AxyX, AxyY) of point Axy are obtained.
5. The PLC-control-based Tray disk hole three-point positioning method as claimed in claim 1, wherein: the PLC sends out pulses to control the mechanical arm motor to move in the X-axis and Y-axis directions, a data register inside the PLC is used for recording the pulse number, the coordinate of any one cavity discharging position point of the Tray is calculated through a three-point positioning method, the position coordinate is converted into the pulse number through the PLC, and the pulses are sent out to control the X-axis and Y-axis motors to move to corresponding positions.
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