CN114505207B - Motion control method and system for uniform coating dispenser - Google Patents
Motion control method and system for uniform coating dispenser Download PDFInfo
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- CN114505207B CN114505207B CN202210041891.XA CN202210041891A CN114505207B CN 114505207 B CN114505207 B CN 114505207B CN 202210041891 A CN202210041891 A CN 202210041891A CN 114505207 B CN114505207 B CN 114505207B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1005—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to condition of liquid or other fluent material already applied to the surface, e.g. coating thickness, weight or pattern
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
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- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The invention provides a motion control method and a motion control system for an even coating dispenser, which increase a real-time glue amount on the basis of the traditional five-axis linkage (RTCP)The control shaft outputs a signal. Obtaining a motion vector V of a processing point of a processing piece at the current moment relative to a coordinate system of the machine station ω Obtaining a space motion vector V of a dispensing head relative to a machine coordinate system at the current moment m According to motion vector V ω And a spatial motion vector V m Synthesizing a real-time output signal associated with the relative movement, and controlling a glue discharging speed of the glue dispensing valve based on the real-time output signal. The invention can realize the surface dispensing work of the complex curved surface workpiece, simultaneously ensure the uniform coating effect of the dispensing head in the direction operation, and avoid the phenomena of glue piling and glue breaking of a glue line.
Description
Technical Field
The invention relates to a real-time dispensing motion control method, in particular to a uniform coating dispensing motion control method and a uniform coating dispensing motion control system, and particularly relates to a uniform coating dispensing motion control method and a uniform coating dispensing motion control system related to five-axis linkage equipment.
Background
The dispenser is also called a glue spreader, a glue dispenser, a glue filling machine and the like, and is specially used for controlling the fluid. And the fluid is dripped and coated on the surface or the interior of the product, so that the automatic fluid dripping coating machine is widely applied to the industries of automobiles, 3C, buildings, food, packaging and the like. The early glue dispenser is generally a non-standard device, and the delivery volume is small, so that a PLC (programmable logic controller) is adopted to control a stepping motor, a servo motor, an electromagnetic valve and a pneumatic cylinder to design related flow processes. With the increase of the batch standardization demand, the PLC has the defect of high cost, and the dispenser gradually uses a general motion controller and then a motion controller special for the dispenser appears.
The motion controller is an embedded computer software and hardware system integrating motion trail interpolation, acceleration and deceleration algorithms and tool switch control, and is the combined application of computer technology and robot technology. Early dispensing machines were generally tri-axial, called vertical dispensing machines. The glue head of the glue dispenser always keeps a fixed angle with the workpiece in the pointing direction, so that the glue dispenser is suitable for plane glue dispensing operation, and the workpiece needs to be placed and positioned again for multi-surface glue dispensing. The application of four-axis and five-axis (non-linkage) dispensing machines aims to solve the problem of repeatedly placing and positioning workpieces, but five-axis linkage technology is required to be applied to dispensing of spatial complex curved surfaces (curve tracks).
Five-axis linkage is a robot motion track control algorithm based on RTCP (Rotation Tool Centre Point) technology, and is applied to high-end numerical control machines at first, and the difficulty is that a workpiece rotates in space and a Tool synchronously moves, so that the relative position and the direction vector between the workpiece and the Tool are controllable at the same time, and the machining motion of a space (3D) complex track (curved surface) can be realized.
Numerical control machine tool and point gum machine all used motion controller as its essential element, but the application scenario is different, and its difference lies in: the numerical control machine tool is used for reducing material; and the dispenser is referred to as additive processing. The emphasis of the motion control algorithm is different depending on different process requirements, which are reflected in the accuracy of the position, speed and initial positioning of the workpiece, as shown in the following table. The tool speed of the numerical control machine tool is mainly used for controlling cutting feeding, and the precision requirement is general; the tool speed of the glue dispenser must be kept matched with the glue discharging speed, otherwise, the problem of uneven glue quantity is caused.
TABLE 1
In addition, on a three-axis or non-five-axis linkage dispensing machine, a workpiece is fixed in the dispensing operation process, the moving speed of a dispensing head is the moving speed of a processing point, a real-time change curve controller manufacturer of the speed has given the moving speed through a trapezoidal speed (linear function) or an S-shaped speed (secondary and above functions) curve, and because the three-axis or non-five-axis linkage dispensing machine only performs dispensing on a plane workpiece, continuous multi-surface dispensing operation can not be performed on the workpiece with a space complex structure, but the moving controller on a numerical control machine cannot be directly combined to the dispensing machine.
The internal RTCP algorithm of the universal five-axis linkage motion controller does not open real-time relative motion signals of the machining tool bit and the machining part at the machining point. The real-time relative movement speed cannot be accurately tracked by adopting the trapezoidal or S-shaped speed tracking, and if a five-axis linkage controller on a machine tool is directly adopted on a dispensing machine, the glue line is not uniform.
The following problems exist in the prior art: firstly, a five-axis linkage motion controller in the dispensing field can only realize the dispensing operation on a plane, and the uniform coating and dispensing on the surface with a complex structure are difficult to realize; secondly, the five-axis linkage motion controller on the existing numerical control machine tool is used for a dispensing machine, the technical problems of high price and unmatched operation process exist, the real-time tracking of the existing five-axis linkage speed is difficult, the glue line control is not ideal, and the problems of glue piling and glue breaking exist in the glue dispensing process.
Disclosure of Invention
In order to overcome the defects, the invention designs a five-axis linkage uniform coating dispenser motion control method and a system, which are used for realizing dispensing motion control on a space (3D) complex track, tracking the relative motion of a dispensing head and a processing point of a processing piece in real time and accurately controlling the dispensing track of the dispensing head; in addition, the glue output amount is controlled through the relative synthesis movement speed, so that uniform coating and glue dispensing of the surface with a space complex structure can be realized, and the phenomena of glue stacking and glue breaking in the glue dispensing process are avoided.
The motion control method of the five-axis linkage uniform coating dispensing machine provided by the invention has the advantages that the real-time tracking of the dispensing head is realized, the dispensing track of the dispensing head is accurately controlled, the glue discharging speed is controlled through the relative motion speed of the dispensing head and a workpiece, the matching of the glue discharging speed and the movement speed of the dispensing head is realized, the uniform coating is realized, and the glue piling and glue breaking phenomena in the dispensing process in the prior art are solved. In order to achieve the technical effect, the invention adopts the following control method that the controller reads a motion instruction containing a dispensing track and a process from an internal execution cache and analyzes the motion instruction to perform interpolation operation to obtain interpolation parameters; calculating the coordinates of a series of interpolation points on each axis on the motion trail according to the interpolation parameters, wherein the coordinates comprise position coordinates [ Xr, yr, zr]And rotation coordinates [ A, C](ii) a Calculating a moving axis position point coordinate [ Xm, ym, zm ] compensated by a moving axis generated by rotation of a rotating axis according to the interpolation point coordinate](ii) a The axis drive output module receives the coordinates [ Xm, ym, zm ] of the position point of the moving axis]And the coordinates of the axis of rotation [ A, C]Calculating a motion axis driving pulse output signal; the machining point of a machined part at the current moment is oppositeThe motion in the machine coordinate system is a motion vector V ω (ii) a The motion of the dispensing head relative to the machine coordinate system at the current moment is a space motion vector V m According to motion vector V ω And a spatial motion vector V m Synthesizing a real-time output signal associated with the relative motion, controlling a dispensing speed of the dispensing valve based on the real-time output signal of the dispensing head relative to the processing point of the workpiece
Further, the real-time output signal includes a relative motion velocity vector V r Said relative motion velocity vector V r Is the motion vector of the dispensing head relative to the processing point of the workpiece at the current moment. The real-time tracking is accurately realized, and the control is carried out by directly tracking the motion vector of the dispensing head.
Furthermore, the glue discharging speed is related to the glue amount thickness according to the relative motion speed vector V r The product of the modulus value and the glue amount thickness coefficient xi controls the glue discharging speed of the glue dispensing valve. The glue dispensing amount is controlled by directly tracking the motion vector of the glue dispensing head, so that the phenomena of glue accumulation, glue breaking and the like are avoided.
Further, the motion vector V ω Is generated under the action of two rotating shafts according to the processing point of the workpiece relative to the coordinate system of the machine table. The A axis and the C axis are two rotation axis vectors, the operation direction transformation of a dispensing head can be generated, dispensing is carried out in an optimal (surface normal vector), if a tracking signal does not come from the same resolver, the acceleration is easy to break in the speed changing process, and the deceleration is easy to generate glue stacking.
Further, the spatial motion vector V m Tangent to the motion trail curve of the dispensing head.
Furthermore, the output mode of the control signal of the glue discharging speed comprises any one of D/A digital-to-analog conversion, PWM pulse width modulation and PFM pulse frequency modulation.
Furthermore, the control method can support double-rocker five-axis, double-turntable five-axis, arm lifting and turntable five-axis dispensing motion controllers.
The invention also protects a motion control system of the five-axis linkage uniform coating dispenser, which is used for controlling the motion of the five-axis linkage uniform coating dispenserThe system adopts the dispensing motion control method protected in the invention, a controller reads a motion instruction containing a dispensing track and a process from an internal execution cache; the controller analyzes the motion instruction and performs interpolation operation to obtain interpolation parameters; a subdivision interpolation module for calculating coordinates of a series of interpolation points on the motion trail on each axis according to the interpolation parameters, wherein the coordinates comprise position coordinates [ Xr, yr, zr]And rotation coordinates [ A, C](ii) a An RTCP algorithm calculating module for calculating the compensated coordinates [ Xm, ym, zm ] of the actual moving position point generated by rotation of a rotating shaft](ii) a One axis driving output module for moving the position point coordinates [ Xm, ym, zm ]]And the coordinates of the axis of rotation [ A, C]Converting the signal into a corresponding motion axis driving pulse output signal; a synthesized motion calculation output module for calculating a relative motion vector V according to the motion of the dispensing head relative to the processing point of the workpiece at the current moment r Relative motion vector V r The product of the modulus value and the glue amount thickness coefficient xi is used as a signal output for controlling the glue output amount of the glue dispensing valve in real time.
Further, the relative motion vector V r Is related to the coordinates [ Xr, yr, zr ] of two adjacent positions of the workpiece and the point rubber head]The difference of (2).
Furthermore, the subdivided interpolation module comprises the motion instruction, wherein the motion instruction comprises a motion trajectory curve type and dispensing process parameters.
Still further, the motion trajectory curve types include: straight line, circular arc, cylindrical spiral, spiral convolution, bezier/B spline (bezier curve group) curve.
Furthermore, the dispensing process parameters include: dispensing speed, acceleration, five-axis linkage/non-linkage mode, curve control point, dispensing head operation vector and dispensing line width.
Furthermore, the dispensing process parameters include: dispensing speed, acceleration, five-axis linkage/non-linkage mode, curve control point, dispensing head operation vector and dispensing line width.
Furthermore, the system comprises a core processor, wherein the core processor adopts an ARM + FPGA dual-core architecture, and the ARM processor is responsible for instruction receiving and sending, instruction buffering, instruction analysis and interpolation operation; the FPGA is responsible for driving pulse smooth output, shaft actual position feedback readback and limiting anti-collision protection.
Further, the RTCP algorithm solution module calculating the coordinates [ Xm, ym, zm ] of the actual movement position point includes:
axis vector N from rotation axis A A And rotation angle alpha constructs quaternion Q A ,
Axis vector N from rotation axis C C And rotation angle gamma structure quaternion Q C ,
The position coordinates [ Xr, yr, zr) of the interpolation point]Extended to quaternion Q R ,
Q R ＝[0 X r Y r Z r ],
For quaternion Q R The quaternion multiplication operation is carried out twice to obtain the quaternion Q after rotation F ,
Reducing the dimension of the quaternion into three-dimensional coordinates, adding the three-dimensional coordinates with the coordinates of the original machine table for motion compensation to obtain the coordinates of the synthetic motion position points
[X m ,Y m ,Z m ]，
X m ＝X 0 +X f ，Y m ＝Y 0 +Y f ，Z m ＝Z 0 +Z f Wherein X is 0 、Y 0 、Z 0 Is the original machine table coordinate.
The technical scheme adopted in the application is intersected with the prior art, and has the following beneficial effects:
firstly, the real-time tracking of a dispensing head is realized, the relative motion between the dispensing head and a workpiece is accurately detected, a control dimension is added on the basis of five-axis linkage, and dispensing is realized on a dispensing track with a complex space structure under the condition of realizing plane dispensing;
secondly, through the relative motion of real time control dispensing head and machined part, according to the relative motion control dispensing head motion, simultaneously according to relative motion and the play of gluing volume thickness coefficient control dispensing head speed, guarantee out the motion phase-match of gluing speed and dispensing head, realize gluing the even coating of line, prevent the phenomenon of glue piling and glue breaking.
Drawings
FIG. 1 is a schematic diagram of a relative motion velocity vector synthesis algorithm provided by the present invention;
FIG. 2 is a schematic control diagram of a five-axis linkage dispensing machine provided by the invention;
3A-3D are various example curve traces;
FIG. 4 is a schematic diagram of a control module in the five-axis linkage uniform coating dispenser motion control system provided by the present invention;
fig. 5A-5B are schematic diagrams of dispensing traces according to the present invention.
Description of the symbols
Watch two
1. Linear motion Z-axis 2 linear motion Y-axis
3. Linear motion X-axis 4-point dispensing nozzle
5. First rotary A shaft of workpiece mounting platform 6
7. Second rotation C-axis 8 motion controller
9. Glue quantity synchronous control signal of glue valve flow controller 10
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention should be understood not to be limited to such an embodiment described below, and the technical idea of the present invention may be implemented in combination with other known techniques or other techniques having the same functions as those of the known techniques.
In the following description of the embodiments, for purposes of clearly illustrating the structure and operation of the present invention, directional terms are used, but the terms "front", "rear", "left", "right", "outer", "inner", "outward", "inward", "axial", "radial", and the like are to be construed as words of convenience and are not to be construed as limiting terms. Wherein the content of the first and second substances,
watch III
In order to meet the requirement of uniform dispensing of complex workpieces, the invention provides a method for dispensing workpieces by adding a dimension on the basis of a traditional five-axis linkage dispensing machine, so as to solve the problems of breaking and glue piling caused by incapability of tracking the dispensing head in real time in the prior art.
In consideration of the fact that when the five-axis linkage is adopted to carry out curved surface or space dispensing on a non-planar workpiece, the workpiece can also move on a machine platform, for example, the workpiece rotates on the machine platform, and in order to guarantee accurate dispensing and uniform dispensing of the dispensing head at the dispensing position on the workpiece, the relative movement between the dispensing head and the workpiece needs to be guaranteed to be monitored in real time, and then the dispensing amount of the dispensing head is controlled.
The invention belongs to further improvement of an RTCP five-axis linkage control method, which is also called as a 5+1 axis linkage control method and is an improvement method specially made based on the application requirement of a five-axis dispenser. According to the invention, a real-time output signal (namely, the 6 th axis) related to relative motion synthesized by a machining point is added on the basis of conventional five-axis linkage, and the real-time output signal can be output by adopting three modes of D/A (digital/analog) conversion, PWM (pulse width modulation) and PFM (pulse frequency modulation), so that the application range is wider.
From the angle classification of the mechanical structure of the dispensing machine, the five-axis dispensing machine is divided into a double-rocker (upper) five-axis dispensing machine, a double-turntable (lower) five-axis dispensing machine, a rocker and a turntable (upper and lower) five-axis dispensing machine.
The movement control method and the control system of the five-axis linkage uniform coating dispenser are described with reference to fig. 1 to 5B.
The motion control system of the five-axis linkage uniform coating dispenser comprises a controller, a subdivision interpolation module, an RTCP algorithm resolving module, an axis driving output module and a synthetic motion calculation output module.
The controller reads the motion instruction from the execution cache, the content of the motion instruction comprises the type of the motion track curve and the dispensing process parameters, and the controller analyzes the motion instruction and performs interpolation operation to obtain interpolation parameters. Wherein the trajectory profile types include: straight line, circular arc, cylindrical spiral, spiral convolution, bezier/B spline (bezier curve group) curve; the dispensing process parameters comprise: dispensing speed, acceleration, five-axis linkage/non-linkage mode, curve control coordinate point, dispensing head operation vector and dispensing line width. The track curve is used for matching fitting and selection of the dispensing track of the complex structure, and the dispensing process parameters are used for adjusting the working mode of dispensing operation as reference. The interpolation parameters are self-adaptively calculated according to the track description parameters, and the interpolation parameters comprise: interpolation interval, number of interpolation stages, micro-stage length and micro-stage speed.
And the subdivision interpolation module calculates coordinates of a series of interpolation points on the motion track on each axis, such as position coordinates [ Xr, yr, zr ] and rotation coordinates [ a, C ]) according to the interpolation parameters, wherein the subdivision interpolation module comprises a required motion track type read by the controller, and various curve tracks are shown in fig. 3A-3D. FIG. 3A shows a cylindrical helical trajectory in a 3D and two-dimensional plane; FIG. 3B shows a spiral trajectory of a roll in a 3D and two-dimensional plane; FIG. 3C shows Bezier curve traces in 3D and two-dimensional planes; fig. 3D shows the B-spline curve trace in 3D and two-dimensional planes. The motion controller of the invention supports the column spiral, the spiral winding and the Bezier/spline curve besides the common straight line and circular arc tracks, wherein the column spiral, the spiral winding and the Bezier/spline curve enhance and improve the functions of the shaft card motion controller. The motion controller supports straight lines, circular arcs, column spirals, volume spirals and Bezier/spline curves on a five-axis linkage RTCP algorithm. Continuous multi-surface dispensing operation of the workpieces with the space complex structures is realized, and the workpieces are not required to be replaced and clamped, so that the operation efficiency is effectively improved.
Fig. 5A and 5B show examples of dispensing traces. Fig. 5A is a sample of a cylindrical spiral dispensing track provided by the present invention. In the dispensing operation process, the dispensing head moves along the track, and the dispensing head operation vector needs to be adjusted in real time. Under the limitation of arbitrary clamping of a workpiece (the cylindrical shaft is not allowed to be centered or the processing process is not allowed to be clamped again), the RTCP five-axis linkage dispensing machine is required to complete the process. The dispensing motion control method of the invention supports the implementation of variable speed uniform coating effect in the dispensing process.
Fig. 5B is an operation example of bonding the blade and the support hub of the impeller according to the present invention. The dispensing processing trajectory line formed by the intersection of the two complex curved surfaces of the blade and the hub is also very complex, and the space curve cannot be described by a mathematical analytic expression. Therefore, only a limited number of spatially discrete points can be used for fitting to approximate the true trajectory, and the spline curve is a smooth approximation fitting method. The dispensing motion control method supports a B spline curve track algorithm based on RTCP five-axis linkage, so that the method can realize uniform coating of the application scene.
And the RTCP algorithm resolving module is used for resolving a synthetic motion position point coordinate [ Xm, ym, zm ] of the position point and the rotary motion generated under the spherical coordinate according to the position coordinate [ Xr, yr, zr ] and the rotary spherical coordinate [ A, C ]. Specifically, the position point coordinates are obtained according to the following steps:
first, an axis vector N according to the rotation axis A A And rotation angle alpha construction quaternion Q A
Second, based on the axis vector N of the rotation axis C C And rotation angle gamma structure quaternion Q C
Thirdly, three-dimensional coordinates [ Xr, yr, zr ] of the position]Extended to quaternion Q R
Q R ＝[0 X r Y r Z r ]
The fourth step, for the quaternion Q R The quaternion multiplication operation is carried out twice to obtain the quaternion Q after rotation F
Fifthly, reducing the dimension of the quaternion into a three-dimensional coordinate, adding the three-dimensional coordinate with the original machine table coordinate for motion compensation to obtain a synthetic motion position point coordinate [ X ] m ,Y m ,Z m ]，X m ＝X 0 +X f ，Y m ＝Y 0 +Y f ，Z m ＝Z 0 +Z f Wherein X is 0 、Y 0 、Z 0 Are the original machine coordinates.
The RTCP algorithm resolving module is used for realizing time-varying angle dispensing processing by taking a processing point as an instantaneous rotation center, so that the dispensing process is more accurate.
And the axis driving output module outputs a pulse signal based on an output signal of the RTCP algorithm resolving module to control the movement of the rotating axis and the moving axis. Specifically, the coordinates [ Xm, ym, zm ] of the position point of the moving axis and the coordinates [ A, C ] of the rotating axis output by the RTCP algorithm resolving module are converted into corresponding moving axis driving pulse output signals. The movement axes include a first rotation axis and a second rotation axis, and an X-direction movement axis, a Y-direction movement axis and a Z-direction movement axis, wherein the first rotation axis and the second rotation axis respectively control the rotation of the workpiece on the machine platform as a first rotation axis a-axis 6 and a second rotation axis C-axis 7 in fig. 4.
A resultant motion calculation output module for calculating a relative motion vector V r (ii) a Relative motion vector V r The product of the modulus value and the glue amount thickness coefficient xi is used as a signal output for controlling the glue discharging amount of the glue dispensing valve in real time, so that the glue discharging amount of the glue dispensing valve is matched with the movement speed of the glue dispensing head.
The controller of the control system obtains interpolation parameters, the controller transmits the obtained interpolation parameter data to the subdivision interpolation module, and the subdivision interpolation module calculates specific interpolation points and position coordinates [ Xr, yr, zr ] of the interpolation points on each axis according to the received interpolation parameter information]And rotational coordinates [ A, C]The output module of the synthesized motion calculation is based on the motion vector V ω And a spatial motion vector V m Synthesizing a real-time output signal associated with the relative movement, and controlling a glue discharging speed of the glue dispensing valve based on the real-time output signal. The relative movement speed signal output adopts three modes: d/a digital-to-analog conversion, PWM pulse width modulation, and PFM pulse frequency modulation. The D/A digital-to-analog conversion and PWM (pulse width modulation) pulse modulation signals can drive various electric valves and pneumatic valves, wherein the PFM pulse frequency modulation signals preferably drive piezoelectric injection valves in a point-by-point mode.
According to the invention, by improving the RTCP five-axis linkage algorithm, a synchronous output signal based on the real-time relative movement speed of the dispensing head and the workpiece at the processing point is added, and the signal is used for controlling the dispensing quantity to ensure that the dispensing quantity and the movement speed synchronously change, so that a better uniform coating effect of the five-axis linkage dispensing glue line is realized.
Meanwhile, the hardware core processor of the motion controller adopts a dual-core architecture of ARM + FPGA, so that the real-time processing of the control method is realized. A hardware circuit of the special motion controller for five-axis linkage dispensing is designed, so that the production is realized.
The dispensing motion control method adopted in the dispensing machine motion control system has very high real-time requirement, so the dispensing machine motion control system is more suitable for being realized on an embedded platform. In the development stage, algorithm verification and simulation are performed on a PC. And after the simulation verification is correct, the embedded platform is transplanted to an embedded platform for compiling and running. A hardware core processor in a motion controller contained in the system adopts an ARM + FPGA dual-core architecture. Wherein, the ARM processor needs to support the hardware floating point operation and the device with the dominant frequency more than or equal to 100 MHz.
The processing method realized in the ARM processor is as follows:
communicating with an IPC (industrial personal computer) through Ethernet or RS232, and receiving and analyzing the instruction; planning the motion speed and carrying out rough interpolation calculation of the motion trail according to the instruction; calculating relative speed, calculating coordinate vector and calculating movement compensation of a dispensing head (tool nose) in the improved RTCP five-axis linkage dispensing movement control method; communicating the movement amount obtained by the operation with real-time data of the FPGA, wherein a communication interface adopts parallel bus sequential logic; and controlling the input and output of the switching value and the input and output of the analog value.
The requirement of the number of logic units (Cells) of the FPGA processor is more than or equal to 5000, and the number of available IO pins is more than or equal to 144.
The operation control in the FPGA processor is as follows:
the FPGA processor performs smooth interpolation calculation on the pulse and outputs the calculated data; reading back and counting pulse signals of a motor encoder; monitoring the state of a limit switch and protecting an anti-collision machine; PWM and PFM modulation output of the relative movement speed signal; logical signal to physical axis drive mapping.
In the system, the algorithm of the real-time control method is embedded into an ARM + FPGA hardware platform, so that a standardized motion controller product special for dispensing is realized.
Compared with the prior art, the invention has the following beneficial effects:
firstly, the real-time tracking of a dispensing head is realized, the relative motion between the dispensing head and a workpiece is accurately detected, a control dimension is added on the basis of five-axis linkage, and dispensing is realized on a dispensing track with a complex space structure under the condition of realizing plane dispensing;
secondly, through the relative motion of real time control dispensing head and machined part, according to the relative motion control dispensing head motion, simultaneously according to relative motion and the play of gluing volume thickness coefficient control dispensing head speed, guarantee out the motion phase-match of gluing speed and dispensing head, realize gluing the even coating of line, prevent the phenomenon of glue piling and glue breaking. The terms "first" and "second" as used herein do not denote any order, quantity, or importance, but rather are used to distinguish one element from another, unless otherwise specified. Similarly, the appearances of the phrases "a" or "an" in various places herein are not necessarily all referring to the same quantity, but rather to the same quantity, and are intended to cover all technical features not previously described. Similarly, modifiers similar to "about", "approximately" or "approximately" that occur before a numerical term herein typically include the same number, and their specific meaning should be read in conjunction with the context. Similarly, unless a specific number of a claim recitation is intended to cover both the singular and the plural, and embodiments may include a single feature or a plurality of features.
The embodiments described in the specification are only preferred embodiments of the present invention, and the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit the present invention. Technical solutions that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments according to the concept of the present invention should be within the scope of the present invention.
Claims (12)
1. A dispensing motion control method is characterized in that a controller reads a motion instruction containing a dispensing track and a dispensing process from an internal execution cache and analyzes the motion instruction to perform interpolation operation to obtain interpolation parameters;
calculating interpolation point coordinates of a series of interpolation points on each axis on the motion track according to the interpolation parameters, wherein the coordinates comprise position coordinates [ Xr, yr, zr ] and rotation coordinates [ A, C ];
calculating a moving axis position point coordinate [ Xm, ym, zm ] after a moving axis compensation generated by rotation of a rotating axis according to the interpolation point coordinate;
the axis driving output module receives the coordinates [ Xm, ym and Zm ] of the position points of the moving axes and the coordinates [ A and C ] of the rotating axes, and calculates the output signals of the driving pulses of the moving axes;
machining point of a machined part at the current moment is opposite to the machine tableThe movement of the coordinate system being a motion vector V ω (ii) a The motion of the dispensing head relative to the coordinate system of the machine at the current moment is a space motion vector V m According to the motion vector V ω And a spatial motion vector V m Synthesizing a real-time output signal associated with the relative movement, and controlling a glue discharging speed of a glue dispensing valve based on the real-time output signal of the glue dispensing head relative to a machining point of the workpiece;
wherein the real-time output signal comprises a relative motion velocity vector V r Said relative motion velocity vector V r Is the motion vector of the dispensing head relative to the processing point of the workpiece at the current moment, the glue discharging speed is related to the glue amount thickness, and the glue discharging speed is calculated according to the relative motion speed vector V r The product of the modulus value and the glue amount thickness coefficient xi controls the glue discharging speed of the glue dispensing valve.
2. Control method according to claim 1, characterized in that the motion vector V ω Is generated under the action of two rotating shafts according to the processing point of the workpiece relative to the coordinate system of the machine table.
3. Control method according to claim 1, characterized in that said spatial motion vector V m Tangent to the motion trail curve of the dispensing head.
4. The control method according to claim 1, wherein the output mode of the control signal of the glue discharging speed comprises any one of D/a digital-to-analog conversion, PWM pulse width modulation and PFM pulse frequency modulation.
5. The control method according to any one of claims 1 to 4, wherein the control method can support a double-rocker five-axis, double-turntable five-axis, lifting arm + turntable five-axis dispensing motion controller.
6. A motion control system of a uniform coating dispenser is characterized in that,
a controller reads a motion instruction containing a dispensing track and a process from an internal execution cache;
the controller analyzes the motion instruction and performs interpolation operation to obtain interpolation parameters;
the subdivision interpolation module is used for calculating coordinates of a series of interpolation points on the motion trail on each axis according to interpolation parameters, wherein the coordinates comprise position coordinates [ Xr, yr and Zr ] and rotation coordinates [ A and C ];
an RTCP algorithm resolving module for calculating the actual motion position point coordinates [ Xm, ym, zm ] after compensation of a moving axis generated by rotation of a rotating shaft;
the one-axis driving output module converts the position point coordinates [ Xm, ym, zm ] of the moving axis and the rotation axis coordinates [ A, C ] into corresponding moving axis driving pulse output signals;
a synthesized motion calculation output module for calculating the relative motion velocity vector V according to the motion of the dispensing head relative to the processing point of the workpiece at the current moment r Relative motion velocity vector V r The product of the modulus value and the glue amount thickness coefficient xi is used as a signal output for controlling the glue output amount of the glue dispensing valve in real time.
7. The motion control system of a uniform coating dispenser according to claim 6, wherein the relative motion velocity vector V r Is related to the coordinates [ Xr, yr, zr ] of two adjacent positions of the workpiece and the point rubber head]The difference of (2).
8. The motion control system of the uniform coating dispenser according to claim 6, wherein the subdivision interpolation module comprises the motion command, wherein the motion command comprises a motion trajectory curve type and dispensing process parameters.
9. The motion control system of a uniform coating dispenser according to claim 8, wherein the motion trajectory profile types include: straight line, circular arc, cylindrical spiral, spiral convolution, bezier/B spline curve.
10. The motion control system of a uniform coating dispenser according to claim 8, wherein the dispensing process parameters include: dispensing speed, acceleration, five-axis linkage/non-linkage mode, curve control point, dispensing head operation vector and dispensing line width.
11. The motion control system of the uniform coating dispenser according to claim 6, comprising a core processor, wherein the core processor adopts an ARM + FPGA dual-core architecture, and the ARM processor is responsible for instruction transceiving, instruction buffering, instruction parsing and interpolation operation; the FPGA is responsible for driving pulse smooth output, shaft actual position feedback readback and limiting anti-collision protection.
12. The motion control system of a uniform coating dispenser according to claim 6, wherein said RTCP algorithm calculation module calculating said actual motion position point coordinates [ Xm, ym, zm ] comprises:
axis vector N from rotation axis A A And rotation angle alpha construction quaternion Q A
Axis vector N from rotation axis C C And rotation angle gamma structure quaternion Q C
The position coordinates [ Xr, yr, zr) of the interpolation point]Extended to quaternion Q R
Q R ＝[0X r Y r Z r ]；
For quaternion Q R The quaternion Q after rotation is obtained by two times of quaternion multiplication F
Reducing the quaternion into three-dimensional coordinates, adding the three-dimensional coordinates to the original machine table coordinates for motion compensation to obtain the coordinates [ X ] of the synthetic motion position point m ,Y m ,Z m ]，
X m ＝X 0 +X f ，Y m ＝Y 0 +Y f ，Z m ＝Z 0 +Z f Wherein X is 0 、Y 0 、Z 0 Are the original machine coordinates.
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