CN113075905A - Product processing track acquisition method, computer-readable storage medium and device - Google Patents
Product processing track acquisition method, computer-readable storage medium and device Download PDFInfo
- Publication number
- CN113075905A CN113075905A CN202010006903.6A CN202010006903A CN113075905A CN 113075905 A CN113075905 A CN 113075905A CN 202010006903 A CN202010006903 A CN 202010006903A CN 113075905 A CN113075905 A CN 113075905A
- Authority
- CN
- China
- Prior art keywords
- product
- track
- virtual
- center point
- coordinate system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 62
- 238000003860 storage Methods 0.000 title claims abstract description 9
- 230000008569 process Effects 0.000 claims abstract description 19
- 238000006073 displacement reaction Methods 0.000 claims description 21
- 101000872083 Danio rerio Delta-like protein C Proteins 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 6
- 239000003292 glue Substances 0.000 description 42
- 230000007480 spreading Effects 0.000 description 5
- 238000003892 spreading Methods 0.000 description 5
- 230000002093 peripheral effect Effects 0.000 description 4
- 239000000853 adhesive Substances 0.000 description 3
- 230000001070 adhesive effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009021 linear effect Effects 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
Images
Classifications
-
- 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
- G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B19/21—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
- G05B19/25—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for continuous-path control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/14—Wipes; Absorbent members, e.g. swabs or sponges
- B08B1/143—Wipes
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Processing Or Creating Images (AREA)
Abstract
The invention discloses a product processing track acquisition method, a computer readable storage medium and a device. The method for acquiring the product processing track comprises the steps of presetting a virtual processing track according to the position to be processed of a product; obtaining an actual moving track of the product from the virtual processing track; and controlling the product to move in an actual moving track, and processing the position to be processed of the product in the moving process to form an actual processing track. According to the method for acquiring the product processing track, the virtual processing track is preset, and then the actual moving track of the product such as a plane product or a curved product is acquired according to the virtual processing track, so that the product moves according to the actual moving track, and the product is processed to form the actual processing track in the process that the product moves according to the actual moving track. More preferably, the method for acquiring the product processing track of the invention can process non-planar products more comprehensively, thereby ensuring the product processing quality.
Description
Technical Field
The present invention relates to the field of product processing technologies, and in particular, to a method, a computer-readable storage medium, and an apparatus for acquiring a product processing trajectory.
Background
In the process of assembling an electronic product such as a mobile phone, a mobile phone screen and a mobile phone frame need to be bonded through glue, and in the bonding process, the phenomenon of glue residue can be generated on the mobile phone screen, so that the residual glue needs to be cleaned, and the influence of the residual glue on the quality of the mobile phone is avoided. When the glue spreading machine in the prior art controls the glue spreading end to spread glue, the glue spreading end linearly moves back and forth along the periphery of the long side or the short side of the mobile phone screen, namely, the glue spreading end only can perform simple linear action so as to spread glue on the periphery of a right-angle rectangular mobile phone screen or spread glue on the periphery of a straight line of a rectangular mobile phone screen with a round angle, and the glue spreading is difficult to realize on the periphery of the round angle of the rectangular mobile phone screen with the round angle or the periphery of a curved screen of a gradually-growing piece.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a product processing track acquisition method, a computer-readable storage medium and a device.
According to a first aspect of the present invention, the present invention discloses a product processing trajectory acquisition method, including:
presetting a virtual processing track according to a position to be processed of a product;
obtaining an actual moving track of the product from the virtual processing track;
and controlling the product to move in an actual moving track, and processing the position to be processed of the product in the moving process to form an actual processing track.
According to an embodiment of the present invention, the presetting of the virtual processing trajectory according to the position to be processed of the product includes:
acquiring a walking track of the virtual main shaft moving along the to-be-processed positions of the products in sequence;
and presetting a virtual processing track according to the walking track of the virtual main shaft.
According to an embodiment of the present invention, obtaining the actual movement trajectory of the product from the virtual processing trajectory includes:
calculating a motion variable of a central point of the product according to the virtual processing track;
and obtaining the actual moving track of the product according to the motion variable of the central point of the product.
According to an embodiment of the present invention, calculating the motion variable of the center point of the product according to the virtual processing trajectory includes:
establishing an XY coordinate system, wherein the product and the XY coordinate system are coplanar;
and calculating the motion variable of the center point of the product in the XY coordinate system according to the virtual processing track.
According to an embodiment of the present invention, calculating the motion variable of the center point of the product in the XY coordinate system according to the virtual processing trajectory includes: respectively calculating motion variables delta X, delta Y and delta C of the center point of the product in an XY coordinate system according to the virtual processing track; and obtaining an actual moving track of the product according to motion variables delta X, delta Y and delta C, wherein the delta X is the displacement of the center point of the product in the X-axis direction within unit time, the delta Y is the displacement of the center point of the product in the Y-axis direction within unit time, and the delta C is the angle of rotation of the product in the unit time, taking the center point as the center of a circle and in a plane formed by the X axis and the Y axis.
According to an embodiment of the present invention, after the virtual processing trajectory is preset according to the position to be processed of the product, the virtual processing trajectory obtains the actual moving trajectories of the product and the execution end, and then the product and the execution end are controlled to move respectively according to the actual moving trajectories.
According to an embodiment of the present invention, obtaining the actual movement trajectory of the product and the execution end from the virtual processing trajectory includes:
calculating a motion variable of a central point of the product and a motion variable of an execution end according to the virtual processing track;
and respectively obtaining the actual moving track of the product and the actual moving track of the execution end according to the motion variable of the central point of the product and the motion variable of the execution end.
According to an embodiment of the present invention, calculating the motion variable of the center point of the product and the motion variable of the execution end according to the virtual processing trajectory includes:
establishing an XYZ coordinate system, wherein a plane of depression of the product is coplanar with a plane formed by an X axis and a Y axis in the XYZ coordinate system;
and calculating the motion variables of the product center point and the execution end in an XYZ coordinate system according to the virtual processing track.
According to an embodiment of the present invention, calculating the motion variables of the product center point and the execution end in the XYZ coordinate system according to the virtual processing trajectory includes: respectively calculating motion variables delta X, delta Y and delta C of a product center point in an XYZ coordinate system and motion variables delta Z and delta A of an execution end in the XYZ coordinate system according to the virtual processing track; and obtaining actual moving tracks of the product and the execution end according to motion variables delta X, delta Y, delta C, delta Z and delta A, wherein the delta X is the displacement of the center point of the product in the X-axis direction within unit time, the delta Y is the displacement of the center point of the product in the Y-axis direction within unit time, the delta C is the rotation angle of the product in the unit time with the center point as the center of the product and in the plane formed by the X-axis and the Y-axis, the delta Z is the displacement of the execution end in the Z-axis direction within unit time, and the delta A is the rotation angle of the execution end in the plane formed by the Z-axis and the X-axis.
According to a second aspect of the present invention, there is provided a computer-readable storage medium storing a computer program, which, when executed, executes any one of the above-described product processing trajectory acquisition methods.
According to a third aspect of the present invention, the present invention provides a product processing trajectory acquisition apparatus, comprising a memory storing a program and a processor for executing the program stored in the memory to cause any one of the above-mentioned product processing trajectory acquisition methods to be performed.
According to the method for acquiring the product processing track, the virtual processing track is preset, and then the actual moving track of the product such as a plane product or a curved product is acquired according to the virtual processing track, so that the product moves according to the actual moving track, and the product is processed to form the actual processing track in the process that the product moves according to the actual moving track. More preferably, the method for acquiring the product processing track of the invention can process non-planar products more comprehensively, thereby ensuring the product processing quality.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flow chart of a method for acquiring a rubbing trajectory of a flat panel display according to a first embodiment;
FIG. 2 is a schematic diagram illustrating a virtual rubbing trajectory and a movement trajectory of a center point of a flat panel screen according to an embodiment;
FIG. 3 is a diagram illustrating a relationship between a virtual rubbing trajectory and a movement trajectory of a center point of a flat panel screen according to an embodiment;
fig. 4 is a schematic flow chart of a method for acquiring a rubbing trajectory of a curved-surface screen in the second embodiment;
fig. 5 is a diagram illustrating a relationship between a virtual rubbing trajectory and a movement trajectory of a center point and a rubbing end of a curved screen according to a second embodiment.
Detailed Description
In the following description, for purposes of explanation, numerous implementation details are set forth in order to provide a thorough understanding of the various embodiments of the present invention. It should be understood, however, that these implementation details are not to be interpreted as limiting the invention. That is, in some embodiments of the invention, such implementation details are not necessary. In addition, some conventional structures and components are shown in simplified schematic form in the drawings.
The invention provides a method for obtaining a product processing track, wherein the method for obtaining the product processing track can be applied to glue wiping, glue dispensing, welding or cutting processing and the like. The invention provides two embodiments, which respectively take a plane screen and a curved screen as examples to describe the method for acquiring the frictioning track.
Example one
The product in this embodiment is a rectangular flat screen or a rectangular flat screen with round corners, so the present embodiment provides a method for rubbing a flat screen, the position to be rubbed is the periphery of the rectangular plane screen or the rectangular plane screen with round corners, if the rectangular plane screen or the rectangular plane screen with round corners is to be rubbed comprehensively, it is necessary to attach or press the wiping end to the periphery of the rectangular flat panel or the rectangular flat panel having rounded corners, and enables the wiping end to move around the periphery of the rectangular flat screen or the rectangular flat screen with rounded corners, the periphery of the rectangular plane screen or the rectangular plane screen with round corners is rubbed, the walking track formed in the rubbing process of the rubbing end is a rectangular wire frame or a rectangular wire frame with round corners, therefore, the rubbing tracks formed during the rubbing process are rectangular tracks or rectangular tracks with rounded corners. On the contrary, if the glue wiping end is not moved, the rectangular plane screen or the rectangular plane screen with the round corners needs to move around the glue wiping end, and finally another glue wiping track which is completely opposite to the glue wiping track formed by the fact that the rectangular plane screen or the rectangular plane screen with the round corners is still and the glue wiping end moves is formed. That is to say, there are at least two processing methods for performing the wiping on the rectangular flat panel or the rectangular flat panel with the round corners, one is to perform the wiping by moving the wiping end around the periphery of the rectangular flat panel or the rectangular flat panel with the round corners, and the other is to perform the wiping by moving the periphery of the rectangular flat panel or the rectangular flat panel with the round corners around the wiping end, the first method needs to control the wiping head to perform linear movement and also needs to control the wiping head to perform curvilinear movement in order to perform the overall wiping, but at present, only the wiping end can be controlled to perform the reciprocating linear movement, and the second processing method is adopted in this embodiment. The method of rubbing the flat panel screen in this embodiment will be described in detail below.
Referring to fig. 1, fig. 1 is a flowchart of a method for acquiring a rubbing track of a flat panel display according to the present embodiment, where the method for acquiring a rubbing track of a flat panel display according to the present embodiment includes the following steps:
and presetting a virtual glue wiping track of the flat screen according to the position of the flat screen to be wiped with glue.
The position of the flat screen to be rubbed is located at the periphery of the flat screen, that is, the rubbing treatment of the flat screen is required to be sequentially performed along the periphery of the flat screen. When the virtual glue-wiping track is preset, a virtual main shaft can be established first, a point on the periphery of the plane screen is taken as a starting point, the virtual main shaft is controlled to move along the periphery of the plane screen from the starting point until the virtual main shaft returns to the starting point again, so that the virtual glue-wiping action of the periphery of the plane screen is completed, when the virtual main shaft moves along the periphery of the plane product in sequence, such as clockwise or anticlockwise, a walking track of the virtual main shaft is formed, the virtual glue-wiping track can be obtained according to the walking track of the virtual main shaft, when the walking track of the virtual main shaft moving along the periphery of the plane screen is obtained, the plane screen keeps a static state, the walking track of the virtual main shaft is matched with the periphery of the plane screen, the walking track of the virtual main shaft is the virtual glue-wiping track, the virtual glue-wiping track is matched with the periphery of the plane screen, please refer to, the rectangular box with rounded corners in fig. 2 is the virtual frictioning track. That is to say, when a virtual glue wiping track of the flat screen is preset according to a position of the flat screen to be wiped with glue, the flat screen is maintained to be always in a static state, when the flat screen is always wiped with glue in the static state, a virtual main shaft is required to move along the periphery of the flat screen, and when the virtual main shaft moves along the periphery of the flat screen to wipe with glue, the formed virtual glue wiping track is the virtual glue wiping track.
And obtaining the actual moving track of the flat screen from the virtual frictioning track. After the virtual frictioning track is preset, the actual moving track of the plane screen can be obtained according to the virtual frictioning track.
When the glue wiping of the plane screen is to be realized and the glue wiping end is kept still, the plane screen is moved, and the actual moving track of the plane screen is opposite to the walking track of the virtual main shaft when the plane screen is moved. In this embodiment, the virtual rubbing trajectory is used to obtain the actual movement trajectory of the flat panel screen, and the movement variable of the central point of the flat panel screen is calculated according to the virtual rubbing trajectory. Referring to fig. 3, fig. 3 is a graph of a relationship between a virtual rubbing track and a moving track of a center point of a flat panel, where a main axis displacement is defined as the virtual rubbing track in a unit time, and an auxiliary axis displacement is a movement variable of the center point of the flat panel in the same unit time, where a rectangular frame with rounded corners is the virtual rubbing track, and a fan-shaped track with arrows is the moving track of the center point of the flat panel. When the frictioning end is not moved, the periphery of the plane screen is attached or pressed with the frictioning end to move, the central point of the plane screen can move along with the movement of the plane screen, in order to calculate the movement variable of the central point of the plane screen, a two-dimensional XY coordinate system is established, the plane screen and the XY coordinate system are coplanar, namely, a straight line where one side of the plane screen is located or a straight line parallel to the side can be taken as an X axis in the XY coordinate system, then a Y axis is established in a way of being vertical to the X axis, after the XY coordinate system is established, the plane screen is located in a plane where the XY coordinate system is located, when a virtual main shaft moves along the periphery of the plane screen, a formed virtual frictioning track is also formed in the XY coordinate system, in the same way, when the frictioning end is not moved, the plane screen is controlled to move in the XY coordinate system, the central point of the plane screen forms a movement variable in the XY coordinate system within unit time, because the virtual frictioning track, and calculating the motion variable of the central point of the plane screen in an XY coordinate system according to the virtual frictioning track. Specifically, the virtual glue wiping track and the periphery of the plane screen are provided with a long edge, a short edge and a fillet, so that the motion variable of the central point of the plane screen in an XY coordinate system can be calculated according to the displacement of the long edge, the displacement of the short edge, the rotation angle of the fillet and the radius of the fillet of the plane screen in unit time. Specifically, motion variables Δ X, Δ Y and Δ C of the center point of the product in the XY coordinate system are respectively calculated according to the virtual processing trajectory, wherein Δ X is a displacement of the center point of the flat screen in the X-axis direction in a unit time, Δ Y is a displacement of the center point of the flat screen in the Y-axis direction in a unit time, and Δ C is an angle of rotation of the flat screen in a plane formed by the X-axis and the Y-axis and centered at the center point in the unit time.
And after the motion variable of the central point of the plane screen is obtained through calculation, the actual moving track of the plane screen is obtained according to the motion variable of the central point of the plane screen. The actual moving track of the product can be obtained according to the motion variables delta X, delta Y and delta C, the three motion variables delta X, delta Y and delta C at the center point of the flat screen can gradually form respective tracks along with the continuous motion of the center point of the flat screen, when the respective tracks are mapped to the plane where the XY coordinate system is located, the moving track of the center point of the flat screen shown in figure 2 can be formed, a graph formed by the moving track of the center point of the flat screen is approximately fan-shaped, and the direction of an arrow is the moving direction of the center point of the flat screen. When the center line point of the control plane screen moves along the moving track, the plane screen forms the actual moving track of the plane screen, that is, when the plane screen moves, the moving track of the center point of the plane screen must be consistent with the moving track of the center point of the plane screen in fig. 2, so that the actual moving track of the plane screen can be obtained through reverse calculation according to the calculated moving track of the center point of the plane screen.
And controlling the planar screen to move in an actual moving track, and wiping the periphery of the planar screen in the moving process to form an actual wiping track. When the control plane screen moves along the actual moving track, the glue wiping end is attached to or pressed on the periphery of the plane screen, the periphery of the plane screen is subjected to glue wiping treatment, and the glue wiping process is the actual glue wiping track.
In summary, in the embodiment, the virtual glue wiping track is preset, and then the actual moving track of the planar screen is obtained according to the virtual glue wiping track, so that the planar screen moves according to the actual moving track, and in the process that the planar screen moves according to the actual moving track, the glue wiping end achieves the overall glue wiping of the planar screen, and the glue wiping quality is ensured.
Example two
Referring to fig. 4, fig. 4 is a schematic flow chart of a method for acquiring a rubbing track of a curved surface screen. Because the curved screen is a non-planar screen, the periphery of the curved screen is in different planes, and if the glue wiping track is obtained according to the first embodiment, the overall glue wiping of the curved screen is difficult to realize. That is, if the curved screen is rubbed, the peripheral edge of the curved screen coplanar with the XY axis can only be rubbed according to the three motion variables of DeltaX, DeltaY and DeltaC, the rubbing end moves relative to the curved screen, that is, after a virtual rubbing track is preset according to the peripheral edge of the curved screen, when the actual moving track of the curved screen is obtained through the virtual rubbing track, the actual moving track of the rubbing end is obtained through the virtual rubbing track, then the curved screen and the rubbing end are controlled to move respectively according to the actual moving track, and the rubbing end rubs the peripheral edge of the curved screen in the actual moving track respectively to form the actual rubbing track. When the actual moving tracks of the curved screen and the frictioning end are obtained according to the virtual frictioning track, calculating a motion variable of the central point of the curved screen and a motion variable of the frictioning end according to the virtual processing track; and then respectively obtaining the actual moving track of the curved screen and the actual moving track of the rubber end according to the motion variable of the central point of the curved screen and the motion variable of the rubber end. Specifically, when the curved screen is used, an XYZ coordinate system is established, wherein a plane of a curved screen is coplanar with a plane formed by an X axis and a Y axis in the XYZ coordinate system, then the motion variables of the curved screen center point and the glue wiping end in the XYZ coordinate system are calculated according to the virtual processing trajectory, that is, the three-dimensional coordinate system is established according to the curved surface structure of the curved screen, and then the motion variables of the curved screen center point and the glue wiping end in the XYZ coordinate system are calculated according to the virtual glue wiping trajectory. Specifically, motion variables delta X, delta Y and delta C of the center point of the curved screen in an XYZ coordinate system and motion variables delta Z and delta A of the end of the rubber wiping end in the XYZ coordinate system are respectively calculated according to the virtual rubber wiping track; the method comprises the steps of obtaining an actual moving track of a curved screen and an actual moving track of an adhesive wiping end according to motion variables delta X, delta Y, delta C, delta Z and delta A respectively, wherein the delta X is the displacement of the center point of the curved screen in a unit time of an X-axis direction, the delta Y is the displacement of the center point of the curved screen in a unit time of a Y-axis direction, the delta C is a rotation angle of the curved screen in a unit time in a plane formed by the X-axis and the Y-axis and by taking the center point of the curved screen as a circle center, the delta Z is the displacement of the adhesive wiping end in a unit time of the Z-axis direction, and the delta A is the rotation angle of the adhesive wiping end in the plane formed by the Z-axis and the X-axis. In the embodiment, two motion variables of Δ Z and Δ a are introduced to form five-axis linkage with Δ X, Δ Y and Δ C for glue wiping, specifically, a virtual glue wiping track is preset according to the peripheral shape of the curved screen, then according to the virtual frictioning track, three motion variables of the central point of the curved screen and two motion variables of the frictioning end are calculated, the method comprises the steps of respectively obtaining delta X, delta Y, delta C, delta Z and delta A, then mapping three motion variables of the delta X, the delta Y and the delta C to a plane where XY axes are located in an XYZ coordinate system to form a motion track of a center point of a curved screen, mapping two motion variables of the delta Z and the delta A to a plane where ZX axes are located in the XYZ coordinate system to form a motion track of a glue wiping end, obtaining an actual motion track of the curved screen from the motion track of the center point of the curved screen, and combining the glue wiping track formed when the curved screen moves according to the actual motion track with the motion track of the glue wiping end to form an actual glue wiping track. The five motion variables in this embodiment can be referred to as fig. 5, where fig. 5 is a graph of relationship between a virtual rubbing trajectory and a central point of a planar screen and a movement trajectory of a rubbing end, and defines a main axis displacement as the virtual rubbing trajectory in a unit time, and an auxiliary axis displacement as a motion variable of the central point of the curved screen and the rubbing end in the same unit time.
In conclusion, through controlling the three-axis linkage of the curved screen in the directions of the X axis, the Y axis and the C angle, and then through controlling the rubbing end to perform the two-axis linkage in the two directions of the Z axis and the A angle, the two are matched to realize the five-axis linkage, the rubbing end is kept to be always attached to the periphery of the curved screen, and the comprehensiveness and the rubbing quality of the rubbing of the curved screen are ensured.
As described above, the product processing trajectory acquiring method of the present invention may be applied not only to the rubbing process of a flat screen or a curved screen, but also to the dispensing, welding, cutting, or the like of a product, and no matter what process the product processing trajectory acquiring method of the present invention is applied to the product, the product processing trajectory acquiring method of the present invention is to preset a virtual processing trajectory, and then obtain an actual movement trajectory of the product, such as a flat product or a curved product, according to the virtual processing trajectory, so that the product moves according to the actual movement trajectory, and in a process in which the product moves according to the actual movement trajectory, an execution end processes the product to form the actual processing trajectory. More preferably, the method for acquiring the product processing track of the invention can process non-planar products more comprehensively and can better ensure the product processing quality.
EXAMPLE III
The third embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is read and executed by one or more processors, the method for acquiring a scrub trace according to the first embodiment and/or the second embodiment may be implemented.
Example four
The fourth embodiment of the present invention further provides a product processing trajectory acquisition apparatus, which includes a memory and a processor, where the memory stores a computer program, and the processor is configured to execute the computer program stored in the memory, so as to implement the first or second glue wiping trajectory acquisition method.
The above description is only an embodiment of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (11)
1. A product processing trajectory acquisition method is characterized by comprising the following steps:
presetting a virtual processing track according to a position to be processed of a product;
obtaining an actual moving track of the product from the virtual processing track;
and controlling the product to move in an actual moving track, and processing the position to be processed of the product in the moving process to form an actual processing track.
2. The product processing trajectory acquisition method according to claim 1, wherein the presetting of the virtual processing trajectory according to the position to be processed of the product includes:
acquiring a walking track of the virtual main shaft moving along the to-be-processed positions of the products in sequence;
and presetting a virtual processing track according to the walking track of the virtual main shaft.
3. The product processing trajectory acquisition method according to claim 1, wherein obtaining the actual movement trajectory of the product from the virtual processing trajectory includes:
calculating a motion variable of the central point of the product according to the virtual processing track;
and obtaining the actual moving track of the product according to the motion variable of the central point of the product.
4. The product processing trajectory acquisition method according to claim 3, wherein calculating the motion variable of the product center point from the virtual processing trajectory includes:
establishing an XY coordinate system, wherein the product and the XY coordinate system are coplanar;
and calculating the motion variable of the product center point in an XY coordinate system according to the virtual processing track.
5. The product processing trajectory acquisition method according to claim 4, wherein calculating the motion variable of the product center point in an XY coordinate system according to the virtual processing trajectory includes: respectively calculating motion variables DeltaX, DeltaY and DeltaC of the product center point in an XY coordinate system according to the virtual processing track; and obtaining an actual moving track of the product according to the motion variables DeltaX, DeltaY and DeltaC, wherein DeltaX is the displacement of the center point of the product in the X-axis direction within unit time, DeltaY is the displacement of the center point of the product in the Y-axis direction within unit time, and DeltaC is the angle of rotation of the product in the unit time by taking the center point as the center of a circle and in a plane formed by the X-axis and the Y-axis.
6. The method for obtaining the processing trajectory of the product according to claim 1, wherein after a virtual processing trajectory is preset according to a position to be processed of the product, actual moving trajectories of the product and the execution end are obtained from the virtual processing trajectory, and then the product and the execution end are controlled to move respectively along the actual moving trajectories.
7. The product processing trajectory acquisition method according to claim 6, wherein obtaining the actual movement trajectories of the product and the execution end from the virtual processing trajectory includes:
calculating a motion variable of a central point of a product and a motion variable of an execution end according to the virtual processing track;
and respectively obtaining the actual moving track of the product and the actual moving track of the execution end according to the motion variable of the central point of the product and the motion variable of the execution end.
8. The product processing trajectory acquisition method according to claim 7, wherein calculating the motion variable of the product center point and the motion variable of the execution end according to the virtual processing trajectory includes:
establishing an XYZ coordinate system, wherein a plane of the product viewed from above is coplanar with a plane formed by an X axis and a Y axis in the XYZ coordinate system;
and calculating the motion variables of the product center point and the execution end in an XYZ coordinate system according to the virtual processing track.
9. The product processing trajectory acquisition method according to claim 8, wherein calculating the motion variables of the product center point and the execution end in the XYZ coordinate system according to the virtual processing trajectory includes: respectively calculating motion variables delta X, delta Y and delta C of the product center point in an XYZ coordinate system and motion variables delta Z and delta A of the execution end in the XYZ coordinate system according to the virtual processing track; and obtaining actual moving tracks of the product and the execution end according to the motion variables DeltaX, DeltaY, DeltaC, DeltaZ and DeltaA, wherein the DeltaX is the displacement of the center point of the product in the X-axis direction within unit time, the DeltaY is the displacement of the center point of the product in the Y-axis direction within unit time, the DeltaC is the rotation angle of the product in the unit time with the center point as the center point and in the plane formed by the X-axis and the Y-axis, the DeltaZ is the displacement of the execution end in the Z-axis direction within unit time, and the DeltaA is the rotation angle of the execution end in the plane formed by the Z-axis and the X-axis.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed, performs the method of any one of claims 1-9.
11. A product processing trajectory acquisition device comprising a memory storing a program and a processor for executing the program stored in the memory to cause the method of any one of claims 1-9 to be performed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010006903.6A CN113075905B (en) | 2020-01-03 | 2020-01-03 | Product processing track acquisition method, computer readable storage medium and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010006903.6A CN113075905B (en) | 2020-01-03 | 2020-01-03 | Product processing track acquisition method, computer readable storage medium and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113075905A true CN113075905A (en) | 2021-07-06 |
| CN113075905B CN113075905B (en) | 2022-11-18 |
Family
ID=76608591
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010006903.6A Active CN113075905B (en) | 2020-01-03 | 2020-01-03 | Product processing track acquisition method, computer readable storage medium and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113075905B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008113539A1 (en) * | 2007-03-22 | 2008-09-25 | Planatol Klebetechnik Gmbh | Application device having a marking device, and marking method |
| CN101700716A (en) * | 2009-11-04 | 2010-05-05 | 李华容 | Realization method and device of image printing |
| CN105436053A (en) * | 2015-11-10 | 2016-03-30 | 广东欧珀移动通信有限公司 | Method and device for glue dispensing of touch screen |
| CN205550926U (en) * | 2016-04-28 | 2016-09-07 | 湖北格莱德光电子器件有限公司 | A rubber device for wiping touch -sensitive screen overflows and glues |
| CN206567174U (en) * | 2017-01-18 | 2017-10-20 | 珠海市共创精密机械有限公司 | A kind of automatic spreading machine |
| CN107931012A (en) * | 2017-10-25 | 2018-04-20 | 浙江华睿科技有限公司 | A kind of method and dispenser system for extracting dispensing path |
| CN108311421A (en) * | 2018-01-25 | 2018-07-24 | 广东利迅达机器人系统股份有限公司 | Automatic rubber equipment |
| CN110039194A (en) * | 2019-04-17 | 2019-07-23 | 大族激光科技产业集团股份有限公司 | A kind of laser cutting device |
-
2020
- 2020-01-03 CN CN202010006903.6A patent/CN113075905B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008113539A1 (en) * | 2007-03-22 | 2008-09-25 | Planatol Klebetechnik Gmbh | Application device having a marking device, and marking method |
| CN101700716A (en) * | 2009-11-04 | 2010-05-05 | 李华容 | Realization method and device of image printing |
| CN105436053A (en) * | 2015-11-10 | 2016-03-30 | 广东欧珀移动通信有限公司 | Method and device for glue dispensing of touch screen |
| CN205550926U (en) * | 2016-04-28 | 2016-09-07 | 湖北格莱德光电子器件有限公司 | A rubber device for wiping touch -sensitive screen overflows and glues |
| CN206567174U (en) * | 2017-01-18 | 2017-10-20 | 珠海市共创精密机械有限公司 | A kind of automatic spreading machine |
| CN107931012A (en) * | 2017-10-25 | 2018-04-20 | 浙江华睿科技有限公司 | A kind of method and dispenser system for extracting dispensing path |
| CN108311421A (en) * | 2018-01-25 | 2018-07-24 | 广东利迅达机器人系统股份有限公司 | Automatic rubber equipment |
| CN110039194A (en) * | 2019-04-17 | 2019-07-23 | 大族激光科技产业集团股份有限公司 | A kind of laser cutting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113075905B (en) | 2022-11-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9311608B2 (en) | Teaching system and teaching method | |
| JP6506348B2 (en) | Robot teaching device to correct robot's trajectory | |
| US10926530B2 (en) | Screen printing method and device therefor | |
| US20070242073A1 (en) | Robot simulation apparatus | |
| JP5971226B2 (en) | Robot system and method of manufacturing workpiece | |
| JP2019188542A (en) | Control device, robot, and robot system | |
| CN113075905B (en) | Product processing track acquisition method, computer readable storage medium and device | |
| JP2011067858A (en) | Machining controller, laser beam machining device, and laser beam machining system | |
| TW201805128A (en) | Multiaxial robot | |
| CN109414794A (en) | Grinding device | |
| CN109648563B (en) | Method for controlling motion of serial robot and computer storage medium | |
| JP6452874B1 (en) | Metal processing apparatus, robot, and metal processing method | |
| US5591980A (en) | Bi-axial-tilting specimen fine motion device and method of correcting image shifting | |
| CN115921221A (en) | Dispensing method of five-axis dispenser, electronic device and storage medium | |
| CN115592670A (en) | Method, device and equipment for determining motion track of mechanical arm and storage medium | |
| Secil et al. | A robotic system for autonomous 3-D surface reconstruction of objects | |
| JP7456288B2 (en) | Robot control method, robot device | |
| CN109773581B (en) | Method for applying robot to reappear machining | |
| KR101312003B1 (en) | Interpolation method of robot comprising r-axis | |
| JP6587842B2 (en) | Curved cutting device | |
| CN115339542B (en) | Foot type robot motion control method and foot type robot | |
| CN117584115A (en) | Control method and robot system | |
| JP7479214B2 (en) | Surface preparation method and surface preparation device | |
| JP2018192493A (en) | Gradual molding method | |
| CN112643680A (en) | Inverse kinematics solution method, robot, and computer-readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |