Glass positioning mechanism and system

Abstract

The invention discloses a glass positioning mechanism and system. The mechanism comprises a glass positioning machine tool, a machine tool body, a positioning shaft X1, a fine adjustment shaft X1, a positioning shaft Y1, a fine adjustment shaft Y1, a positioning shaft Y2, a fine adjustment shaft Y2, a positioning shaft Y3, a fine adjustment shaft Y3, a positioning shaft Y4 and a fine adjustment shaft Y4. The system comprises an operation module, a toolbar module, a basic data module, a basic position module, a calibration position module, a fine tuning data module, a calibration zeroing module, a control module, a fault information query module and a gear ratio calculation module. The system supports multi-shaft control and comprises precise synchronous regulation and fine adjustment of the positioning shaft and the fine adjustment shaft, the system can easily respond to and accurately achieve various complex and changeable glass positioning tasks due to the characteristic, the application range is greatly widened, the flexibility is greatly improved, an automatic calibration and zero returning mechanism is integrated in the system, and the system is suitable for large-scale popularization and application. By means of the design, the real-time position of each shafting can be automatically detected and accurately corrected.

Description

Technical Field

[0001] The present invention relates to the technical field of glass positioning, and specifically to a glass positioning mechanism and system. Background Technique

[0002] A glass positioning mechanism is a device or system used to ensure that glass plates, glass sheets, or other glass products maintain an accurate position during processing, installation, or transportation. Such mechanisms are very important in multiple industries, especially in the fields of construction, automotive manufacturing, electronic device manufacturing, and optical instrument manufacturing. Its main functions are to ensure that the glass is in the correct position, prevent it from moving or tilting, allow fine adjustment of the glass during processing or installation to ensure that it meets the accuracy requirements, and prevent the glass from being damaged during handling or processing.

[0003] The existing glass positioning mechanisms and systems have the following defects: First, in fine cutting, drilling, or grinding processes, even a tiny deviation in the simple positioning axis design may lead to unqualified products or even scrapping. Traditional positioning mechanisms are stretched when dealing with high-precision positioning requirements and are difficult to meet the increasing process accuracy standards. Second, calibration and zeroing, as key links to ensure positioning accuracy, are usually completed manually in the traditional way. This process is not only time-consuming and laborious but also extremely prone to introducing errors due to human factors such as improper operation and reading deviation, thus affecting the accuracy and efficiency of the entire processing flow. The cumbersome and error-prone nature of manual calibration and zeroing has become a bottleneck restricting the improvement of production efficiency and quality. Third, the existing glass positioning mechanisms and systems have obvious deficiencies in IO configuration and monitoring functions. The lack of comprehensive IO configuration means that the system is difficult to flexibly adapt to different processing requirements, such as sensor signal access and actuator control, thus restricting the scalability and adaptability of the system. At the same time, the lack of monitoring functions may lead to the system's inability to detect and handle potential faults or anomalies in a timely manner, thereby threatening the stability and reliability of the entire processing process. Summary of the Invention

[0004] The purpose of the present invention is to provide a glass positioning mechanism and system to solve the problems raised in the above background technique.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A glass positioning mechanism, including a glass positioning machine tool, the glass positioning machine tool includes a machine tool main body, on both sides of the machine tool main body, there are respectively arranged an X1 positioning axis and an X1 fine adjustment axis, and an X2 positioning axis and an X2 fine adjustment axis. On the other side of the machine tool main body, there are arranged a Y1 positioning axis, a Y1 fine adjustment axis, a Y3 positioning axis, and a Y3 fine adjustment axis.

[0006] As a further technical solution of the present invention, on the other side of the machine tool main body, there are arranged a Y2 positioning axis, a Y2 fine adjustment axis, a Y4 positioning axis, and a Y4 fine adjustment axis.

[0007] As a further technical solution of the present invention, the system operation module includes a toolbar module, a basic data module, a basic position module, a calibration position module, a fine-tuning data module, a calibration zeroing module, a fault information query module, and a gear ratio calculation module.

[0008] As a further technical solution of the present invention, a control module is electrically connected to the system operation module, and a glass positioning machine tool is controllably connected to the control module.

[0009] As a further technical solution of the present invention, the toolbar module includes a file saving module, a drawing importing module, an overview module, an I / O monitoring module, a diagnosis module, a log recording module, a debugging module, a setting module, a tool module, and a loading module.

[0010] As a further technical solution of the present invention, the basic data module includes a positioning tolerance module, a torque deviation module, a speed change distance module, a docking distance module, a maximum positioning times module, a current positioning times module, an automatic positioning time module, a program name module, and a line number module.

[0011] As a further technical solution of the present invention, the calibration position module includes a teaching data module and a fine-tuning axis calibration module.

[0012] As a further technical solution of the present invention, the fine-tuning data module includes a translation fine-tuning X value module, a translation fine-tuning Y value module, a rotation fine-tuning classification module, a rotation fine-tuning direction module, a rotation fine-tuning value module, and a maximum adjustment amount module.

[0013] As a further technical solution of the present invention, the calibration zeroing module includes an automatic calibration module, a glass calibration module, a DXF calibration module, a fine-tuning axis positioning module, a pre-positioning advance module, a return to docking point module, a positioning axis zeroing module, and a fine-tuning axis zeroing module.

[0014] As a further technical solution of the present invention, the control module includes a DC power supply interface module, a Y output terminal module, a PWM output terminal module, an analog quantity output module, an axis port module, an IO serial port module, a handwheel module, an X output terminal module, an EtherCat network port module, and a computer network port module.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: The system of the present invention supports multi-axis control, including precise synchronization regulation and fine adjustment of positioning axes and fine-tuning axes. This feature enables the system to easily handle and accurately achieve various complex and changeable glass positioning tasks, greatly broadening the application scope and flexibility. Moreover, this system incorporates an automatic calibration and homing mechanism. This design can autonomously detect and accurately correct the real-time positions of each axis system, thus fundamentally ensuring the high-precision requirements during the processing, greatly reducing the manual intervention links, simplifying the complexity of the operation process, promoting a double leap in processing efficiency and accuracy. At the same time, it provides rich IO interfaces and monitoring functions, can connect to a variety of external devices, realize instant data exchange and response. The enhancement of the monitoring function means that the system can continuously monitor the working status and signal feedback of each axis, and any abnormal conditions can be quickly identified and effectively processed, which helps to prevent failures, reduce downtime and ensure production continuity. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a structural schematic diagram of the glass positioning mechanism of the present invention;

[0017] Figure 2 is a system structure diagram of the present invention;

[0018] Figure 3 is a module architecture diagram of the toolbar module of the present invention;

[0019] Figure 4 is a module architecture diagram of the basic data module of the present invention;

[0020] Figure 5 is a module architecture diagram of the fine-tuning data module of the present invention;

[0021] Figure 6 is a module architecture diagram of the calibration and homing module of the present invention;

[0022] Figure 7 is a module architecture diagram of the control module of the present invention;

[0023] Figure 8 is a system flow chart of the present invention.

[0024] In the figure: 1. System operation module; 2. Toolbar module; 21. File saving module; 22. Drawing import module; 23. Overview module; 24. I / O monitoring module; 25. Diagnosis module; 26. Log recording module; 27. Debugging module; 28. Setting module; 29. Tool module; 210. Loading module; 3. Basic data module; 31. Positioning tolerance module; 32. Torque deviation module; 33. Shift distance module; 34. Docking distance module; 35. Maximum positioning times module; 36. Current positioning times module; 37. Automatic positioning time module; 38. Program name module; 39. Line number module; 4. Basic position module; 5. Calibration position module; 51. Teaching data module; 52. Fine adjustment axis calibration module; 6. Fine adjustment data module; 61. Translation fine adjustment X value module; 62. Translation fine adjustment Y value module; 63. Rotation fine adjustment classification module; 64. Rotation fine adjustment direction module; 65. Rotation fine adjustment value module; 66. Maximum adjustment amount module; 7. Calibration return to zero module; 71. Automatic calibration module; 72. Glass calibration module; 73. DXF calibration module; 74. Fine adjustment axis positioning module; 75. Pre-positioning in module; 76. Return to docking point module; 77. Positioning axis return to zero module; 78. Fine adjustment axis return to zero module; 8. Control module; 81. DC power interface module; 82. Y output terminal module; 83. PWM output terminal module; 84. Analog output module; 85. Axis port module; 86. IO serial port module; 87. Handwheel module; 88. X output terminal module; 89. EtherCat network port module; 810. Computer network port module; 9. Glass positioning machine tool; 91. Machine tool main body; 92. X1 positioning axis; 93. X1 fine adjustment axis; 94. X2 positioning axis; 95. X2 fine adjustment axis; 96. Y1 positioning axis; 97. Y1 fine adjustment axis; 98. Y2 positioning axis; 99. Y2 fine adjustment axis; 910. Y3 positioning axis; 911. Y3 fine adjustment axis; 912. Y4 positioning axis; 913. Y4 fine adjustment axis; 10. Fault information query module; 11. Gear ratio calculation module. Specific implementation mode

[0025] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0026] Please refer to the attached Figure 1The machine tool 9 includes a machine tool main body 91. On both sides of the machine tool main body 91, there are respectively arranged an X1 positioning shaft 92, an X1 fine adjustment shaft 93, an X2 positioning shaft 94 and an X2 fine adjustment shaft 95. On the other side of the machine tool main body 91, there are arranged a Y1 positioning shaft 96, a Y1 fine adjustment shaft 97, a Y3 positioning shaft 910 and a Y3 fine adjustment shaft 911; on the other side of the machine tool main body 91, there are arranged a Y2 positioning shaft 98, a Y2 fine adjustment shaft 99, a Y4 positioning shaft 912 and a Y4 fine adjustment shaft 913.

[0027] Please refer to the attached Figure 2 - attached Figure 8, an embodiment provided by the present invention: a glass positioning system, including a system operation module 1, the system operation module 1 includes a toolbar module 2, a basic data module 3, a basic position module 4, a calibration position module 5, a fine-tuning data module 6, a calibration zeroing module 7, a fault information query module 10, and a gear ratio calculation module 11; an electrical connection is provided between the system operation module 1 and a control module 8, and a control connection is provided between the control module 8 and a glass positioning machine tool 9; the toolbar module 2 includes a file saving module 21, a drawing importing module 22, an overview module 23, an I / O monitoring module 24, a diagnosis module 25, a log recording module 26, a debugging module 27, a setting module 28, a tool module 29, and a loading module 210. The file saving module 21 is used to import or save GPC files. The drawing importing module 22 is used to import DXF file drawings. The overview module 23 is used to display software versions, ladder diagram information, and perform operations such as loading ladder diagrams and authorizing unlocking date restrictions. The I / O monitoring module 24 is used to monitor I / O status information, observe the configured I / O status information or force output signals. The diagnosis module 25 is used to monitor machine tool diagnosis information, observe the triggering of various system signals and the changes in servo numerical system macro values. The log recording module 26 is used to record system operations and alarm / warning logs. The debugging module 27 is used to manually operate and control each axis of the machine tool to return to zero. The setting module 28 is used for the machining setting window, where various machining settings such as the maximum speed limit, acceleration, and settings of each axis of the machine tool can be set and modified by the upper-level plc. The tool module 29 is used for bus management, servo trajectory deviation setting, servo parameter debugging, ladder diagram monitoring, and macro variable setting. The loading module 210 is used to load the machining program to be processed; the basic data module 3 includes a positioning tolerance module 31, a torque deviation module 32, a variable speed distance module 33, a docking distance module 34, a maximum positioning times module 35, a current positioning times module 36, an automatic positioning time module 37, a program name module 38, and a line number module 39. The positioning tolerance module 31 is used for the distance that each axis moves towards the workpiece after reaching the target value. The torque deviation module 32 is used to control that the servo torque will not move if it exceeds this value (at this time, the servo state is confirmed in place and the action stops). The variable speed distance module 33 is used to set the distance between the target coordinate and the variable speed coordinate. The docking distance module 34 is used to set the distance between the docking point and the target point. The maximum positioning times module 35 is used to set the number of times the system automatically executes. If the positioning fails after exceeding this value, a signal indicating that it cannot be clamped will be output. The current positioning times module 36 is used to display the number of times the system is currently running. The automatic positioning time module 37 is used to set the machining time required for the system to perform glass positioning. The program name module 38 is used to display the program segment that the program automatically runs to currently. The line number module 39 is used to control the line number of the program segment that the program automatically runs to currently;The calibration position module 5 includes a teaching data module 51 and a fine-tuning axis calibration module 52. The teaching data module 51 is used to automatically generate target coordinate positions, and the fine-tuning axis calibration module 52 is used to fill in the current coordinates of the fine-tuning axis servo into the teaching data; the fine-tuning data module 6 includes a translation fine-tuning X value module 61, a translation fine-tuning Y value module 62, a rotation fine-tuning classification module 63, a rotation fine-tuning direction module 64, a rotation fine-tuning value module 65, and a maximum adjustment amount module 66. The translation fine-tuning X value module 61 is used to select the X fine-tuning axis and fill in the actual situation value. The translation fine-tuning Y value module 62 is used to select the Y fine-tuning axis and fill in the actual situation value. The rotation fine-tuning classification module 63 is used to classify the rotation fine-tuning, which is divided into fine-tuning around the lower left corner: rotating with the lower left corner as the rotation center and fine-tuning around the lower right corner: rotating with the lower right corner as the rotation center. The rotation fine-tuning direction module 64 is used to adjust the rotation fine-tuning direction, which is divided into the X direction and the Y direction here. The X direction is clockwise rotation, and the Y direction is counterclockwise rotation. The rotation fine-tuning value module 65 is used to click to calculate the fine-tuning value after filling in the above translation value, and the system will automatically calculate and fill it in. The maximum adjustment amount module 66 is used to click to calculate the fine-tuning value after filling in the above translation value, and the system will automatically calculate and fill it in. After the numerical values are filled in, the fine-tuning amount is calculated, and the system automatically executes the calculation and writes the position into the system internal. If the fine-tuning value is inaccurate, you can click to cancel or redo; the calibration zeroing module 7 includes an automatic calibration module 71, a glass calibration module 72, a DXF calibration module 73, a fine-tuning axis positioning module 74, a pre-positioning advance module 75, a return to docking point module 76, a positioning axis zeroing module 77, and a fine-tuning axis zeroing module 78. The automatic calibration module 71: The positioning axis moves in the positive direction at the automatic calibration speed. When the torque limits of all enabled positioning axes are reached, it stops moving, records the current coordinate positions of each axis, and sets them to the target positions. The glass calibration module 72: The positioning axis and the fine-tuning axis move to the edge of the glass. The glass calibration is started. The positioning axis moves in the positive direction. After the torque limit is reached, the current coordinate positions of each axis are recorded and set to the target positions. The DXF calibration module 73: Import the DXF drawing, start the DXF calibration. The positioning axis retreats to the docking point coordinates. After the fine-tuning axis moves to the target coordinates, the positioning axis first moves to the pre-positioning coordinates at the positioning fast speed and moves to the target position at the positioning slow speed. When the position is reached or the torque limit is reached, the current coordinate positions of each axis are recorded and set to the target positions. The fine-tuning axis positioning module 74 is used to input the translation amount or rotation amount and click to calculate. The system automatically calibrates the fine-tuning position. The pre-positioning advance module 75: The positioning axis first moves to the docking coordinates at the retreat speed. After the fine-tuning axis moves to the target position at the fine-tuning positioning speed, the positioning axis first moves to the pre-positioning coordinates at the positioning fast speed and moves to the target position at the positioning slow speed. The return to docking point module 76 is used to control each axis to return to the docking point position. The positioning axis zeroing module 77 is used to control the positioning axis to return to the servo zero position. The fine-tuning axis zeroing module 78 is used to control the fine-tuning axis to return to the servo zero position;The control module 8 includes a DC power interface module 81, a Y output terminal module 82, a PWM output terminal module 83, an analog output module 84, an axis port module 85, an IO serial port module 86, a handwheel module 87, an X output terminal module 88, an EtherCat network port module 89, and a computer network port module 810. The DC power interface module 81 is used to provide a DC power input interface to supply stable DC electrical energy to the entire control system or specific components. The Y output terminal module 82 is used to connect to the Y output terminal. The PWM output terminal module 83 is used to output a Pulse Width Modulation (PWM) signal. The analog output module 84 provides analog signal output. The axis port module 85 has analog input / output and pulse output interfaces and can be connected to the spindle or servo axis port. The IO serial port module 86 is used to connect to the expansion IO board. The handwheel module 87 is used to connect to the handwheel. The X output terminal module 88 is used to connect to the X output terminal. The EtherCat network port module 89 is used to provide an EtherCAT network interface, which is a real-time industrial control network protocol based on Ethernet and is used to implement a high-performance distributed control system. The computer network port module 810 is used to provide a standard Ethernet interface for connecting the control system to a computer or other network devices for data transmission, remote monitoring, or programming operations.

[0028] Based on the above, the advantages of the present invention are as follows: When installing and using the present invention, first, before entering the site, collect the mechanical structure and electrical models, including the rack and pinion structure; straight / helical teeth: the type of rack and pinion, supporting straight or helical teeth; module / tooth number: the characteristic parameters of the rack and pinion; helix angle: the characteristic parameter of the rack and pinion, which must be available for non-standard helical teeth; equivalent lead: the stroke of the gear rotating one circle calculated according to the above rack and pinion; lead screw lead: the stroke of the lead screw (gear) rotating one circle; feedback pulse: confirm according to the model of the servo motor encoder. Collect the models of the servo drive motors used for each axis in advance, and the user manual, find the specifications of the motor encoder, and confirm the number of pulses per revolution of the encoder; system lead / system pulse: set the pulse equivalent of the system command, generally using the data given in the above table; mechanical end reduction ratio / motor end reduction ratio: the reduction ratio of the reducer, and the parameter value is 1 when there is no reducer; numerator / denominator of electronic gear ratio: the electronic gear calculated according to the above parameters, which is provided to the servo drive. The calculation result may exceed the setting range of the corresponding servo parameters. At this time, the system lead / system pulse parameters can be adjusted appropriately so that the calculation result meets the setting range; in addition to the above conventional positioning axes, it is also necessary to confirm other auxiliary servo axes for use when calculating the pulse equivalent and the electronic gear ratio during on-site debugging. The inputs include: servo positive and negative limit signals, emergency stop signal, reset signal, and signal indicating completion of homing; the outputs include: alarm, signal interaction, and other custom output signals. Confirm whether the wiring on-site is carried out according to the provided IO definition table (refer to the wiring diagram); prepare in advance an IO wiring definition table that matches the actual on-site wiring as the basis for IO configuration during installation and commissioning on-site. Before on-site installation, commissioning, and training, communicate in advance to obtain the following information:

[0029] 1) The transmission structure of each axis, record the structural parameters of each feed axis, and calculate the electronic gear ratio of each axis;

[0030] 2) Confirm the brand and specific model of the servo for each feed axis, and confirm whether the system of this model has been matched. If it has not been matched, be sure to request the corresponding XML file from the supplier in advance and provide it to R & D for matching;

[0031] 3) Request the operation manual of the feed axis servo and be familiar with the parameters in the manual, especially the parameters related to the system;

[0032] 4) Confirm the connection definition table of the input and output signals with the system to facilitate the configuration of the input and output signals during on-site debugging;

[0033] 5) Confirm the protective custom alarm signal table;

[0034] Check the wiring of the electrical circuit, and verify whether the models of the components of the positioning axis and the fine-tuning axis IO are consistent with the previously collected data; verify whether the bus connection sequence and the IO limit signal of the feed axis and the servo drive are consistent with the previously collected data; verify whether the system installation connection is normal; whether the wiring method of the IO matches the type of the signal; then perform the network connection settings. Before the connection, it is necessary to pre-set the local IP address of the computer host. The setting method is as follows: Start” → “Control Panel” → “Network and Sharing Center” → “Change Adapter Settings” → “Local Area Connection” → Right-click → “Properties” → Double-click “Internet Protocol Version 4” → Select “Use the following IP address” → Enter the IP address, subnet mask, and default gateway → “OK” → “OK”. The IP address of the computer needs to be set to the same network segment as the IP address of the system controller, that is, the first three digits should be 192.168.0, any number that the last digit cannot repeat with 150 of the system controller, for example, set to 151; the network interface on the system side is a 1000M network card, while the network cards of some computers may be 100M network cards, or external interference in the network connection may cause the network connection to be unstable, and the application software may occasionally experience "unexpected disconnection". Such problems can be solved by configuring the speed of the computer network card (100Mbps Full Duplex). The initial debugging is for the scenario of the first power-on debugging after mechanical assembly, aiming to achieve the normal use of functions such as the machine tool can move normally, return to the origin, input / output, spindle, tool magazine, etc. First, install the software. When installing the software, the CNC system file will be automatically upgraded at the same time. After installation, power off and restart the system controller once. If it is not the first installation and there are system parameters backed up from the same machine before, after installing the software, double-click the previously backed-up system parameter file, select the file to be restored in the pop-up window and then click OK. If it is necessary to restore the CNC system file, ensure that the network connection between the system and the computer is normal; then configure the glass positioning machine tool 9. The configured axes of the machine tool body 91 are the 6-axis, 10-axis, and 12-axis, which correspond to different types of glass positioning axes respectively. The 12-axis includes the X1 positioning axis 92, X2 positioning axis 94, Y1 positioning axis 96, Y2 positioning axis 98, Y3 positioning axis 910, and Y4 positioning axis 912, as well as the X1 fine-tuning axis 93, X2 fine-tuning axis 95, Y1 fine-tuning axis 97, Y2 fine-tuning axis 99, Y3 fine-tuning axis 911, and Y4 fine-tuning axis 913. Select different types of axis numbers according to the actual situation on-site, and then configure the positioning axis and the fine-tuning axis. Before using the glass positioning software, the basic parameters of each axis of the machine tool need to be configured in the system interface. Parameters such as the stroke range can be roughly set to a value first; the pulse equivalent, limit io port, limit logic, home switch logic, servo alarm logic, home return direction, and home return sampling signal need to be filled in according to the actual situation. The positive and negative limits of the axis and the number of pulses per revolution of the axis servo are also filled in according to the actual situation on the page of the axis parameters. Axis number: The EtherCAT bus connection sequence is: CNCDTM system ECAT → X-axis driver ECAT_IN → X-axis driver ECAT_OUT → Y-axis driver ECAT_IN → Y-axis driver ECAT_OUT, and so on. The axis number is the sequence number of the EtherCAT bus servo connection, starting from sequence number 0; Pulse equivalent: The pulse equivalent refers to the stroke size corresponding to a unit pulse, and the pulse equivalent = distance per revolution of the motor / corresponding pulses. Generally, the pulse equivalent of a linear axis is set to 0.001 (mm / pulse), the rotation axis is set to 1 (° / pulse). The distance per revolution of the motor is set, and the pulse parameter actually sets the pulse equivalent of the system. For example, for a linear axis, if the distance per revolution of the motor is set to L (mm), the corresponding pulse is 1000 * L (pulses). For a rotary axis, if the distance per revolution of the motor is set to R (°), the corresponding pulse is 3600 * R (pulses). Pulses per revolution of the motor: The pulses per revolution of the motor is the number of pulses of the encoder when the motor rotates one circle, which is determined by the model of the encoder. Electronic gear ratio: The electronic gear ratio is a parameter of the servo drive, divided into the numerator of the electronic gear ratio and the denominator of the electronic gear ratio. Pulses per revolution of the command pulse of the motor * numerator of the electronic gear ratio / denominator of the electronic gear ratio = pulses per revolution of the encoder feedback. The system comes with a gear ratio calculation module 11 that can calculate the electronic gear ratio of the servo drive. The transmission methods of the linear axis are gear rack and ball screw guide rail. When calculating the electronic gear ratio, if it is a gear rack transmission method, it needs to be converted into equivalent ball screw lead data before calculating the electronic gear ratio. The specific process of gear ratio calculation is as follows: For spur gears: module of the gear (m), number of teeth of the gear (z), equivalent lead = π * m * z; for helical gears: module of the gear (m), number of teeth of the gear (z), helix angle (β). Customize alarms and configure general IO signals according to the pre-prepared IO wiring definition table, then power on for testing. Confirm whether the emergency stop input signal is normal. After confirmation, when the system is in the emergency stop state, detect each input point signal one by one to check whether the input status of each input signal is normal; check whether each output point is normal, detect each output signal one by one, and be sure to anticipate the safety of possible actions in advance before detecting the output signal to prevent accidents; after wiring and setting the servo parameters, power on and try to slowly move each axis to see if each axis can move normally. If it cannot move normally, first check whether there is a problem with the servo and system control lines, and then check whether the servo parameters are correctly set; correctly set the electronic gear ratio parameters of the servo, and use the gear ratio calculation tool built in the host computer software to calculate the electronic gear ratio of each axis; test whether the moving stroke of each axis is correct. For example, manually give an instruction to move one of the axes 100 mm on the software, and then use a ruler to measure the actual moving distance of the axis on the machine tool to see if it is 100 mm. If the moving stroke is not 200 mm, it means that the electronic gear ratio parameters of the servo are not set correctly; next, according to the different on-site structures, confirm the homing direction and position. By changing the moving direction of the axis, confirm that the servo position and the actual system feedback position are both consistent. By moving each axis, observe the moving direction and confirm that the position is correct. The system operation module 1 includes a toolbar module 2, a basic data module 3, a basic position module 4, a calibration position module 5, a fine-tuning data module 6, a calibration homing module 7, a fault information query module 10, and a gear ratio calculation module 11. The file save module 21 in the toolbar module 2 is used to import or save GPC files, the drawing import module 22 is used to import DXF file drawings, the overview module 23 is used to display the software version, ladder diagram information, and perform operations such as loading the ladder diagram and authorizing and unlocking date restrictions, the I / O monitoring module 24 is used to monitor I / O status information, observe the configured I / O status information or force output signals, the diagnostic module 25 is used to monitor machine tool diagnostic information, observe the triggering of various system signals and the changes in servo numerical system macro values, the log record module 26 is used to record system operations and alarm / warning logs, the debugging module 27 is used to manually operate and control each axis of the machine tool to return to zero, the setting module 28 is used for the machining setting window, and various machining settings such as the maximum speed limit, acceleration, and settings of each axis of the machine tool can be set and modified by the upper PLC, the tool module 29 is used for bus management, servo trajectory deviation setting, servo parameter debugging, ladder diagram monitoring, and macro variable setting, the loading module 210 is used to load the machining program to be processed. The positioning tolerance module 31 in the basic data module 3 is used for the distance that each axis moves towards the workpiece after reaching the target value, the torque deviation module 32 is used to control that the servo torque will not move if it exceeds this value (at this time, the servo status is confirmed in place and the action stops), and the variable speed distance module 33 is used to set the distance between the target coordinate and the variable speed coordinate.The docking distance module 34 is used to set the distance between the docking point and the target point. The maximum positioning times module 35 is used to set the number of times the system automatically executes. If the positioning fails after exceeding this value, a signal indicating that it cannot be clamped is output. The current positioning times module 36 is used to display the number of times the system has run currently. The automatic positioning time module 37 is used to set the processing time required for the system to perform glass positioning. The program name module 38 is used to display the program segment that the program automatically runs to currently. The line number module 39 is used to control the program to automatically run to the current execution line number. The base position module 4 is used to calibrate the base position. Specifically, it imports a calibrated DXF file, the system automatically recognizes the file, and manually moves each axis to the servo calibration point position. After each axis arrives, the base position is calibrated. The teaching data module 51 in the calibration position module 5 is used to automatically generate the target coordinate position. The fine-tuning axis calibration module 52 is used to record and fill in the current coordinates of the fine-tuning axis servo into the teaching data. The translation fine-tuning X value module 61 in the fine-tuning data module 6 is used to select the X fine-tuning axis and fill in the actual situation value. The translation fine-tuning Y value module 62 is used to select the Y fine-tuning axis and fill in the actual situation value. The rotation fine-tuning classification module 63 is used to classify the rotation fine-tuning, which is divided into fine-tuning around the lower left corner: rotating with the lower left corner as the rotation center and fine-tuning around the lower right corner: rotating with the lower right corner as the rotation center. The rotation fine-tuning direction module 64 is used to adjust the rotation fine-tuning direction, which is divided into the X direction and the Y direction here. The X direction is a clockwise rotation, and the Y direction is a counterclockwise rotation. The rotation fine-tuning value module 65 is used to fill in the above translation value and then click to calculate the fine-tuning value, and the system will automatically calculate and fill it in. The maximum adjustment amount module 66 is used to fill in the above translation value and then click to calculate the fine-tuning value, and the system will automatically calculate and fill it in. After filling in the values, calculate the fine-tuning amount, and the system automatically executes the calculation and writes the position into the system internal. If the fine-tuning value is inaccurate, you can click to cancel or redo. In the calibration return to zero module 7, the automatic calibration module 71: The positioning axis moves in the positive direction at the automatic calibration speed. When the torque limit of all enabled positioning axes is reached, it stops moving, records the current coordinate positions of each axis, and sets them to the target positions. The glass calibration module 72: The positioning axis and the fine-tuning axis move to the edge of the glass and start glass calibration. The positioning axis moves in the positive direction. After the torque limit is reached, record the current coordinate positions of each axis and set them to the target positions. The DXF calibration module 73: Import the DXF drawing, start DXF calibration. The positioning axis retreats to the docking point coordinates. After the fine-tuning axis moves to the target coordinates, the positioning axis first moves to the pre-positioning coordinates at the positioning fast speed and moves to the target position at the positioning slow speed. When the position is reached or the torque limit is reached, record the current coordinate positions of each axis and set them to the target positions. The fine-tuning axis positioning module 74 is used to input the translation amount or rotation amount and click to calculate. Then the system automatically calibrates the fine-tuning position. The pre-positioning in module 75: The positioning axis first moves to the docking coordinates at the retreat speed. After the fine-tuning axis moves to the target position at the fine-tuning positioning speed, the positioning axis first moves to the pre-positioning coordinates at the positioning fast speed.And move slowly to the target position for positioning. The return-to-docking-point module 76 is used to control each axis to return to the docking-point position. The positioning-axis zeroing module 77 is used to control the positioning axis to return to the servo zero position. The fine-tuning axis zeroing module 78 is used to control the fine-tuning axis to return to the servo zero position. The DC power supply interface module 81 in the control module 8 is used to provide a DC power input interface to supply stable DC electrical energy for the entire control system or specific components. The Y output terminal module 82 is used to connect to the Y output terminal. The PWM output terminal module 83 is used to output a pulse-width modulation (PWM) signal. The analog output module 84 provides analog signal output. The axis port module 85 is an analog input / output and pulse output interface that can be connected to the spindle or servo axis port. The IO serial port module 86 is used to connect to the expansion IO board. The handwheel module 87 is used to connect to the handwheel. The X output terminal module 88 is used to connect to the X output terminal. The EtherCat network port module 89 is used to provide an EtherCAT network interface, which is a real-time industrial control network protocol based on Ethernet and is used to implement a high-performance distributed control system. The computer network port module 810 is used to provide a standard Ethernet interface for connecting the control system to a computer or other network devices for data transmission, remote monitoring, programming, etc.

[0035] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed within the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. Glass positioning mechanism, including a glass positioning machine tool (9), characterized in that: The glass positioning machine tool (9) includes a machine tool main body (91). On both sides of the machine tool main body (91), there are respectively arranged an X1 positioning shaft (92), an X1 fine adjustment shaft (93), an X2 positioning shaft (94), and an X2 fine adjustment shaft (95). On the other side of the machine tool main body (91), there are arranged a Y1 positioning shaft (96), a Y1 fine adjustment shaft (97), a Y3 positioning shaft (910), and a Y3 fine adjustment shaft (911).

2. The glass positioning mechanism according to claim 1, wherein: On the other side of the machine tool main body (91), there are arranged a Y2 positioning shaft (98), a Y2 fine adjustment shaft (99), a Y4 positioning shaft (912), and a Y4 fine adjustment shaft (913).

3. Glass positioning system, including a system operation module (1), characterized in that: The system operation module (1) includes a toolbar module (2), a basic data module (3), a basic position module (4), a calibration position module (5), a fine adjustment data module (6), a calibration and zero return module (7), a fault information query module (10), and a gear ratio calculation module (11).

4. The glass positioning system according to claim 3, wherein: The system operation module (1) is electrically connected to a control module (8), and the control module (8) is controllably connected to the glass positioning machine tool (9).

5. The glass positioning system according to claim 3, characterized in that: The toolbar module (2) includes a file saving module (21), a drawing importing module (22), an overview module (23), an I / O monitoring module (24), a diagnosis module (25), a log recording module (26), a debugging module (27), a setting module (28), a tool module (29), and a loading module (210).

6. The glass positioning system according to claim 3, wherein: The basic data module (3) includes a positioning tolerance module (31), a torque deviation module (32), a variable speed distance module (33), a docking distance module (34), a maximum positioning times module (35), a current positioning times module (36), an automatic positioning time module (37), a program name module (38), and a line number module (39).

7. The glass positioning system according to claim 3, wherein: The calibration position module (5) includes a teaching data module (51) and a fine adjustment shaft calibration module (52).

8. The glass positioning system according to claim 3, wherein: The fine adjustment data module (6) includes a translation fine adjustment X value module (61), a translation fine adjustment Y value module (62), a rotation fine adjustment classification module (63), a rotation fine adjustment direction module (64), a rotation fine adjustment value module (65), and a maximum adjustment amount module (66).

9. The glass positioning system according to claim 3, wherein: The calibration and zero return module (7) includes an automatic calibration module (71), a glass calibration module (72), a DXF calibration module (73), a fine adjustment shaft positioning module (74), a pre-positioning in module (75), a return to docking point module (76), a positioning shaft zero return module (77), and a fine adjustment shaft zero return module (78).

10. The glass positioning system according to claim 4, wherein: The control module (8) includes a DC power supply interface module (81), a Y output terminal module (82), a PWM output terminal module (83), an analog quantity output module (84), an axis port module (85), an IO serial port module (86), a handwheel module (87), an X output terminal module (88), an EtherCat network port module (89), and a computer network port module (810).

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