An intelligent slave station based on dispensing application and control method

Abstract

The application relates to the field of motion control, in particular to an intelligent slave station based on a dispensing application and a control method, which converts parameter information obtained from an internal bus control module into trigger signals corresponding to glue valves, cameras and needle valves in a dispensing system through a position comparison module, accurately controls the timing of glue opening through dispensing control of the glue valves, photographing timing of the cameras and needle valve needle matching, realizes accurate control of the glue valves, realizes different glue covering effects through control of the motion speed of the glue valves and the spraying frequency of the glue valves, and realizes position point number setting through setting of a data buffer FIFO, removes position data after comparison and trigger output from the data buffer FIFO, leaves space for subsequent position data, and realizes efficiency improvement and position point number setting increase.

Description

TECHNICAL FIELD

[0001] The application relates to the field of motion control, in particular to an intelligent slave station based on a dispensing application and a control method. BACKGROUND

[0002] With the prevalence of the EtherCAT technology, the EtherCAT technology has the characteristics of flexible topology and convenient use, but the control is carried out by using periodic instruction control, and the common communication period is 1 ms, which is worse than the real-time performance in traditional dispensing control.

[0003] The existing general motion control card is mostly an offline card, the dispensing valve glue or the camera shooting time is controlled by comparing the position or time through presetting fixed positions, and the precise control of the dispensing valve cannot be realized. SUMMARY

[0004] The application provides an intelligent slave station based on a dispensing application and a control method, and the precise control of the dispensing valve is realized.

[0005] The application specifically realizes the following contents:

[0006] An intelligent slave station based on a dispensing application is connected with an intelligent master station, a dispensing system and a servo driver, and comprises an internal bus data control module and a position comparison module.

[0007] The internal bus data control module is connected with the intelligent master station, the servo driver and the position comparison module, and is used for converting an EtherCAT bus into an SPI bus.

[0008] The position comparison module is connected with the internal bus data control module and the dispensing system, and is used for converting parameter information obtained from the internal bus control module into a trigger signal corresponding to the dispensing system.

[0009] In order to better realize the application, further, the position comparison module comprises a period synchronization position module, an equidistance position comparison module, a variable distance position comparison module, an isochronous position comparison module, a single point position comparison module, an encoder detection module, a position latch module and a channel output mapping module.

[0010] The position comparison module comprises a period synchronization position module, an equidistance position comparison module, a variable distance position comparison module, an isochronous position comparison module, a single point position comparison module, an encoder detection module, a position latch module and a channel output mapping module.

[0011] The cycle synchronization position module is connected with the internal bus data control module, the equidistance position comparison module, the variable distance position comparison module, the isochronous position comparison module and the single point position comparison module, and is used for acquiring the instruction pulse position of the axis to be compared and outputting to the equidistance position comparison module, the variable distance position comparison module, the isochronous position comparison module and the single point position trigger module;

[0012] The equidistance position comparison module is connected with the cycle synchronization position module, the encoder detection module and the channel output mapping module, and is used for generating the next comparison position according to the instruction pulse position of the axis to be compared acquired from the cycle synchronization position module or the position of the servo driver acquired from the encoder detection module, combining the start position of the position to be compared and the interval of the position to be compared, and outputting to the channel output mapping module;

[0013] The variable distance position comparison module is connected with the cycle synchronization position module, the encoder detection module and the channel output mapping module, and is used for generating the next comparison position according to the instruction pulse position of the axis to be compared acquired from the cycle synchronization position module or the position of the servo driver acquired from the encoder detection module, combining the position of the output glue valve signal acquired from the intelligent master station, and outputting to the channel output mapping module;

[0014] The isochronous position comparison module is connected with the cycle synchronization position module, the encoder detection module and the channel output mapping module, and is used for generating the next comparison position according to the instruction pulse position of the axis to be compared acquired from the cycle synchronization position module or the position of the servo driver acquired from the encoder detection module, combining the time interval of the output glue valve signal acquired from the intelligent master station, and outputting to the channel output mapping module;

[0015] The single point position trigger module is connected with the cycle synchronization position module, the encoder detection module and the channel output mapping module, and is used for generating the next comparison position according to the instruction pulse position of the axis to be compared acquired from the cycle synchronization position module or the position of the servo driver acquired from the encoder detection module, combining the start position of the position to be compared, and outputting to the channel output mapping module;

[0016] The encoder detection module is connected with the equidistance position comparison module, the variable distance position comparison module, the isochronous position comparison module and the single point position trigger module, and is used for outputting the position of the servo driver acquired from the servo driver to the equidistance position comparison module, the variable distance position comparison module, the isochronous position comparison module and the single point position trigger module;

[0017] The position latch module is connected with the internal bus control module, and is used for identifying the positions of the X axis and the Y axis, and triggering reading of the position of the current encoder and latching according to the effective signal of the Z pulse;

[0018] The channel output mapping module is connected with the equidistance position comparison module, the variable distance position comparison module, the equitime position comparison module and the single point position trigger module, and is used for outputting the next comparison position.

[0019] Based on the above-mentioned intelligent slave station based on dispensing application, in order to better realize the present application, further, a control method based on dispensing application is proposed, comprising the following steps:

[0020] Step 1: set the glue valve working mode;

[0021] Step 2: input the glue opening position and glue amount parameter information into the intelligent slave station through the EtherCAT bus;

[0022] Step 3: the internal bus data control module converts the EtherCAT bus into an internal SPI bus, and outputs the glue opening position and glue amount parameter information to the position comparison module;

[0023] Step 4: according to the position of the axis to be compared obtained from the cycle synchronization position module or the position of the servo driver obtained from the encoder detection module, output a trigger signal to the dispensing system through the position comparison module;

[0024] Step 5: according to the dispensing speed and glue valve opening and closing time, calculate the dispensing interval of the glue valve, and transmit the dispensing interval to the position comparison module control output port to open and close the glue trigger dispensing system to dispense or take pictures or against the needle.

[0025] In order to better realize the present application, further, the glue valve working mode includes a level trigger mode, a pulse trigger mode and a position trigger mode;

[0026] The level trigger mode continuously dispenses according to the set valve opening time and delay time when the trigger signal is valid, and stops when the trigger signal is invalid;

[0027] The pulse trigger mode continuously dispenses according to the set valve opening time and delay time every time the trigger is triggered, and stops after reaching the set number of times, and the trigger interval time of the next time is greater than the total trigger time of the last valve, and the electromagnetic valve is invalid again during operation.

[0028] The position trigger mode controls the opening and closing of the glue valve, and opens the valve when the trigger signal is valid, and closes the valve when the trigger signal is invalid.

[0029] In order to better realize the present application, further, the equidistance position comparison module outputs a trigger signal to the glue valve controller for glue valve position control, which specifically comprises: dividing the dispensing track into micro segments of the same length, and completing the same valve opening time in each micro segment running time, and setting the remaining time as valve closing time.

[0030] In order to better realize the present application, further, the specific operation that the distance-variable position comparison module outputs a trigger signal to the glue valve controller for glue valve position control is: the glue dispensing track is divided into micro sections of different lengths, and the same valve opening time is completed once in the running time of each micro section, and the remaining time is all set as valve closing time.

[0031] In order to better realize the present application, further, the micro sections are divided according to the displacement of movement, the starting point of the valve opening time is the starting position of the micro section, after the valve opening time ends, the glue valve is closed until the next position arrives, triggering the next valve opening time.

[0032] In order to better realize the present application, further, the position latch module is arranged to identify the positions of the X-axis and the Y-axis, and to trigger reading of the current position of the encoder and latching according to the effective signal of the Z pulse.

[0033] In order to better realize the present application, further, according to the running speed and the mechanical rigidity parameter, a lag position of the actual position is debugged, the lag position is set to the intelligent slave station as a compensation position, and the actual position plus the compensation value of the compensation position obtains the actual position synchronized with the command position.

[0034] In order to better realize the present application, further, the data buffer FIFO with 4096 position points is arranged in the intelligent slave station, first a part of data is written into the data buffer FIFO, and then the data buffer FIFO starts to work, if the host computer detects that the data buffer FIFO is not full, the next position data is continuously written, and if the position data in the data buffer FIFO has triggered the output, the position data is removed from the data buffer FIFO.

[0035] The present application has the following beneficial effects:

[0036] (1) The present application is based on the EtherCAT bus form, combined with the periodic data updating mode, the parameter information obtained from the internal bus control module is converted into trigger signals corresponding to the glue valve, the camera and the needle valve in the glue dispensing system through the setting of the position comparison module, the timing of glue dispensing of the glue valve, photographing of the camera and needle valve is controlled, the timing of glue opening is accurately controlled, and accurate glue valve control in the glue dispensing system is realized.

[0037] (2) The present application controls the movement speed of the glue valve and the injection frequency of the glue valve to realize different glue covering effects, under the premise that the injection frequency of the glue valve remains unchanged, the glue covering effect is controlled by changing the movement speed, the lower the speed, the larger the glue covering area, under the premise that the movement speed remains unchanged, the glue covering effect is controlled by changing the injection frequency of the glue valve, the higher the injection frequency, the larger the glue covering area.

[0038] (3) The application sets the data buffer FIFO, removes the position data after the comparison trigger output in the data buffer FIFO, leaves space for subsequent position data, realizes the increase of the position point number while improving the efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 The connection diagram of the intelligent slave station and the point glue system;

[0040] Figure 2 The connection diagram of the receiving circuit of the glue valve controller and the intelligent slave station;

[0041] Figure 3 The circuit principle diagram of the output channel mapping module of the intelligent slave station;

[0042] Figure 4 The circuit principle diagram of the receiving circuit of the camera;

[0043] Figure 5 The connection diagram of the internal modules of the intelligent slave station;

[0044] Figure 6 The working waveform diagram of the glue valve level trigger mode;

[0045] Figure 7 The working waveform diagram of the glue valve pulse trigger mode;

[0046] Figure 8 The working waveform diagram of the glue valve position trigger mode;

[0047] Figure 9 The waveform diagram of the glue valve variable frequency control;

[0048] Figure 10 The waveform diagram of the glue valve position control mode;

[0049] Figure 11 The curve diagram of the position compensation when comparing the actual position;

[0050] Figure 12 The injection cycle waveform diagram of the glue valve position trigger mode in the embodiment of the application;

[0051] Figure 13 The waveform diagram of the non-contact glue valve control theoretical model 1 in the embodiment of the application;

[0052] Figure 14 The waveform diagram of the non-contact glue valve control theoretical model 2 in the embodiment of the application;

[0053] Figure 15 The point glue process schematic diagram;

[0054] Figure 16The schematic block diagram of the high-speed position comparison output control flow for dispensing processing seed is shown. DETAILED DESCRIPTION

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the described embodiments are only a part of the embodiments of the present application, not all the embodiments, and therefore should not be regarded as limiting the protection scope. Based on the embodiments in the present application, all the embodiments obtained by the ordinary skilled in the art without making creative efforts belong to the protection scope of the present application.

[0056] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "set", "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For the ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0057] Embodiment 1:

[0058] The present embodiment proposes an intelligent slave station based on dispensing application, as shown in Figure 1 connected with intelligent master station, dispensing system, servo driver, including internal bus data control module, position comparison module;

[0059] The dispensing system includes glue valve controller, camera, needle valve;

[0060] The internal bus data control module is connected with the intelligent master station, the servo driver and the position comparison module, and is used for converting the EtherCAT bus into the SPI bus;

[0061] The position comparison module is connected with the internal bus data control module, the glue valve controller, the camera and the needle valve, and is used for converting the parameter information obtained from the internal bus control module into the trigger signal corresponding to the glue valve, the camera and the needle valve.

[0062] Working principle: the present embodiment is based on the EtherCAT bus form, combined with the periodic data updating mode, through setting the position comparison module, the parameter information obtained from the internal bus control module is converted into the trigger signal corresponding to the glue valve, the camera and the needle valve, through controlling the dispensing of the glue valve, the shooting timing of the camera and the needle valve, the timing of opening the glue is accurately controlled, and the accurate glue valve control in the dispensing system is realized.

[0063] Embodiment 2:

[0064] This embodiment is based on the above-mentioned embodiment 1, as shown, the internal modules of the intelligent slave station are explained. Figure 2

[0065] The position comparison module includes a period synchronization position module, an equidistance position comparison module, a variable distance position comparison module, an isochronous position comparison module, a single point position comparison module, an encoder detection module, a position latching module, and a channel output mapping module.

[0066] The period synchronization position module is connected with the internal bus data control module, the equidistance position comparison module, the variable distance position comparison module, the isochronous position comparison module, and the single point position comparison module, and is used to obtain the instruction pulse position of the axis to be compared and output to the equidistance position comparison module, the variable distance position comparison module, the isochronous position comparison module, and the single point position trigger module.

[0067] The equidistance position comparison module is connected with the period synchronization position module, the encoder detection module, and the channel output mapping module, and is used to generate the next comparison position according to the instruction pulse position of the axis to be compared obtained from the period synchronization position module or the position of the servo driver obtained from the encoder detection module, in combination with the start position of the position to be compared and the interval of the position comparison, and output to the channel output mapping module.

[0068] The variable distance position comparison module is connected with the period synchronization position module, the encoder detection module, and the channel output mapping module, and is used to generate the next comparison position according to the instruction pulse position of the axis to be compared obtained from the period synchronization position module or the position of the servo driver obtained from the encoder detection module, in combination with the position of the output glue valve signal obtained from the intelligent master station, and output to the channel output mapping module.

[0069] The isochronous position comparison module is connected with the period synchronization position module, the encoder detection module, and the channel output mapping module, and is used to generate the next comparison position according to the instruction pulse position of the axis to be compared obtained from the period synchronization position module or the position of the servo driver obtained from the encoder detection module, in combination with the time interval of the output glue valve signal obtained from the intelligent master station, and output to the channel output mapping module.

[0070] The single point position trigger module is connected with the period synchronization position module, the encoder detection module, and the channel output mapping module, and is used to generate the next comparison position according to the instruction pulse position of the axis to be compared obtained from the period synchronization position module or the position of the servo driver obtained from the encoder detection module, in combination with the start position of the position to be compared, and output to the channel output mapping module.

[0071] ​The encoder detection module is connected with the equidistance position comparison module, the variable distance position comparison module, the equitime position comparison module and the single-point position trigger module, and is configured to output the servo driver position acquired from the servo driver to the equidistance position comparison module, the variable distance position comparison module, the equitime position comparison module and the single-point position trigger module.

[0072] The position latching module is connected with the internal bus control module, and is configured to identify the positions of the X-axis and the Y-axis, and trigger reading of the current position of the encoder and latching according to the valid signal of the Z pulse.

[0073] The channel output mapping module is connected with the equidistance position comparison module, the variable distance position comparison module, the equitime position comparison module and the single-point position trigger module, and is configured to output the next comparison position.

[0074] The other parts of the embodiment are the same as those of the above-described embodiment 1, and thus will not be described herein again.

[0075] Embodiment 3

[0076] The embodiment is based on any one of the above-described embodiments 1-2, and proposes a control method based on a dispensing application, comprising the following steps.

[0077] Step 1: setting a glue valve working mode;

[0078] The glue valve working mode comprises a level trigger mode, a pulse trigger mode and a position trigger mode.

[0079] In the level trigger mode, when the trigger signal is valid, the glue valve is continuously opened for a set opening time and a set delay time, and when the trigger signal is invalid, the glue valve is closed.

[0080] In the pulse trigger mode, the glue valve is continuously opened for a set opening time and a set delay time each time the trigger signal is triggered, and the glue valve is closed after the set number of times of triggering, and the interval time of the next trigger is greater than the total time of the previous trigger, and the glue valve is invalid when triggered again during the operation of the electromagnetic valve.

[0081] In the position trigger mode, the opening and closing of the glue valve are controlled, and the glue valve is opened when the trigger signal is valid, and the glue valve is closed when the trigger signal is invalid.

[0082] Step 2: inputting the glue opening position and glue amount parameter information into the intelligent slave station through the EtherCAT bus;

[0083] Step 3: converting the EtherCAT bus into an internal SPI bus by the internal bus data control module, and outputting the glue opening position and glue amount parameter information to the position comparison module.

[0084] The specific operation of the equidistance position comparison module outputting a trigger signal to the glue valve controller for glue valve position control is that the glue dispensing track is divided into micro sections of the same length, and the same valve opening time is completed in each micro section running time, and the remaining time is all set as valve closing time.

[0085] The specific operation of the variable distance position comparison module outputting a trigger signal to the glue valve controller for glue valve position control is that the glue dispensing track is divided into micro sections of different lengths, and the same valve opening time is completed in each micro section running time, and the remaining time is all set as valve closing time.

[0086] The micro sections are divided according to the displacement of movement, the starting point of the valve opening time is the starting position of the micro section, after the valve opening time ends, the glue valve is closed until the next position arrives, triggering the next valve opening time.

[0087] Step 4: output a trigger signal to the glue valve controller or needle valve or camera through the position comparison module according to the position of the axis to be compared obtained from the cycle synchronization position module or the position of the servo driver obtained from the encoder detection module;

[0088] Step 5: calculate the dispensing interval of the glue valve according to the glue dispensing speed and the glue valve opening and closing time, and transmit the dispensing interval to the position comparison module control output port to trigger the glue valve dispensing or the camera shooting or the needle valve needle.

[0089] The position latch module is set to identify the positions of the X-axis and the Y-axis, and to trigger reading the current encoder position and latching according to the valid signal of the Z pulse.

[0090] According to the running speed and the mechanical rigidity parameter, the lag position of the actual position is debugged, the lag position is set to the intelligent slave station as a compensation position, and the actual position plus the compensation value of the compensation position obtains the actual position synchronized with the command position.

[0091] The other parts of the embodiment are the same as any one of the above-mentioned embodiments 1-2, and thus will not be described again.

[0092] Embodiment 4:

[0093] On the basis of any one of the above-mentioned embodiments 1-3, the data buffer FIFO with 4096 position points is set in the intelligent slave station, a part of data is written into the data buffer FIFO first, and then the data buffer FIFO starts to work, if the host computer detects that the data buffer FIFO is not full, the next position data is continuously written, and if the position data in the data buffer FIFO has triggered the output, the position data is removed from the data buffer FIFO.

[0094] Working principle: in the equidistance mode, the starting position of the position to be compared and the interval of comparison are set, and the intelligent slave station automatically calculates each comparison position according to the starting position and the interval.

[0095] In actual use, the positions of each output injection valve signal planned by the host computer are not equidistant, which requires the use of the variable interval mode. In this mode, the host computer sets each position in the intelligent slave station before starting work. If there are many positions, the slave station cannot completely save all the positions, and it will take a long time to write all the positions before starting work, resulting in low efficiency. Therefore, the intelligent slave station is provided with a FIFO with 4096 position points. After writing a part of the data, the intelligent slave station starts to work. If the FIFO is not full when the host computer is idle, the host computer continues to write the position data. The positions in the FIFO are removed after triggering the output, so as to leave space for subsequent positions. In this way, the efficiency is improved while the number of set points is increased.

[0096] The other parts of the embodiment are the same as those of any one of the above-mentioned embodiments 1-3, and thus will not be described again.

[0097] Embodiment 5

[0098] The embodiment is based on any one of the above-mentioned embodiments 1-4 and is described in detail with a specific embodiment.

[0099] As Figure 2 is the connection diagram of the receiving circuit of the glue valve controller and the intelligent slave station, Figure 3 is the circuit principle diagram of the output channel mapping module of the intelligent slave station, Figure 4 is the circuit principle diagram of the receiving circuit of the camera.

[0100] Figure 3 The OUT end in the above Figure 2 connects a load, i.e., the signal of the above .

[0101] The electrical properties of the receiving circuit of the camera are shown in the following table:

[0102] Parameter name Parameter symbol Parameter value Input logic low level VL 0-1 VDC Input logic high level VH 3.3-24 VDC Input rise delay TDR 1.8-4.6 μs Input fall delay TDF 16.8-22 μs

[0103] As Figure 1 shown is the connection diagram of the intelligent slave station and the point glue system, and as Figure 5 shown is the internal module connection diagram of the intelligent slave station. The upper behavior of the EtherCAT module is Figure 1 the bus connection master station ECAT unit.

[0104] The lower behavior of the EtherCAT is Figure 1 the bus connection subsequent servo driver.

[0105] IPC module is used for customer to use industrial control computer host;

[0106] Dispensing process software is installed on the industrial computer software, control master control card and intelligent slave station related process;

[0107] Master control card in the form of PCI interface inserted on the IPC module;

[0108] ECT is a main communication unit on the master control card, used to connect with intelligent slave station and other EtherCAT slave station;

[0109] xx.dll is the dispensing process software and the master control card between the interactive function library file, programming needs;

[0110] Glue valve, camera, altimeter is the customer to execute device, according to the output signal of intelligent slave station to execute the relevant action;

[0111] Servo driver is EtherCAT slave station, can drive motor mechanical position through motor control unit, at the same time feedback encoder position to intelligent slave station, used for position comparison, thus output control signal;

[0112] Internal bus by EtherCAT bus to internal SPI bus, and real-time control of the data behind the module;

[0113] Periodic synchronization position module is the instruction pulse position of the axis to be compared, in the instruction position source mode by this module to generate real-time position;

[0114] Equidistant, variable distance, isochronous, single point for 4 kinds of basic mode, produce the signal needed by valve and camera;

[0115] Encoder detection module real-time monitoring servo actual position, in the actual position source mode by this encoder position to participate in position comparison;

[0116] Channel output mapping module control multi-channel glue valve and camera output, synchronous output or independent output;

[0117] Position comparison of the position, one is the controller issued instruction, such as a command to let walk 10000 displacement, then the card end will be calculated according to the running speed in real time to which position will walk at the moment, this is the instruction position, it is an ideal position. This position parameter is sent to the driver, the drive motor runs to the corresponding position, motor movement has a response time, the position after running is feedback by encoder, the detected encoder position is the actual position. Actual position will generally lag behind the instruction position, but it can more accurately reflect the actual movement position.

[0118] Synchronous cycle position comparison module, the output of the encoder detection module is given to the equidistant position comparison module, the variable distance position comparison module, the isochronous position comparison module, the single-point trigger position comparison module, which is used for different processes and different sequences to generate the output of the equidistant position comparison module, the variable distance position comparison module, the isochronous position comparison module, the single-point trigger position comparison module to the channel output mapping module, and finally the OUT signal is generated according to the configuration;

[0119] The position latching module directly interacts with the internal bus module, and finally returns to the intelligent master station through the EtherCAT bus and the upper computer dispensing process software module;

[0120] All sub-modules in the position comparison module have data interaction with the internal bus control module;

[0121] First, let's look at the working mode of a certain dispensing valve required by the dispensing, as follows:

[0122] As Figure 6 shown is the working waveform diagram of the level trigger mode, Line or level trigger mode: when the trigger signal is valid, continuous dispensing is performed according to the set valve opening time and delay time, and when the trigger signal is invalid, it is stopped, without dispensing number limit;

[0123] As Figure 7 shown is the working waveform diagram of the pulse trigger mode, Cycle or pulse trigger mode: each trigger is continuous dispensing according to the set valve opening time and delay time, and after reaching the set number, it is stopped. The trigger interval time of the next time is greater than the total trigger time of the last valve, and the electromagnetic valve is invalid again during operation;

[0124] As Figure 8 shown is the working waveform diagram of the position trigger mode, Purge or position trigger mode: when the trigger signal is valid, the valve is opened, and when it is invalid, the valve is closed.

[0125] For Figure 8 the required waveform, the isochronous module can be used to implement the following process:

[0126] 1. The customer sets the working mode to isochronous mode;

[0127] 2. Set the trigger signal mode - level trigger line mode or pulse trigger / position trigger cycle mode;

[0128] 3. Set the valve opening time open time and valve closing time delay time;

[0129] 4. Set the development number, 0 represents continuous opening of the valve, line mode uses 0 parameter, and cycle mode is Number of Pulse;

[0130] 5. Set the output port mapping, which smart slave station will send the valve opening signal from which high-speed output port;

[0131] 6. Enable the isochronous module and loop to wait for a valid trigger signal;

[0132] Take the frame of the rectangular glueing as an example. First, determine the type of glue valve is the jet valve mode, such as selecting Purge mode, that is, the opening and closing of the jet valve is completely synchronized with the signal output of the intelligent slave station, so that the intelligent slave station can accurately control the timing of the glue opening.

[0133] Before the X-axis motion, the position and amount of glue opening are set by the upper computer software, including the starting point of glue output, the interval position of each glue output, the time of each glue output, and the total number of points that need to be glued. These information is written to the intelligent slave station through the EtherCAT bus, and the intelligent slave station converts it into an internal bus and sends it to each corresponding module, such as the equidistant mode, which sends it to the equidistant position comparison module;

[0134] After the motion is started, the intelligent slave station generates the required waveform in real time according to the previous parameters based on the current x-axis position command or actual position, and sends it to the glue valve to control the glue output. If this signal is sent to the camera, it triggers the camera's shooting action, and if it is sent to the height gauge, it triggers the height gauge's height measurement action, so it can be understood that the requirements of the three different devices for the intelligent slave station are similar, and here we only use the glue valve as an example;

[0135] After the X-axis motion of the rectangular frame is completed, the Y-axis motion is started, and the Y-axis related parameters are set. After the parameters are set, the motion is started, and the intelligent slave station generates the Y-axis position corresponding signal according to the set parameters, and the glue valve sprays glue according to this signal.

[0136] In this way, the uniform coverage of the glue amount of the four sides is completed.

[0137] This embodiment supports variable frequency control of the glue valve, as shown in Figure 9 The motion waveform diagram when the glue valve is controlled by variable frequency is shown. In addition to the uniform speed end, the frequency of the jet valve in the acceleration and deceleration sections is different. The frequency acceleration is proportional to the glue valve motion acceleration. The intelligent slave station changes the values of the open time and the delay time in real time according to the set initial frequency, uniform speed frequency, and frequency acceleration, to achieve the frequency following the change of the glue valve motion speed.

[0138] This embodiment supports glue valve position control mode, as shown in Figure 10 The waveform diagram and Figure 12 The periodic waveform diagram of the glue valve position control mode, the glue dispensing trajectory is divided into micro segments of the same length, and the spraying is completed in each micro segment. Figure 12From the comparison of the velocity curves, it can be seen that the opening time of AB is the same, the closing time is different, the distance of A and B is the same, but the running time is different, Ta>Tb. According to the characteristics of the injection glue valve, the opening time determines the size of the glue point, as long as the same opening time is completed once in the running time of each micro-section, and the remaining time is set as the closing time, the injection is only performed once regardless of the change of the micro-section velocity, so that the glue points are distributed at equal distances, and the glue points are consistent in size.

[0139] The micro-section is divided according to the displacement of movement. The function is realized by using an equidistant position comparison module or a variable distance position comparison module. The starting point of the opening time is the starting position of the micro-section, after the end of the opening time, the injection valve is closed, and until the next position comes, the next opening time is triggered.

[0140] The control parameter relationship is:

[0141] L / v=t1+t2

[0142] Wherein, L is the length of the micro-section, v is the movement speed, t1 is the opening time, and t2 is the closing time.

[0143] The embodiment supports comparison position update, and the intelligent slave station sets a 4096-position-point FIFO. In the equidistant mode, the starting position of the position to be compared and the distance to be compared need to be set, and the intelligent slave station automatically calculates each comparison position according to the starting position and the distance.

[0144] In actual use, the host computer plans the position interval of each output injection valve signal according to actual needs, which needs to use the variable distance mode. The mode needs the host computer to set each position to the intelligent slave station, and then start working. If the positions are many, firstly, the slave station cannot completely save all the positions, and secondly, it takes a long time to write all the positions before starting to work, which causes low efficiency. A part of data is written first, and then the work is started. When the host computer is idle, if it is detected that the FIFO is not full, the position data after that is continuously written. The position in the FIFO has been compared and triggered to output, and then it is removed from the FIFO to leave space for the subsequent position. In this way, the efficiency is improved while the number of set points is increased. The process data object PDO is used to write the position to be compared at any time, and theoretically, the comparison points are unlimited.

[0145] The embodiment supports instruction position and actual position comparison. In open-loop control, the instruction position sent by the host computer is used as the position to be compared; in closed-loop control, the actual encoder position is used as the position to be compared.

[0146] This embodiment supports position compensation when comparing actual position, according to parameters such as running speed, mechanical rigidity, etc., to debug the lag position of actual position. Set this position to the intelligent slave station as a compensation position. When calculating, add the compensation value to the actual position, which is synchronized with the position of the issued instruction.

[0147] As Figure 11 The curve diagram of position compensation when comparing actual position is shown, the actual position lags behind the instruction position, that is, the dispensing software issues an instruction to make the dispensing machine dispense glue in the range of 100~200mm on the X axis, and the actual dispensing range may be 98~198mm. In this scenario, in order to ensure that the actual dispensing position is within 100~200mm, the instruction position issued by the dispensing software may be adjusted to 98~202mm to compensate for the lag error of the servo.

[0148] This embodiment supports the position latching required by the needle valve to the needle, realizes the position latching of single point / multiple points / single time / continuous mode, and generally realizes the confirmation of the needle position by identifying the positions of the X axis and the Y axis. When the two axes move to zero position, the Z pulse is effective, and the position value of the current encoder A / B is triggered to be read and latched according to the effective signal of the Z pulse, thereby providing a reference position for the next operation.

[0149] As Figure 13 The waveform diagram of the non-contact glue valve control theoretical model 1 and Figure 14 The waveform diagram of the non-contact glue valve control theoretical model 2;

[0150] The mechanical equipment drives the glue valve to move within the working range, and the glue valve sprays a series of uniform glue points during the movement. A series of continuous glue points are stacked in the forward direction to form a glue line of any shape. Reasonable control of the movement speed and the spraying frequency of the glue valve can achieve different glue coverage effects. The non-contact glue valve is also commonly known as a spraying valve in the dispensing industry.

[0151] Non-contact glue valve control theoretical model 1:

[0152] When the spraying frequency of the glue valve remains unchanged, the glue coverage effect can be controlled by changing the movement speed, and the lower the speed, the larger the glue coverage;

[0153] Non-contact glue valve control theoretical model 2:

[0154] When the movement speed remains unchanged, the glue coverage effect can be controlled by changing the spraying frequency of the glue valve, and the higher the spraying frequency, the larger the glue coverage.

[0155] As Figure 15 is a dispensing process schematic diagram;

[0156] First, it is judged whether the signals of each station are valid, whether there is an alarm signal, if the signals of each station are invalid, there is no alarm signal, the station plate signal is output, waiting for the upper station to have a plate, the upper station transports products, waiting for the feeding signal to be valid, the track runs at high speed, the blocking cylinder starts, if the deceleration signal is valid, the track runs at low speed, if the in-place signal is valid, the track stops, the lifting cylinder starts, the glue injection processing starts, the glue injection processing ends, the clamping cylinder is closed, the lifting and blocking cylinders are closed, the track runs at high speed, the discharging signal is valid, the track stops, and the lower station plate signal is waiting for the plate signal, if the lower station plate signal is valid, the track runs at high speed, the lower station plate signal disappears, the track stops, and the glue injection ends;

[0157] Figure 16 The high-speed position comparison output control flowchart for glue injection processing is shown in the figure, taking a camera as an example, including the following steps:

[0158] Step 1: start processing;

[0159] Step 2: plan a visual flight shooting path;

[0160] Step 3: calculate the point position that needs to trigger the camera shooting according to the flight shooting path;

[0161] Step 4: after moving to the starting point of shooting, the point position that needs to trigger the camera shooting is transmitted to the intelligent slave station;

[0162] Step 5: start moving along the flight shooting path, and the intelligent slave station triggers the camera shooting by the position comparison output control output switch in the moving process;

[0163] Step 6: according to the results of camera shooting, the glue injection path is corrected, and the dot spacing of the injection valve is calculated according to the glue injection speed and the glue valve opening and closing time;

[0164] Step 7: after transmitting the dot spacing to the intelligent slave station, start moving along the glue injection path, and the intelligent slave station triggers the injection valve to discharge glue according to the dot spacing through the position comparison output control output switch.

[0165] The other parts of the embodiment are the same as any one of the above-mentioned embodiments 1-4, and will not be described again.

[0166] The above is only the preferred embodiment of the present application, and does not limit the present application in any form, any simple modification or equivalent change made according to the technical essence of the present application to the above embodiment falls within the protection scope of the present application.

Claims

1. An intelligent slave station based on dispensing application, connected with intelligent master station, dispensing system, servo driver, characterized in that, The internal bus data control module, the position comparison module; The internal bus data control module is connected with the intelligent master station, the servo driver and the position comparison module, and is used for converting the EtherCAT bus into the SPI bus; The position comparison module is connected with the internal bus data control module and the point glue system, and is used for converting the parameter information obtained from the internal bus control module into the trigger signal corresponding to the point glue system; The intelligent slave station realizes different glue covering effects by controlling the movement speed of the glue valve and the injection frequency of the glue valve, controls the glue covering effect by changing the movement speed when the injection frequency of the glue valve is kept unchanged, and controls the glue covering effect by changing the injection frequency of the glue valve when the movement speed is kept unchanged. The position comparison module comprises a cycle synchronization position module, an equidistance position comparison module, a variable distance position comparison module, an equitime position comparison module, a single point position comparison module, an encoder detection module, a position latch module and a channel output mapping module. The cycle synchronization position module is connected with the internal bus data control module, the equidistance position comparison module, the variable distance position comparison module, the equitime position comparison module and the single point position comparison module, and is used for obtaining the instruction pulse position of the axis to be compared and outputting the same to the equidistance position comparison module, the variable distance position comparison module, the equitime position comparison module and the single point position comparison module. The equidistance position comparison module is connected with the cycle synchronization position module, the encoder detection module and the channel output mapping module, and is used for generating the next comparison position according to the instruction pulse position of the axis to be compared obtained from the cycle synchronization position module or the position of the servo driver obtained from the encoder detection module, combining the start position of the position to be compared and the interval of the position to be compared, and outputting the same to the channel output mapping module. The variable distance position comparison module is connected with the cycle synchronization position module, the encoder detection module and the channel output mapping module, and is used for generating the next comparison position according to the instruction pulse position of the axis to be compared obtained from the cycle synchronization position module or the position of the servo driver obtained from the encoder detection module, combining the position of the output glue valve signal obtained from the intelligent master station, and outputting the same to the channel output mapping module. The equitime position comparison module is connected with the cycle synchronization position module, the encoder detection module and the channel output mapping module, and is used for generating the next comparison position according to the instruction pulse position of the axis to be compared obtained from the cycle synchronization position module or the position of the servo driver obtained from the encoder detection module, combining the time interval of the output glue valve signal obtained from the intelligent master station, and outputting the same to the channel output mapping module. The single point position comparison module is connected with the cycle synchronization position module, the encoder detection module and the channel output mapping module, and is used for generating the next comparison position according to the instruction pulse position of the axis to be compared obtained from the cycle synchronization position module or the position of the servo driver obtained from the encoder detection module, combining the start position of the position to be compared, and outputting the same to the channel output mapping module. The encoder detection module is connected with the equidistance position comparison module, the variable distance position comparison module, the equitime position comparison module and the single-point position trigger module, and is configured to output the servo driver position acquired from the servo driver to the equidistance position comparison module, the variable distance position comparison module, the equitime position comparison module and the single-point position trigger module; The position latching module is connected with the internal bus control module, and is configured to identify the positions of the X-axis and the Y-axis, and trigger reading of the current position of the encoder and latching according to the effective signal of the Z pulse; The channel output mapping module is connected with the equidistance position comparison module, the variable distance position comparison module, the equitime position comparison module and the single-point position trigger module, and is configured to output the next comparison position.

2. A control method based on a dispensing application, the intelligent slave station based on the dispensing application of claim 1, characterized in that, The method comprises the following steps: Step 1: setting the glue valve working mode; Step 2: inputting the glue opening position and glue amount parameter information to the intelligent slave station through the EtherCAT bus; Step 3: converting the EtherCAT bus to the internal SPI bus by the internal bus data control module, and outputting the glue opening position and glue amount parameter information to the position comparison module; Step 4: outputting a trigger signal to the glue dispensing system by the position comparison module according to the position of the axis to be compared acquired from the cycle synchronization position module or the position of the servo driver acquired from the encoder detection module; Step 5: calculating the dispensing interval of the glue valve according to the glue dispensing speed and the glue valve opening and closing time, and transmitting the dispensing interval to the control output port of the position comparison module to trigger the glue dispensing system, the photographing system or the needle pressing system; By controlling the movement speed of the glue valve and the glue valve injection frequency, different glue coverage effects can be achieved. When the glue valve injection frequency remains unchanged, the glue coverage effect can be controlled by changing the movement speed, and the lower the speed, the larger the glue coverage. When the movement speed remains unchanged, the glue coverage effect can be controlled by changing the glue valve injection frequency, and the higher the injection frequency, the larger the glue coverage. The glue valve working mode comprises a level trigger mode, a pulse trigger mode and a position trigger mode. In the level trigger mode, the glue valve continuously dispenses glue according to the set valve opening time and delay time when the trigger signal is valid, and stops dispensing glue when the trigger signal is invalid. In the pulse trigger mode, the glue valve continuously dispenses glue according to the set valve opening time and delay time every time the trigger signal is triggered, and stops dispensing glue after reaching the set number of times. The trigger interval time of the next trigger is greater than the total trigger time of the previous valve, and the electromagnetic valve is invalid when triggered again during operation. In the position trigger mode, the glue valve is controlled to open and close according to the trigger signal. The specific operation of the equidistance position comparison module outputting a trigger signal to the glue dispensing system for glue valve position control is that the glue dispensing track is divided into micro sections of the same length, and the same valve opening time is completed in each micro section running time, and the remaining time is set as valve closing time. The variable distance position comparison module outputs a trigger signal to the glue valve position control of the glue dispensing system. The specific operation is: the glue dispensing track is divided into micro sections of different lengths, and the same valve opening time is completed in each micro section running time, and the remaining time is all set as valve closing time; the micro sections are divided according to the displacement, and the starting point of the valve opening time is the starting position of the micro section. After the valve opening time ends, the glue valve is closed until the next position comes, triggering the next valve opening time.

3. The control method based on a point glue application according to claim 2, wherein, The position latch module identifies the positions of the X-axis and the Y-axis, and triggers reading the current encoder position and latching according to the effective signal of the Z pulse.

4. The control method based on a point glue application according to claim 2, wherein, According to the running speed and the mechanical rigidity parameters, the lag position of the actual position is debugged, the lag position is set to the intelligent slave station as a compensation position, and the actual position plus the compensation value of the compensation position obtains the actual position synchronized with the command position.

5. The control method based on the point glue application according to claim 2, wherein, The data buffer FIFO with 4096 position points is provided in the intelligent slave station. After a part of data is written into the data buffer FIFO, the data buffer FIFO starts to work. If the host computer detects that the data buffer FIFO is not full, the next position data is continuously written. If the position data in the data buffer FIFO has triggered the output, the position data is removed from the data buffer FIFO.

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