Teach programming implement the application in the robot that nod glue

Glue robot construction nodded glue robot at 1 o'clock by " mechanical + electric machinery + motion controls card " composition. Following plan institute show its construction of system: Graph machinery of sketch map of structure of robot of a bit glue is the platform of main transfer machinery that a 3 freedom spend partly. The mobile fixed position that glue head can adopt machinery arrives dimensional random (X, y, z) coordinate. Motion controls calorie of computer that is equivalent to an intelligence actually. It sends pulse to give the drive of electric machinery, make electric machinery drives mechanical movement. It can control machinery to walk out of various contrail, control athletic speed, acceleration neatly, undertake high accuracy ground locates. Its locate precision can be achieved 0.

01mm. Additional, this card still stays have RS232 interface and outside facility, show for instance teach box or PC communication. 1.

2 teach programming implement the structure shows the main hardware structure that teachs a box following plan institute show: Graph 2 show graphic representation of signal of structure of hardware teaching a box to teach a box to basically be shown by CPU, LCD, clavier, Flash can drop module of electric memory, communication to comprise. Operation personnel use clavier and LCD undertake interactive. CPU turns the think of a way that operates personnel into machine instruction to send motion to control card through RS232 communication mouth. Additional, CPU returns the graph that can have installed staff of a few operations to store with the means of the file electric memory can be dropped in Flash in. Nextpage2 system software designs the flow of systematic software to be as follows: Graph 3 show software of sketch map of structure of software teaching a box to use KeilC language to write. The choice uses scanning means and clavier detects is not to break pattern. Because scanning means makes software structure more neat, manage more easily. The duration that clavier sparks grows quite commonly, be millisecond class at least. The speed of MCU is MHZ class, scanning clavier more than sufficient, do not need to fear real time answers a question. Clavier detects although answer,break pattern very fast, but the structure that can bring about software is confused, manage hard, memory operation is complex. The memory that the core module of software depends on a file and compile. The file needs to store with definite pattern. Filestore does not need to use the form such as standard Fat or Fat32, because it does not need,carry complex message. The reading that the file needs to undertake convenience only, write, duplicate, delete, revise it is OK to wait for an operation. Accordingly, the means memory file that chooses to use catenary to express. Additional, efficiency of operation of use catenary watch also is very tall. Look with the angle of the user, the content of the memory in the file is a few bits of list. Isolate for instance dot, sharp starting point, linear terminus is waited a moment. These dots can comprise a complete graph together (the introduction that can refer to the 3rd chapter in detail) . There still are a few parameters in the file additionally, the speed that moves for instance, acceleration, on drive up is spent etc. The file is compiled even if nod memory mediumly in the file list information and parameter are changed into athletic statement to send motion to control card. Actually the file compiles the map process that can regard as to be as follows: Graph 4 files compile basis of process sketch map the relation between the structure of the file and corresponding athletic statement, can construct the content that gives map function, realize the process that compile. 3 show teach flow 　 3.

1 show if the person thinks robot of glue yielding a point moves,teach flow what a following graphs show track model orbit. Graph 5 show it is OK to teach Nextpage of track graph sketch map this runway regard as " linear + circular arc + linear + circular arc " composition. Nod by 2 point-blank (start and terminus) affirmatory, circular arc is nodded by 3 (start, midpoint and terminus) affirmatory. Because this needs only these " crucial point " the position comes down surely, the user can be shown religion give a complete figure. Handlers needs to build a file above all. Next, by show the hint that teachs a box ordinal the start that inserts every paragraphs of graph, midpoint and terminus (show 7 5 times to nod like the graph) , come down certainly this graph. Set athletic parameter finally. Show then religion gave file of a graph. With show the graph that teachs a box to carry out this file to be able to press this file to machine. 3.

2 complex graphs are shown teach 　 3.

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If 1 file array wants to show religion give 4, 5 rectangular array. Following plan institute show: Graph 6 show teach array graph to need to show only above all religion give a rectangle (comprise point-blank by 4) . Install the attribute of array next, deflection of number of the linage that includes array, row, travel, row deflection and direction (first X direction or first Y direction) . Final moving document can. 3.

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If pursue,2 files join 6 show a figure. If use individual file to want to show 9 circles and 4 squares only,teach come out, the process will be very complex. But should use file join function only, need to show the rectangular array of the circular array that teachs a 3x3 and a 2x2 simply only, rise their join next, OK. Graph 7 show teach a file to join glue craft reached solution 　 at 4 o'clock 4.

The place of bend of motion of robot of glue of dot of processing of 1 bend concussion (the corner with 2 photographs for instance linear adjacent is in) , connect general reason condition, to prevent to pile glue, general need stops urgently first, carry out below one paragraph of curve again suddenly quickly. But this process can cause strong mechanical impact. To overcome mechanical impact, technology of the look up before speed was used in graphical turning. Will handle the speed of bend and acceleration through sentencing orbit beforehand ahead of schedule. Make the machine that nod glue is in the place of bend flowing bend, avoided mechanical impact effectively. This process is successive interpolation process. Of bend successional can be controlled through installing bend acceleration. 4.

2 rubber delay time and closing glue to give glue controller ahead of schedule is to use IO signal to control whether should give gum. No matter be to open glue to still close glue, it has a fixed delay time. When beginning to machine a graph, open glue head first, need delay time next a paragraph " delay time opening glue " hind resumptive treatment. After treatment of a graph, often need to close glue. Right now control card can give out glue controller sends a signal closing glue. Although the graph goes,was over right now, but cross glue of period of time to just can stop completely. Can bring about a graph to end glue giving lot right now. To avoid this kind of appearance, close glue ahead of schedule with respect to need. Closing glue ahead of schedule use the position to output a technology to accomplish quite actually. Realize someplace to close glue ahead of schedule that is to say through sentencing the position that closes glue beforehand ahead of schedule. Nextpage4.

The appearance of form is in 3 start correction chart process designing when already fixed came down, but relative position still does not have graphical whole to come down surely. Be nodded the workpiece of glue is to place what go up in treatment platform. As a result of mounting error, place impossibly every time for certain in same a place. Because this is shown,teach a box to must want have the function with corrective start. New before be machined every time corrective start, make the orbit be identical of workpiece and glue head. 4.

4 other technology and characteristic a variety of basic figures: Isolated dot, linear, broken line, circular arc, full circle, half ellipse, whole ellipse. Graph of 3 dimension space is successive interpolation: Can realize three-dimensional graph successive interpolation contrail moves. Platform adaptability: Small to a few millimeter, all can use directly to a few meters platform greatly. Restoration locates coordinate fastens afresh: Be when breakdown or when the error accumulates certain level, through simple machinery restoration can locate the coordinate previously is fastened afresh. Fixed position precision 0.

01mm. Circular treatment: Implementation is same the graph is machined automatically repeatedly. Can install a loop to machine frequency and interval of circular handling time. Stop urgently: Make driver cuts off the power to quit mechanical movement instantly. Cent pace machines a function: Can machine a paragraph of graph hind to pause automatically, key-press succeed add machines below one paragraph of graph. The dot that blow air can insert in treatment: The dot that blow air can give the equipment that blow air an IO signal, pull the glue that sticks sluggish silk is blown. Automation line interface: Make the machine that nod glue can be assembled cooperate to operate treatment with automation line on automation line. Much IO controls: Control many glue head at the same time, make they realize different function respectively. Laser, spot welding is congener equipment versatility: Change controller giving gum into laser head or solder head, undertake altering simply can. 5 last words this teach programming implement in the FS30 of system of control of the robot that nod glue that applies Yu Le successfully already to achieve automation technology limited company to develop, as interactive crucial link, it can make the person communicates easily with the robot, the volition that lets robot basis person will work, avoided to use expatiatory and complex code instruction to wait will control a robot. In future, teach programming implement will wider and wider application is in each industrial domains. The communication between huge square somebody who happens to be on hand for an errand and machine, develop the function of the robot to the oldest rate. CNC Milling