CN115218839A - Centering control method of alignment structure based on middle frame and CG (computer graphic) group screen - Google Patents
Centering control method of alignment structure based on middle frame and CG (computer graphic) group screen Download PDFInfo
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- CN115218839A CN115218839A CN202211133696.6A CN202211133696A CN115218839A CN 115218839 A CN115218839 A CN 115218839A CN 202211133696 A CN202211133696 A CN 202211133696A CN 115218839 A CN115218839 A CN 115218839A
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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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
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- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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Abstract
The invention provides a centering control method of a centering structure based on a middle frame and a CG (computer graphic) group screen, which comprises the following steps of: starting a dispenser, initializing the automatic operation of the alignment structure, and triggering the motor; placing a bottom support on a placing platform, placing a middle frame on the bottom support, respectively testing the length and the width of the middle frame through the alignment structure, and logically judging a first test result; carrying out centering operation on the middle frame according to the first test result; testing the length and the width of the CG through the alignment mechanism respectively, and performing logic judgment on a second test result; performing centering operation on the CG according to the second test result; and finishing the screen composition. The invention has the advantages that the stable control of the dispensing alignment structure is realized by combining the alignment module, the nondestructive contact of equipment can be realized, the influence on the quality of equipment parts is reduced to the maximum extent, the product percent of pass is improved, and the production efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of automation of the electronic industry, and particularly relates to a centering control method of a centering structure based on a center frame and a CG (computer graphics) group screen.
Background
At present, the automation degree of the electronic industry is low, a large amount of manual operation is relied on, along with the transformation of the domestic manufacturing industry, the automation of the electronic industry becomes a trend, and an excellent electrical control scheme becomes an important part in the future automation development. In the prior art, in a scheme of performing centering operation by a visual identification scheme in a dispenser, a mobile phone screen is a curved screen, image capture is fuzzy in the visual scheme, and vision is easily influenced by an external environment light source and color darkness; in the prior art, in the scheme of directly controlling the structural part by adopting the servo motor, the servo motor is adopted for positioning control, and the contact surface between a mobile phone middle frame and CG (computer graphic) can be damaged by positioning operation; therefore, how to realize soft landing and nondestructive application of equipment components through the dispenser and realize high-precision and high-response control is urgently needed to be solved.
Disclosure of Invention
The invention provides a centering control method based on a centering structure of a middle frame and a CG (computer graphic) group screen, which solves the problems in the prior art.
In order to solve the technical problems, the invention adopts the technical scheme that: a centering control method of a centering structure based on a middle frame and a CG group screen comprises the following steps:
starting a dispenser, initializing the automatic operation of the alignment structure, and triggering the motor;
placing a bottom support on a placing platform, placing a middle frame on the bottom support, respectively testing the length and the width of the middle frame through the alignment structure, and logically judging a first test result;
centering the middle frame according to the first test result;
testing the length and the width of the CG through the alignment mechanism respectively, and carrying out logic judgment on a second test result;
performing centering operation on the CG according to the second test result;
and finishing the screen composition.
Further, the aligning mechanism includes: the aligning module is arranged around the placing platform for a circle, at least 4 aligning modules are uniformly arranged along the circumferential direction, and the placing platform is used for fixing and positioning the bottom support and the middle frame; the aligning module is configured to align the center frame and the CG;
the module of adjusting well includes: the first control motor, the second control motor, the CG aligning jaw, the middle frame aligning jaw and the lifting table are arranged on the lifting table, the first control motor is used for controlling the CG aligning jaw and the middle frame aligning jaw to move respectively, and the second control motor is used for controlling the lifting table to move.
Furthermore, the middle frame aligning clamping jaw is arranged below the CG aligning clamping jaw along the height direction;
the module is adjusted well evenly to be provided with 4 along circumference, set up respectively in place the both sides of platform length direction and width direction.
Further, place the collet in place the platform, place the center in on the collet, through adjust the structure and carry out the test of the length and the width of center respectively well to carry out the step that logic was judged with first test result and include:
after the middle frame is grabbed, scanning the code of the middle frame, and then placing the bottom support on the bottom support of the placing platform;
the alignment pin module on the placing platform is used for guiding and primarily positioning the middle frame, and the sucker module on the placing platform is used for supporting, adsorbing and fixing the middle frame;
respectively assigning values to the first control motor and the second control motor;
driving the middle frame aligning clamping jaws to move for multiple times to contact the middle frame through the first control motors positioned on two sides of the middle frame in the length direction for multiple times to obtain multiple middle frame length movement stroke values;
driving the middle frame aligning clamping jaws to move for multiple times to contact the middle frame through the first control motors positioned on two sides of the middle frame in the width direction for multiple times to obtain multiple middle frame width movement stroke values;
and logically judging according to the middle frame length motion stroke value and the middle frame width motion stroke value, removing unqualified middle frames, and centering the middle frames qualified in the test.
Furthermore, a height stroke value and a direction value are given to the second control motor, and a torque value, a stroke value and a direction value are given to the first control motor;
the first test result comprises the middle frame length motion stroke value and the middle frame width motion stroke value;
after the middle frame aligning clamping jaws positioned on the two sides of the middle frame in the length direction respectively contact the middle frame each time, the first control motors positioned on the two sides of the middle frame in the length direction return to the standby positions;
after the middle frame aligning clamping jaws positioned on the two sides of the middle frame in the width direction respectively contact the middle frame each time, the first control motors positioned on the two sides of the middle frame in the width direction return to the standby positions;
obtaining an actual measured value of the length of the middle frame according to the movement stroke values of the length of the middle frame of the first control motor on two sides of the length direction of the middle frame each time, and averaging the actual measured values of the length of the middle frame to obtain a length value of the middle frame to carry out measurement deviation judgment on the length of the middle frame;
and obtaining an actual measured value of the middle frame width according to the middle frame width movement stroke values of the first control motors on the two sides of the middle frame in the width direction each time, and averaging the actual measured values of the middle frame width to obtain a middle frame width value to judge the measurement deviation of the middle frame width.
Further, the assignment of the first control motor and the second control motor is preset according to the parameters of the length and the width of the middle frame;
the middle frame length actual measurement value is determined according to the deviation of the middle frame initial setting length and a length stroke value, the length stroke value deviation is the deviation of the assignment stroke values of the two first control motors and the corresponding middle frame length motion stroke value, the middle frame length actual measurement value is the actual measurement value calculated by the middle frame long edge in a single time, and the assignment stroke value of the first control motors is determined according to the preset standard middle frame theoretical measurement length;
the middle frame width actual measurement value is determined according to the deviation of the middle frame initial setting width and the width travel value, the width travel value deviation is the deviation of the assignment travel values of the two first control motors and the corresponding middle frame width movement travel values, the middle frame width actual measurement value is the actual measurement value calculated by the middle frame wide edge in a single time, and the assignment travel value of the first control motors is determined according to the standard middle frame theoretical measurement width which is set in advance.
Further, the step of performing centering operation on the middle frame according to the first test result comprises the following steps:
calculating the middle frame pair median coordinate of the first control motor according to the length and the width of the middle frame, and sequentially triggering the first control motor;
after the centering is finished, delaying to start vacuum, and fixing the middle frame;
assigning standby positions of the first control motor and the second control motor respectively, and returning the first control motor and the second control motor to the standby positions;
assigning initial positions of the first control motor and the second control motor respectively, and returning the first control motor and the second control motor to the initial positions;
and the middle frame is centered and finished.
Further, the step of respectively testing the length and the width of the CG by the aligning mechanism and logically judging the second test result comprises:
after grabbing the CG, scanning codes of the CG, and then placing the CG on the placing platform;
assigning values to the first control motor and the second control motor respectively;
the first control motors positioned on two sides of the CG length direction drive the CG aligning clamping jaw to move for multiple times to a position where the distance from the CG is smaller than a set distance, the CG aligning clamping jaw is driven by torque to move to contact the CG, and a plurality of CG length movement travel values are obtained;
the first control motors positioned on two sides of the CG width direction drive the CG aligning clamping jaw to move for multiple times to a position where the distance from the CG is smaller than a set distance, the CG aligning clamping jaw is driven by torque to move to contact the CG, and a plurality of CG width movement travel values are obtained;
and performing logic judgment according to the CG length motion stroke value and the CG width motion stroke value, removing unqualified CG, and performing centering operation on the tested qualified CG.
Furthermore, a height stroke value and a direction value are given to the second control motor, and a torque value, a stroke value and a direction value are given to the first control motor;
the second test result comprises the CG length motion stroke value and the CG width motion stroke value;
the set distance is not more than 0.3mm, and when the distance between the CG aligning clamping jaw and the CG is less than the set distance, the CG aligning clamping jaw continuously runs to the standby position of the first control motor which is positioned at two sides of the CG in the length direction after contacting the CG through torque;
when the distance of the CG aligning clamping jaw is less than the set distance when contacting the CG, the CG aligning clamping jaw continuously runs to the standby position of the first control motor which is positioned at two sides of the CG in the width direction after contacting the CG through torque;
obtaining CG length actual measurement values according to CG length movement stroke values of the first control motors on two sides of the CG length direction each time, and averaging the plurality of CG length actual measurement values to obtain CG length values to carry out measurement deviation judgment on the CG length;
and obtaining CG width actual measurement values according to the CG width movement stroke values of the first control motors on the two sides of the CG width direction each time, and averaging the plurality of CG width actual measurement values to obtain a CG width value to carry out CG width measurement deviation judgment.
Further, the assignment of the first control motor and the second control motor is preset according to the parameters of the length and the width of the CG;
the CG length actual measurement value is determined according to the deviation between the CG initial set length and the length travel value, the length travel value deviation is the deviation between the assigned travel values of the two first control motors and the corresponding CG length motion travel value, the CG length actual measurement value is the actual measurement value calculated by the long edge of the CG at one time, and the assigned travel value of the first control motor is determined according to the standard CG theoretical measurement length which is set in advance;
the CG width actual measurement value is determined according to the deviation of a CG initial set width and a width travel value, the width travel value deviation is the deviation of assigned travel values of two first control motors and a corresponding CG width movement travel value, the CG width actual measurement value is an actual measurement value calculated by a CG wide edge in a single time, and the assigned travel value of the first control motor is determined according to a standard CG theoretical measurement width set in advance.
Further, the first control motor drives the CG aligning jack catch to operate until the CG aligning jack catch is contacted with the CG through torque, a current reading value is obtained in real time, and a current duty ratio is calculated:
wherein, the current set value is the initially set current set value of the first control motor;
the current reading value is an actual current reading value obtained by the first control motor in real time;
k is a constant.
Further, when the CG aligning jaw is driven by torque to gradually approach and contact with the CG, the current duty ratio tends to 0; and when the current duty ratio is equal to 0, the CG aligning jaw contacts the CG, and the first control motor stops running.
Further, the step of performing centering operation on the CG according to the second test result is:
calculating a CG centering coordinate of the first control motor according to the CG length and width, and sequentially triggering the first control motor;
assigning initial positions of the first control motor and the second control motor respectively, and returning the first control motor and the second control motor to the initial positions;
and the CG centering is completed.
Further, after the CG is centered, waiting for the completion of screen suction, assigning initial positions of the first control motor and the second control motor respectively, and returning the initial positions of the first control motor and the second control motor;
and finishing the screen composition.
Due to the adoption of the technical scheme, the method has the following beneficial effects:
through combining to adjust the module well, realize the point and glue the stable control who adjusts the structure well, can realize the not damaged contact of equipment, reduce the influence to equipment quality in the at utmost, improve the product percent of pass, promote production efficiency.
By the control scheme of the alignment mechanism, the alignment linear motor can be controlled by an algorithm, so that the output force can be controlled, the position of the clamping jaw can be monitored, and the positioning precision is repeatedly carried out in a micron order; the lifting height position of the aligning jaw lifting platform can be controlled, and an actual value can be fed back; the soft landing and nondestructive application of equipment components are realized, high-precision and high-response control is realized, the advantage of safe and stable control can be realized, the method has a wide market prospect in the application of the mobile phone industry, and the related technology can also be popularized to the application of other industries.
Adopt linear electric motor as the execute component, linear electric motor both can control the output power size, also can monitor the jack catch position, when the execute component contact force is greater than the setting value in the operation, just can stop to continue the operation, reaches the effect that is close to zero damage to the component, and can monitor the actual position of jack catch, reaches the effect of accurate positioning.
Drawings
FIG. 1 is a schematic view of the overall structure of an alignment structure according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an alignment module according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a placement platform according to an embodiment of the present invention.
In the figure:
10. alignment module 20, placing platform 11, first control motor
12. CG aligning jaw 13, middle frame aligning jaw 14 and lifting platform
21. A suction cup module 22, an alignment pin module 23, and a shoe.
Detailed Description
The invention is further illustrated by the following examples and figures:
in an embodiment of the present invention, a centering control method based on a center frame and CG group screen alignment structure includes the following specific steps:
s1: starting a dispenser, initializing the automatic operation of the alignment structure, and triggering the motor;
specifically, the alignment structure and the structure in the alignment structure are initialized and operated to a safe initial position, and an execution motor in the alignment structure is operated, so that subsequent operation is facilitated.
Specifically, the aligning mechanism includes: the device comprises an alignment module 10 and a placing platform 20, wherein the alignment module is arranged around the placing platform for a circle, at least 4 alignment modules are uniformly arranged along the circumferential direction, and the placing platform is arranged to fix and position a bottom support and a middle frame; the aligning module is configured to align the center frame and the CG; in this embodiment, the aligning module is uniformly provided with 4 along the circumference, and the 4 aligning modules are respectively arranged on two sides of the placing platform in the length direction and the width direction.
Specifically, the aligning module 10 includes: the device comprises a first control motor 11, a second control motor, a CG aligning jaw 12, a middle frame aligning jaw 13 and a lifting table 14, wherein the position of the second control motor is not shown, the first control motor 11, the second control motor, the CG aligning jaw 12 and the middle frame aligning jaw 13 are all arranged on the lifting table 14, the first control motor 11 is used for respectively controlling the movement of the CG aligning jaw 12 and the middle frame aligning jaw 13, and the second control motor is used for controlling the movement of the lifting table 14; wherein, the middle frame aligning jack catch 13 is arranged below the CG aligning jack catch 12 along the height direction, the first control motor 11 realizes the respective driving of the CG aligning jack catch 12 and the middle frame aligning jack catch 13, and because the stroke setting is different, and the simultaneous action can not be realized, the movement of the CG aligning jack catch 12 and the middle frame aligning jack catch 13 can not cause interference. In this embodiment, first control motor 11 adopts and adjusts linear electric motor well, installs motor driver on the linear electric motor, through using linear electric motor and motor driver, controls the size of output power, when the jack catch contact force is greater than the setting value, just can the bring to rest, reaches the soft landing to the zero damage of component, and can monitor the actual position of jack catch, reaches the effect of accurate positioning, and second control motor adopts step-by-step elevator motor.
S2: place the collet in place the platform, place the center on the collet, carry out the length of center and the test of width respectively through adjusting the structure well to carry out logic judgement with first test result, specifically include following step:
s21, after the middle frame is grabbed, scanning the code of the middle frame, and then placing the middle frame on a bottom support of the placing platform.
Specifically, the middle frame may be grabbed manually or by a grabbing device, wherein the grabbing device may be any structure for grabbing the middle frame and the CG, for example: a robot arm, etc., and the present embodiment is not particularly limited; in the same sample embodiment, sweep the sign indicating number through external sign indicating number rifle to the center of snatching, be convenient for know product information and trace to the source.
S22: the alignment pin module on the placing platform is used for guiding and primarily positioning the middle frame, and the suction disc module on the placing platform is used for supporting, adsorbing and fixing the middle frame;
specifically, as shown in fig. 3, the placing platform 20 includes: the middle frame positioning device comprises a sucker module 21 and an alignment pin module 22, wherein the sucker module 21 and the alignment pin module 22 are both arranged on the placing platform 20 and are not shown in the figure, the sucker module 21 and the alignment pin module 22 are respectively controlled by a driving motor, the driving motor is not shown in the figure, in the embodiment, the alignment pin module 22 is an alignment pin which is driven by the driving motor and can move in the direction vertical to a bottom support 23, after the middle frame is placed on the bottom support 23 of the placing platform 20, the middle frame is positioned by the alignment pin module 22 and a hole reserved in a corresponding structure inserted into the middle frame, and the middle frame is guided to be initially positioned; then starting the sucker module 21, and supporting, adsorbing and fixing the middle frame through the sucker module 21; after the sucking disc module 21 adsorbs and fixes the middle frame, the driving motor drives the alignment pin module to descend to separate from the middle frame.
S23, respectively assigning values to the first control motor and the second control motor;
specifically, a height stroke value and a direction value are given to the second control motor, and a torque value, a stroke value and a direction value are given to the first control motor 11; before the length and the width of the centering frame are measured, the control motors need to be assigned, so that the first control motor 11 and the second control motor operate according to the set stroke, wherein the stroke values of the first control motor 11 and the second control motor are not less than the actual operating distance, and can be set according to the initially set length, width or experience value.
S24, driving the middle frame aligning clamping jaws 13 to move for multiple times to contact the middle frame through the first control motors positioned on the two sides of the length direction of the middle frame to obtain multiple length movement stroke values of the middle frame;
s25, driving the middle frame aligning clamping jaws to move for multiple times to contact the middle frame through the first control motors positioned on the two sides of the width direction of the middle frame, and obtaining multiple width movement stroke values of the middle frame;
specifically, after the first control motor 11 and the second control motor are assigned values, the second control motor drives the lifting table 14 to the stroke position, and then the first control motors 11 located on two sides of the middle frame in the length direction and the first control motors 11 located on two sides of the middle frame in the width direction are respectively driven, so that the middle frames located on two sides of the middle frame in the length direction are aligned with the clamping jaws 13 and respectively move to the contact middle frame, and the middle frames located on two sides of the middle frame in the width direction are aligned with the clamping jaws 13 and respectively move to the contact middle frame.
The first test result comprises a middle frame length motion stroke value and a middle frame width motion stroke value; after the middle frame aligning claw 13 contacts the middle frame each time, the first control motors 11 positioned at the two sides of the length direction of the middle frame return to standby positions; after the middle frame aligning claw 13 contacts the middle frame every time, the first control motors 11 positioned at the two sides of the middle frame in the width direction return to standby positions; in this embodiment, the length and width of the middle frame are measured three times, after the middle frame aligning claw 13 contacts the middle frame, the current stroke value is fed back and recorded during the contact, and the measured length and width values of the middle frame are more standard through multiple measurements.
And S26, carrying out logic judgment according to the middle frame length motion stroke value and the middle frame width motion stroke value, removing unqualified middle frames, and carrying out centering operation on qualified middle frames.
Specifically, the actual measurement value of the length of the middle frame is obtained according to the movement stroke values of the length of the middle frame of the first control motor 11 on the two sides of the length direction of the middle frame each time, and the length value of the middle frame is obtained by averaging the actual measurement values of the length of the middle frame; if the measured length of the middle frame is compared with the set length value, if the deviation is large, unqualified products are removed, and subsequent middle frame centering operation is carried out on the remaining qualified products; in the present embodiment, the deviation is determined according to industry standards.
Wherein the middle frame length actual measurement value = the middle frame initial set length + the length stroke value deviation, the length stroke value deviation is the deviation of the assigned stroke values of the two first control motors 11 from the corresponding middle frame length movement stroke values, respectively, the deviation can be positive or negative, in the formula, the middle frame length actual measurement value is the actual measurement value calculated once for the long side of the middle frame, the assigned stroke value of the first control motor 11 is determined according to the standard middle frame theoretical measurement length which has been set in advance, and then the multiple middle frame length actual measurement values are obtained.
Specifically, an actual measured value of the middle frame width is obtained according to the middle frame width movement stroke values of the first control motors 11 on the two sides of the middle frame in the width direction each time, and an average value of the actual measured values of the middle frame widths is obtained to obtain a middle frame width value; if the measured width of the middle frame is compared with the set width value, if the deviation is large, unqualified products are removed, and the subsequent middle frame centering operation is carried out on the remaining qualified products; in the present embodiment, the deviation is determined according to industry standards.
Wherein the actual measurement value of the width of the middle frame = the deviation of the initial set width + the width stroke value of the middle frame, the deviation of the width stroke value is the deviation of the assigned stroke values of the two first control motors 11 from the corresponding movement stroke values of the width of the middle frame, the deviation can be positive or negative, in the formula, the actual measurement value of the width of the middle frame is the actual measurement value calculated by the width of the wide edge of the middle frame at a time, the assigned stroke value of the first control motor 11 is determined according to the theoretical measurement width of the standard middle frame set in advance, and then the actual measurement values of the widths of the multiple middle frames are obtained.
During the measurement process of the movement stroke value of the length of the middle frame and the movement stroke value of the width of the middle frame, the sucker module loosens the positioning and fixing of the middle frame.
S3, centering the middle frame according to the first test result, wherein the centering operation comprises the following specific steps:
s31, calculating the median coordinate of the middle frame pair of the first control motor, and sequentially triggering the first control motor; specifically, according to the measured length and width of the middle frame, and the average value of the length and the width of the middle frame and the motion stroke values of the length and the width of the middle frame on two sides of the first control motor 11, the average value of the width and the motion stroke values of the width of the middle frame on two sides, the distance between the central point of the middle frame and the central point of the placing platform is calculated, the distance from the middle frame driven by the first control motor to the central point of the placing platform is obtained through the distance, the distance comprises the length direction distance and the width direction distance, namely the stroke value of each first control motor 11 in the centering operation is calculated, the first control motor 11 is assigned according to the calculated stroke value, the first control motor 11 is triggered to operate in sequence, the middle frame is driven to align the clamping jaws 13 to push the middle frame to move to the stroke position of the first control motor 11, and therefore the center point centering alignment of the middle frame and the bottom frame on the placing platform is realized.
In the centering operation process of the middle frame, the sucker module on the placing platform loosens the positioning and fixing of the middle frame.
S32, after the centering is finished, delaying to open the vacuum, and fixing the middle frame;
specifically, after each first control motor 11 triggers the center point alignment that finishes moving the center frame to the underframe, fix the center frame through the sucking disc module 21 on the placing platform 20.
S33, assigning standby positions of the first control motor and the second control motor respectively, and returning the first control motor and the second control motor to the standby positions;
s34, assigning initial positions of the first control motor and the second control motor respectively, and returning the first control motor and the second control motor to the initial positions; in this embodiment, the standby bit is a safety bit that facilitates fast operation, and the initial bit is an original bit.
And S35, completing centering of the middle frame.
And the middle frame is centered and completed by the first control motor 11 and the second control motor returning to the standby position and the initial position.
The dispensing process condition judgment and the AOI process judgment are required before the testing of the length and the width of the CG, which are not the key points protected by the invention, and are not repeated herein.
And S4, testing the length and the width of the CG through the alignment mechanism respectively, and logically judging a second test result, wherein the method specifically comprises the following steps:
s41: place CG in place the platform after sweeping the sign indicating number to CG after snatching CG, it is specific, accessible manual work or grabbing device snatch CG, wherein grabbing device can be for realizing snatching the structure of center and CG all can, for example: a robot arm, etc., and the present embodiment is not particularly limited; in the same sample embodiment, the code of the grasped CG is scanned through an external code scanning gun, so that the product information can be conveniently known and the source can be traced.
S42: assigning values to the first control motor and the second control motor respectively;
specifically, a height stroke value and a direction value are given to the second control motor, and a torque value, a stroke value and a direction value are given to the first control motor 11; before measuring the length and the width of the CG, the control motors need to be assigned, so that the first control motor 11 and the second control motor operate according to a set stroke, wherein the stroke values of the first control motor 11 and the second control motor are not less than an actual operating distance, and can be set according to an initially set length, width or empirical value.
S43: the first control motors positioned on two sides of the CG length direction drive the CG aligning clamping jaw to move for multiple times to a position where the distance CG is smaller than a set distance, the CG aligning clamping jaw is driven by torque to move to contact with the CG, and a plurality of CG length movement stroke values are obtained;
s44: the first control motors positioned on two sides of the CG width direction drive the CG aligning clamping jaw to move for multiple times to a position where the distance CG is smaller than the set distance, the CG aligning clamping jaw is driven by the moment to move to contact with the CG, and the movement stroke values of multiple CG width are obtained.
Specifically, after the first control motor 11 and the second control motor are assigned values, the second control motor drives the lifting table 14 to a stroke position, and then the first control motors 11 located on two sides of the CG length direction and the first control motors 11 located on two sides of the CG width direction are respectively driven, so that the CG alignment claws 12 located on two sides of the CG length direction respectively move to a set distance, and the CG alignment claws 12 located on two sides of the CG width direction respectively move to a set distance.
Specifically, the second test result includes a CG length motion stroke value and a CG width motion stroke value; this set distance is not more than 0.3mm, and in this embodiment, the set distance can be a value within this range, for example: 0.01 mm, 0.02 mm, 0.04 mm, 0.05 mm, 0.06 mm, 0.08 mm, 0.1 mm, 0.12 mm, 0.14 mm, 0.15 mm, 0.16 mm, 0.18 mm, 0.2 mm, 0.22 mm, 0.24 mm, 0.25 mm, 0.26 mm, 0.28 mm, 0.3mm, and the like. When the distance between the CG aligning jack catch 12 and the CG is smaller than the set distance each time, the CG aligning jack catch 12 is driven to move by torque until the CG aligning jack catch 12 contacts the CG, and the first control motors 11 positioned at the two sides of the CG in the length direction return to standby positions; when the distance between the CG aligning jaw 12 and the CG is smaller than the set distance every time, the CG aligning jaw 12 is driven by torque to move until the CG aligning jaw 12 contacts the CG, and the first control motors 11 positioned at the two sides of the CG in the width direction return to standby positions; in the embodiment, the length and the width of the CG are measured three times, and when the CG aligning claw 12 contacts the CG, the current stroke value is fed back and recorded, and the measured CG length and width values are more standard through multiple measurements.
In the present embodiment, the first control motor 11 drives the CG aligning claw 12 to travel to a distance CG less than the set distance. The distance between the left part and the CG is driven by the moment, so that the control is more accurate, and the motion process is slow; in the torque driving process, the current reading value is obtained in real time, and the current duty ratio is calculated, specifically, in this embodiment, the following is specified:
wherein the current set value is a current set value of the first control motor 11 set according to the process requirement; the current reading value is an actual current reading value obtained by the first control motor 11 in real time; k is a set constant and is set according to the process requirements; soft landing non-damage control is further achieved by calculating and calling the current duty ratio as a key parameter; when the moment drives the CG aligning jaw 12 to move to gradually contact with the CG, the stress of the contact with the CG is gradually increased, the corresponding current reading value is increased, the difference value between the current setting value and the current reading value is reduced, the current duty ratio is reduced, the speed is reduced, the CG aligning jaw 12 operates to contact with the CG until the current setting value-the current reading value =0, namely the current duty ratio =0, the first control motor 11 stops operating, and the soft landing is realized.
The positioning is realized through the driving of the first control motor in the embodiment, then the CG is contacted through the driving of the moment, the current duty ratio is introduced, the current reading value is obtained in real time, the speed is controlled to approach to 0 until the first control motor 11 stops running, the nondestructive control of the CG jaw assembly and the CG is realized, the soft landing is realized, scratches such as damage to the CG are prevented, and a good protection effect can be played.
S45: and performing logic judgment according to the CG length motion stroke value and the CG width motion stroke value, removing unqualified CG, and performing centering operation on the tested qualified CG.
Specifically, a CG length actual measurement value is obtained according to a CG length movement stroke value of the first control motor 11 on each side in the CG length direction, and a CG length value is obtained by averaging a plurality of CG length actual measurement values; if the measured CG length is compared with the self-set length value, if the deviation is large, unqualified products are removed, and subsequent CG centering operation is carried out on the remaining qualified products; in the present embodiment, the deviation is determined according to industry standards.
The actual CG length measurement value = CG initial set length + length stroke value deviation, where the length stroke value deviation is a deviation between assigned stroke values of the two first control motors 11 and motion stroke values of corresponding CG lengths, respectively, and in the formula, the actual CG length measurement value is an actual CG length measurement value calculated at a single time, and the assigned stroke value of a first control motor 11 is determined according to a standard CG theoretical measurement length set in advance, so as to obtain multiple CG length actual measurement values.
Specifically, a CG width actual measurement value is obtained according to a CG width movement stroke value of the first control motor 11 on both sides of the CG width direction each time, and a CG width value is obtained by averaging a plurality of CG width actual measurement values; if the measured CG width is compared with the set width value, if the deviation is large, rejecting unqualified products, and performing subsequent CG centering operation on the remaining qualified products; in the present embodiment, the deviation is determined according to industry standards.
The actual CG width measurement value = CG initial set width + width stroke value deviation, the width stroke value deviation being the deviation of the assigned stroke values of the two first control motors 11 from the corresponding CG width movement stroke values, wherein the actual CG width measurement value is an actual CG width-side calculated measurement value at a single time, and the assigned stroke value of the first control motor 11 is determined according to a standard CG theoretical measurement width set in advance, thereby obtaining a plurality of CG width actual measurement values.
S5, performing centering operation on the CG according to the second test result, and specifically comprising the following steps:
s51, calculating a CG centering value coordinate of the first control motor, and sequentially triggering the first control motor; specifically, the CG length and width values are measured, and the CG length movement stroke values on two sides of the first control motor 11 and the CG width movement stroke values on two sides are averaged, the distance deviation between the center point of the CG and the center point of the placing platform is calculated, the distance from the first control motor to the center point of the placing platform is obtained through the distance deviation, the distance includes the length direction distance and the width direction distance, namely, the stroke value of each first control motor 11 in the centering operation is assigned, the first control motor 11 is assigned according to the calculated stroke value, the first control motor 11 is sequentially triggered to operate, the CG aligning claw 12 is driven to drive the CG to move to the stroke position of the first control motor 11, and therefore, the center point alignment of the CG and the bottom frame on the placing platform is realized.
S52, CG centering is completed; and driving the first control motor and the second control motor to return to the initial positions by respectively assigning the initial positions of the first control motor and the second control motor. In this embodiment, the initial bit is an original bit.
And S6, completing screen combination.
After the CG is centered, the initial state of assembling the middle frame and the CG needs to be confirmed, screen suction is waited to be completed, the initial positions of the first control motor 11 and the second control motor are assigned respectively, the first control motor 11 and the second control motor are driven to return to the initial positions, and screen assembly is completed.
The embodiments of the present invention have been described in detail, but the description is only for the preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (14)
1. A centering control method of a centering structure based on a middle frame and a CG group screen is characterized by comprising the following steps:
starting a dispenser, initializing the automatic operation of the alignment structure, and triggering the motor;
placing a bottom support on a placing platform, placing a middle frame on the bottom support, respectively testing the length and the width of the middle frame through the alignment structure, and logically judging a first test result;
carrying out centering operation on the middle frame according to the first test result;
testing the length and the width of the CG through the alignment mechanism respectively, and carrying out logic judgment on a second test result;
performing centering operation on the CG according to the second test result;
and finishing the screen composition.
2. The centering control method based on the alignment structure of the middle frame and the CG group screen according to claim 1, characterized in that:
the alignment mechanism includes: the aligning module is arranged around the placing platform for a circle, at least 4 aligning modules are uniformly arranged along the circumferential direction, and the placing platform is used for fixing and positioning the bottom support and the middle frame; the aligning module is configured to align the center frame and the CG;
the alignment module comprises: the first control motor, the second control motor, the CG aligning jaw, the middle frame aligning jaw and the lifting table are arranged on the lifting table, the first control motor is used for controlling the CG aligning jaw and the middle frame aligning jaw to move respectively, and the second control motor is used for controlling the lifting table to move.
3. The centering control method based on the alignment structure of the middle frame and the CG group screen according to claim 2, characterized in that: the middle frame aligning clamping jaw is arranged below the CG aligning clamping jaw along the height direction;
the module is adjusted well evenly to be provided with 4 along circumference, set up respectively in place the both sides of platform length direction and width direction.
4. The centering control method of the aligning structure based on the middle frame and the CG group screen according to claim 2 or 3, wherein the step of placing the bottom support on the placing platform, placing the middle frame on the bottom support, respectively testing the length and the width of the middle frame through the aligning structure, and logically judging the first test result comprises:
after the middle frame is grabbed, scanning the code of the middle frame, and then placing the bottom support on the bottom support of the placing platform;
the alignment pin module on the placing platform is used for guiding and primarily positioning the middle frame, and the sucker module on the placing platform is used for supporting, adsorbing and fixing the middle frame;
respectively assigning values to the first control motor and the second control motor;
driving the middle frame aligning clamping jaws to move for multiple times to contact the middle frame through the first control motors positioned on two sides of the middle frame in the length direction for multiple times to obtain multiple middle frame length movement stroke values;
driving the middle frame aligning clamping jaws to move for multiple times to contact the middle frame through the first control motors positioned on two sides of the middle frame in the width direction for multiple times to obtain multiple middle frame width movement stroke values;
and logically judging according to the middle frame length motion stroke value and the middle frame width motion stroke value, removing unqualified middle frames, and centering the middle frames qualified in the test.
5. The centering control method based on the alignment structure of the middle frame and the CG group screen according to claim 4, characterized in that:
assigning a height stroke value and a direction value to the second control motor, and assigning a torque value, a stroke value and a direction value to the first control motor;
the first test result comprises the middle frame length motion stroke value and the middle frame width motion stroke value;
after the middle frame aligning clamping jaws positioned on the two sides of the middle frame in the length direction respectively contact the middle frame each time, the first control motors positioned on the two sides of the middle frame in the length direction return to the standby positions;
after the middle frame aligning clamping jaws positioned on the two sides of the middle frame in the width direction respectively contact the middle frame each time, the first control motors positioned on the two sides of the middle frame in the width direction return to the standby positions;
obtaining an actual measured value of the length of the middle frame according to the movement stroke values of the length of the middle frame of the first control motor on two sides of the length direction of the middle frame each time, and averaging the actual measured values of the length of the middle frame to obtain a length value of the middle frame to carry out measurement deviation judgment on the length of the middle frame;
and obtaining an actual measured value of the middle frame width according to the middle frame width movement stroke values of the first control motors on the two sides of the middle frame in the width direction each time, and averaging the actual measured values of the middle frame width to obtain a middle frame width value to judge the measurement deviation of the middle frame width.
6. The centering control method of the aligning structure based on the middle frame and the CG combined screen according to claim 5, characterized in that: the assignment of the first control motor and the second control motor is preset according to the parameters of the length and the width of the middle frame;
the middle frame length actual measurement value is determined according to the deviation of the middle frame initial setting length and the length stroke value, the length stroke value deviation is the deviation of the assignment stroke values of the two first control motors and the corresponding middle frame length motion stroke value, the middle frame length actual measurement value is the actual measurement value calculated by the middle frame long edge in a single time, and the assignment stroke value of the first control motors is determined according to the preset standard middle frame theoretical measurement length;
the middle frame width actual measurement value is determined according to the deviation of the middle frame initial setting width and the width travel value, the width travel value deviation is the deviation of the assignment travel values of the two first control motors and the corresponding middle frame width movement travel values, the middle frame width actual measurement value is the actual measurement value calculated by the middle frame wide edge in a single time, and the assignment travel value of the first control motors is determined according to the standard middle frame theoretical measurement width which is set in advance.
7. The centering control method for the aligning structure based on the center frame and the CG combined screen according to claim 2 or 3, wherein the step of centering the center frame according to the first test result is:
calculating the middle frame pair median coordinate of the first control motor according to the length and the width of the middle frame, and sequentially triggering the first control motor;
after the centering is finished, delaying to start vacuum, and fixing the middle frame;
assigning standby positions of the first control motor and the second control motor respectively, and returning the first control motor and the second control motor to the standby positions;
assigning initial positions of the first control motor and the second control motor respectively, and returning the first control motor and the second control motor to the initial positions;
and the middle frame is centered and finished.
8. The centering control method of the centering structure based on the alignment of the center frame and the CG group screen according to claim 2 or 3, wherein the step of testing the length and the width of the CG respectively by the aligning mechanism and logically judging the second test result comprises:
after the CG is grabbed, scanning codes of the CG, and then placing the CG on the placing platform;
assigning values to the first control motor and the second control motor respectively;
the first control motors positioned on two sides of the CG length direction drive the CG aligning clamping jaw to move for multiple times to a position where the distance from the CG is smaller than a set distance, the CG aligning clamping jaw is driven by torque to move to contact the CG, and a plurality of CG length movement travel values are obtained;
the first control motors positioned on two sides of the CG width direction drive the CG aligning clamping jaw to move for multiple times to a position where the distance from the CG is smaller than a set distance, the CG aligning clamping jaw is driven by torque to move to contact the CG, and a plurality of CG width movement travel values are obtained;
and performing logic judgment according to the CG length motion stroke value and the CG width motion stroke value, removing unqualified CG, and performing centering operation on the tested qualified CG.
9. The centering control method based on the alignment structure of the middle frame and the CG group screen according to claim 8, characterized in that:
assigning a height stroke value and a direction value to the second control motor, and assigning a torque value, a stroke value and a direction value to the first control motor;
the second test result includes the CG length motion stroke value and the CG width motion stroke value;
the set distance is not more than 0.3mm, and when the distance between the CG aligning clamping jaw and the CG is less than the set distance, the CG aligning clamping jaw continuously runs to the standby position of the first control motor which is positioned at two sides of the CG in the length direction after contacting the CG through torque;
when the distance of the CG aligning clamping jaw is less than the set distance when contacting the CG, the CG aligning clamping jaw continuously runs to the standby position of the first control motor which is positioned at two sides of the CG in the width direction after contacting the CG through torque;
obtaining CG length actual measurement values according to CG length movement stroke values of the first control motors on two sides of the CG length direction each time, and averaging the plurality of CG length actual measurement values to obtain CG length values to carry out measurement deviation judgment on the CG length;
and obtaining CG width actual measurement values according to the CG width movement stroke values of the first control motors on the two sides of the CG width direction each time, and averaging the plurality of CG width actual measurement values to obtain a CG width value to carry out CG width measurement deviation judgment.
10. The centering control method based on the alignment structure of the middle frame and the CG group screen according to claim 9, characterized in that: the assignment of the first control motor and the second control motor is preset according to the parameters of the length and the width of the CG;
the CG length actual measurement value is determined according to the deviation between the CG initial set length and the length travel value, the length travel value deviation is the deviation between the assigned travel values of the two first control motors and the corresponding CG length motion travel value, the CG length actual measurement value is the actual measurement value calculated by the long edge of the CG at one time, and the assigned travel value of the first control motor is determined according to the standard CG theoretical measurement length which is set in advance;
the CG width actual measurement value is determined according to the deviation of a CG initial set width and a width travel value, the width travel value deviation is the deviation of assigned travel values of two first control motors and a corresponding CG width movement travel value, the CG width actual measurement value is an actual measurement value calculated by a CG wide edge in a single time, and the assigned travel value of the first control motor is determined according to a standard CG theoretical measurement width set in advance.
11. The centering control method based on the alignment structure of the middle frame and the CG group screen according to claim 9, characterized in that: the first control motor drives the CG aligning claw to operate until the CG aligning claw is contacted with the CG through torque, a current reading value is obtained in real time, and a current duty ratio is calculated:
wherein, the current set value is the initially set current set value of the first control motor;
the current reading value is an actual current reading value obtained by the first control motor in real time;
k is a constant.
12. The centering control method based on the alignment structure of the middle frame and the CG group screen according to claim 11, wherein: when the CG aligning jaw is driven by torque to gradually approach and contact with the CG, the current duty ratio tends to 0; and when the current duty ratio is equal to 0, the CG aligning jaw contacts the CG, and the first control motor stops running.
13. The centering control method of the centering structure based on the alignment of the middle frame and the CG group screen according to claim 2 or 3, wherein the step of centering the CG according to the second test result is:
calculating a CG centering coordinate of the first control motor according to the CG length and width, and sequentially triggering the first control motor;
assigning initial positions of the first control motor and the second control motor respectively, and returning the first control motor and the second control motor to the initial positions;
and the CG centering is completed.
14. The centering control method based on the aligning structure of the middle frame and the CG combined screen according to claim 2 or 3, characterized in that:
after the CG is centered, waiting for the completion of screen suction, assigning initial positions of the first control motor and the second control motor respectively, and returning the initial positions of the first control motor and the second control motor;
and finishing the screen composition.
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