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A Rotation Axis Control Algorithm for Cartesian Coordinate Equipment

A Cartesian coordinate, control algorithm technology, applied in program control, computer control, general control system, etc., can solve the problems of complex algorithm, data stall and stall, large amount of calculation, etc., to achieve good motion control, reduce operating load, avoid The effect of stall

Active Publication Date: 2017-03-08
成都乐创自动化技术股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since this technical solution 2 is a full 4-axis speed look-ahead, its algorithm is complex and has a large amount of calculation. Therefore, in the application scenario of online calculation output, the computing performance of the computer CPU and the complexity of graphics have become factors that restrict the processing output speed, resulting in During the high-speed output, the data is stalled due to lack of connection.

Method used

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  • A Rotation Axis Control Algorithm for Cartesian Coordinate Equipment
  • A Rotation Axis Control Algorithm for Cartesian Coordinate Equipment
  • A Rotation Axis Control Algorithm for Cartesian Coordinate Equipment

Examples

Experimental program
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Effect test

Embodiment 1

[0040] A rotation axis control algorithm of a Cartesian coordinate device, comprising the following steps:

[0041] (a) Obtain the equivalent pulse numbers δx, δy, δz, δw of each axis of X, Y, Z, and W;

[0042](b) Set the virtual axis equivalent pulse number δv, take the maximum equivalent pulse number in the XYZ axis as the virtual axis equivalent pulse number δv=max(δx,δy,δz), and calculate the virtual axis and the equivalent pulse number according to the virtual axis and each axis The ratios Rx, Ry, and Rz of the three axes of XYZ, the calculation formula Rx = δv / δx, the calculation formulas of Ry and Rz are the same, the equivalent pulse number refers to the number of pulses that need to be sent to move the unit distance or angle, and the pulse equivalent is when the controller outputs a When the positioning control pulse is used, the displacement of the positioning control movement generated is the moving distance for linear motion, and the rotating distance for circular...

Embodiment 2

[0050] Such as figure 1 A schematic diagram of the dispensing head, figure 2 To process the trajectory map for the dispensing head, it is simplified as image 3 , the position pointed by the arrow represents the rotation angle of the needle on the dispensing head, that is, the rotation angle of the W axis, and the processing trajectory is arc P1P2P3→straight line P3P4→straight line P4P5→arc P5P6P7→straight line P7P1.

[0051] The steps of the rotation axis control algorithm in the Cartesian coordinate device are as follows:

[0052] (a) Obtain the equivalent pulse numbers δx, δy, δz, and δw of each axis X, Y, Z, and W axes, for example, the equivalent pulse number of the X axis is 252pul / mm, and the equivalent pulse number of the W axis is 10pul / °;

[0053] (b) Set the equivalent pulse number δv of the virtual axis, take the maximum equivalent pulse number in the XYZ axis as the equivalent pulse number of the virtual axis δv=max(δx,δy,δz), and calculate according to the vir...

Embodiment 3

[0077] For step (g) in embodiment 2, it is a calculation method mainly for calculating the allowable speed between each micro-line segment or linear interpolation line segment in the XYZW plane, and the calculation steps are described below for the XYZ axis plane:

[0078] 1) Obtain two adjacent micro-line segments P 1 P 2 ,P 2 P 3 The absolute coordinates of three points, P 1 (P 1x , P 1y , P 1z ), P 2 (P 2x , P 2y , P 2z ), P 3 (P 3x , P 3y , P 3z );

[0079] 2) Calculate the unit vectors of the two micro-line segments separately Among them, l1 and l2 are the lengths of two micro-line segments respectively;

[0080]

[0081]

[0082] 3) Let the velocity of P2 vector be v P2 , after Δt time, the vector velocity direction is changed by become The amount of speed change produced by the X, Y, and Z axes is, where the sum of α1 and α2 is 90 degrees;

[0083]

[0084] 4) According to the set X, Y, Z axis allowable jump speed, substitute into Δv in t...

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Abstract

The invention discloses a rotation axis control algorithm of Cartesian coordinate equipment. The rotation axis control algorithm comprises the following steps that: 1) the numbers of equivalent pulses of each axis are obtained; 2) the number of equivalent pulses of a virtual axis is set, and ratios of the number of equivalent pulses of the virtual axis to the numbers of equivalent pulses of each axis, Rx, Ry and Rz are calculated; 3) W axis permissible maximum speed is set, and the ratio of the virtual axis to a W axis, Rw can be calculated according to the W axis permissible maximum speed and current target processing speed; 4) speed parameters of each axis are set for a speed look-ahead module; 5) processing movement trajectories are decomposed to a an XYZW axis linear interpolation set, and are outputted sequentially to the speed look-ahead module through a speed look-ahead module interface; 6) conversion is performed on output lengths of each axis according to the step 2) and the step 3), so that output lengths of each micro line segment can be calculated; and 7) permissible speed between every two micro line segments can be calculated according to the outputted lengths of the micro line segments. With the rotation axis control algorithm of the Cartesian coordinate equipment adopted, the calculation amount of multi-axis speed look-ahead data can be reduced through adopting virtual axis technologies, and the operating load of a controller can be decreased, and control on processing process movement can be benefitted.

Description

technical field [0001] The invention relates to the application technical field of dispensing processing, in particular to a rotation axis control algorithm of a Cartesian coordinate device. Background technique [0002] When the glue dispensing track is glued on the inner or outer wall of the workpiece, an auxiliary rotating axis, hereinafter referred to as the W axis, is needed to adjust the posture of the welding torch to avoid obstacles. The dispensing trajectory involves the schematic diagram of the glue head of the dispensing equipment as shown in figure 1 , figure 1 The entire rubber head shown can realize 4 degrees of freedom movement. Generally, the movement in the XY direction is driven by the timing belt on the mechanical XY beam, the movement in the Z direction is driven by the roller screw, and the movement in the W direction is driven by the motor shaft through the reducer. Rear direct drive rotation. The W-axis motor drives the rubber head to rotate, and th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/41G06F19/00
CPCG05B19/41G16Z99/00
Inventor 苏诗捷
Owner 成都乐创自动化技术股份有限公司