CN115903159A - Multi-axis synchronous motion control method and control system of optical fiber wiring machine - Google Patents

Abstract

The invention relates to the field of optical fiber wiring machines, in particular to a multi-axis synchronous motion control method of an optical fiber wiring machine, which comprises the following steps: the method comprises the steps that an upper computer transmits the wiring path data obtained through analysis to a lower PLC in an Ethernet transmission mode, the wiring path data are converted into track coordinates of a mechanical arm module moving on a X, Y shaft through the lower PLC, an R shaft servo group, a stepping motor and a servo motor are controlled through the lower PLC, the track coordinates determine the wire feeding speed and the wire feeding direction, and the PLC is adopted to periodically control the synchronous movement function to perform synchronous wire feeding. The method can realize the synchronous control wire feeding function when the optical fiber is wired on the optical back plate rubber surface, control the wire discharging speed in real time along the wiring path of the X/Y axis, and adjust the speed ratio of the wire feeding roller servo in real time according to the change of the sensor signal, thereby realizing the accurate automatic wiring of the optical fiber on the optical back plate rubber surface according to the designed track.

Description

A multi-axis synchronous motion control method and control system for an optical fiber wiring machine

technical field

The invention relates to the field of optical fiber wiring machines, in particular to a method for controlling multi-axis synchronous motion of an optical fiber wiring machine and a control system thereof.

Background technique

In the existing construction process, the optical fiber wiring operation is usually performed on the optical backplane. Before the optical fiber wiring, it is generally necessary to generate the wiring trace through CAD, and then display the optical fiber wiring trace on the workbench with a monitor or projection to guide the work. Although this method can meet the construction needs, in the case of a large number of optical fibers, when a large number of optical fibers are wound, the operator cannot clearly identify the corresponding port of the optical fiber, which not only easily leads to wiring errors , reduce the yield rate of the product, and the overall efficiency is low.

Contents of the invention

Aiming at the deficiencies in the prior art, the present invention provides a multi-axis synchronous motion control method and a control system for an optical fiber wiring machine. The specific technical solutions are as follows:

A multi-axis synchronous motion control method for an optical fiber wiring machine, comprising the following steps:

The upper computer sends the wiring path data obtained by analysis to the lower PLC through Ethernet transmission, and the wiring path data is converted into the trajectory coordinates of the mechanical arm module on the X and Y axes through the lower PLC, and through the lower PLC The PLC controls the R-axis servo group, stepping motor and servo motor to determine the wire feeding speed and wire feeding direction based on the trajectory coordinates, and uses the PLC cycle control synchronous motion function to perform synchronous wire feeding.

As an improvement of the above-mentioned technical solution, the method of transmitting the wiring path data obtained by parsing to the lower PLC through the upper computer through Ethernet transmission includes: the wiring path data obtained by analyzing the basic data of the wiring path through the upper computer, and transmitting the wiring path data through Ethernet The wiring path data is sent to the lower PLC, and the basic wiring path data is pre-generated in CAD and stored in the form of EXCEL.

As an improvement of the above technical solution, the wiring path data obtained by parsing the basic data of the wiring path by the host computer includes:

Through the host computer, analyze the track data of multiple optical fiber wiring paths one by one, and calculate to obtain the total track points of incoming lines, total wiring track points and total track points of outgoing lines.

As an improvement of the above technical solution, the conversion of the wiring path data into the trajectory coordinates of the movement of the robot arm module on the X and Y axes through the lower PLC includes:

As an improvement of the above technical solution, the lower PLC cyclically executes the total track points of the incoming line and imports the coordinate data into the buffer area to obtain the optical fiber incoming line track and track coordinates, and the lower PLC performs circular execution of the total track points of the wiring The imported coordinate data enters the buffer area to obtain the optical fiber wiring track and track coordinates, and the lower PLC executes the cyclic execution of the total outgoing track points to import the coordinate data into the buffer area to obtain the optical fiber outgoing line track and track coordinates.

As an improvement of the above technical solution, the lower PLC includes a data register, and the data register includes a public data storage area, an incoming line data storage area, a wiring data storage area, and an outgoing line data storage area.

A multi-axis synchronous motion control system for an optical fiber wiring machine, which is applied to the multi-axis synchronous motion control method for an optical fiber wiring machine described in the aforementioned technical solution, including: a host computer, a PLC controller, a mechanical arm module, and a pulley block .

Specifically, the upper computer is used to analyze the basic data of the wiring path to obtain the data of the optical fiber wiring path, the PLC controller is used to receive the data of the optical fiber wiring path, the pulley block is fixed on the mechanical arm module, and the pulley block includes at least two a fixed pulley and a movable pulley, the movable pulley is arranged between two fixed pulleys, a movable pulley detection sensor is arranged on one side of the movable pulley, the optical fiber penetrates from above one of the fixed pulleys, and passes from the movable pulley The lower part is wound to the upper part of another fixed pulley. The robot arm module controls the servo motor, stepping motor, and pulley block to move along the wiring path on the X and Y axes and controls the angle of the stepping motor to adjust the routing of the optical fiber. line direction.

As an improvement of the above technical solution, the robot arm module is a four-axis robot arm module, and the four-axis robot arm module includes an X-axis servo group, a Y-axis servo group, a Z-axis servo group, and an R-axis servo group , the Y-axis servo group is fixed on the moving end of the X-axis servo group, the Z-axis servo group is fixed on the moving end of the Y-axis servo group, and the R-axis servo group is fixed on one side of the Z-axis servo group

As an improvement of the above technical solution, the X-axis servo group and the Y-axis servo group control the servo motor, the stepping motor, and the pulley block to move along the wiring path on the X and Y axes, and the R-axis controls the angle of the stepping motor To adjust the routing direction of the optical fiber, the servo motor, stepping motor, and pulley block are fixed on one side of the Z-axis servo block.

Beneficial effects of the present invention:

Using the method described in this application, the wiring path is controlled by the synchronous trajectory movement function of the robot arm module, and at the same time, through the synchronous control of the wire feeding function, the outgoing line speed is controlled in real time following the wiring path of the X/Y axis, and in real time according to the change of the sensor signal. Adjust the speed ratio of the wire feeding roller servo, so as to realize the automatic routing of the optical fiber on the rubber surface of the optical backplane accurately according to the design trajectory, and solve the problems of poor precision, high error rate, and low efficiency of the existing wiring method.

Description of drawings

FIG. 1 is a schematic diagram of functional blocks of track data storage of a multi-axis synchronous motion control method for an optical fiber wiring machine according to the present invention;

Fig. 2 is a schematic diagram of type classification of stored data in a multi-axis synchronous motion control method of an optical fiber wiring machine according to the present invention;

3 is a schematic diagram of functional blocks of X/Y axis motion control of a multi-axis synchronous motion control method for an optical fiber wiring machine according to the present invention;

Fig. 4 is a schematic diagram of the cycle following function block of the R-axis servo group of a multi-axis synchronous motion control method for an optical fiber wiring machine according to the present invention;

Fig. 5 is a schematic diagram of optical fiber wiring of a multi-axis synchronous motion control system of an optical fiber wiring machine according to the present invention;

Fig. 6 is a schematic diagram of the connection between the peripheral manipulator module, the servo motor, the stepping motor and the pulley block of the multi-axis synchronous motion control system of the optical fiber wiring machine according to the present invention.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

Embodiment one

Please refer to the figure to provide a multi-axis synchronous motion control method for an optical fiber wiring machine, including the following steps:

S1: Send the wiring path data obtained by analysis to the lower PLC through Ethernet transmission through the upper computer;

Wherein, step S1 includes:

S11: the wiring path data obtained by parsing the basic data of the wiring path through the host computer;

The basic data of the wiring path is the data pre-generated by CAD, which is stored in the form of EXCEL. The host computer needs to analyze these data. Since the data of the wiring path is unified and summarized, it is necessary to combine these uniformly summarized wiring paths Analyze one by one, that is, the host computer needs to analyze the trajectory data of the optical fiber wiring path one by one, and perform calculations to obtain the total trajectory points of the incoming line, the total trajectory points of the wiring, and the total trajectory points of the outgoing line.

Among them, when the upper computer analyzes the basic data of the wiring path, it first needs to calculate the total track points of the incoming line, the total track points of the wiring and the total track points of the outgoing line.

That is, the acquisition of the total track points of incoming lines, the total track points of wiring and the total track points of outgoing lines is realized by running the following programs on the host computer:

IF Wiring_Com[8]<>0AND Wiring_Com[9]<>0AND Wiring_[10]<>0THEN

IN_Number:=Wiring_Com[8]-1;

Wiring_Number:=Wiring_Com[9]-1;

Out_Number:=Wiring_Com[10]-1;

END IF;

Among them, IN_Number is the total number of incoming traces, Wiring_Number is the total number of wiring traces, Out_Number is the total number of outgoing traces, and Wiring_Com represents the public data storage area of the optical fiber, that is, the relevant trace data is obtained by reading, when the corresponding When there is data in the storage area of the storage area, the data type stored in the current storage area is determined according to the serial number of the storage area. In addition to the total track points of the incoming line, the total track points of the wiring and the total track points of the outgoing line, the routing path data also includes some Public data, as shown in Figure 2, includes the total wiring data used to store and identify the entire board, the size of the optical backplane, the total number of optical fibers, the serial number of a single optical fiber in the current operation, etc., and the storage of these track data can be as shown in Figure 1 The function blocks shown in , establish a storage area with a length of 13 for data storage, namely Wiring_Com[0] to Wiring_Com[12], specifically: Wiring_Com[0] records the serial number data of the optical fiber, and the serial number of the optical fiber The data is stored in the way of arranging and inputting, and the data of each optical fiber is except for the serial number data, as shown in Figure 2, where Wiring_Com[8] corresponds to the total number of track points in the line-entry stage, and Wiring_Com[9] corresponds to the total track points in the wiring stage Points, Wiring_Com[10] corresponds to the total track points in the qualifying stage.

S12: Send the wiring path data to the lower PLC through Ethernet.

The upper computer and the lower PLC are connected through Ethernet, and data transmission is performed through Ethernet. The lower PLC can use Omron PLC, and use the Omron FINS-UDP protocol to perform data transmission with the upper computer.

Omron PLC is a full-featured compact PLC that can provide high value-added machine control for conveying decentralized control, etc.; it also has the ability to upgrade through various advanced built-in boards, large program capacity and memory unit, and Windows environment Efficient software development capabilities can meet the control requirements of optical fiber cabling.

S2: converting the wiring path data into trajectory coordinates of the movement of the robot arm module on the X and Y axes through the lower PLC;

Before step S2 is executed, the buffers of each data area need to be initialized.

Wherein, step S2 includes:

S21: The lower PLC cyclically executes the total incoming line track points and imports the coordinate data into the buffer area to obtain the optical fiber incoming line track and track coordinates.

The execution of step S21 depends on the following procedures:

FORN:＝0TO IN_numberBY 1DO

IF PC data area_incoming line data[N].TargetX<>99990000THEN

ST_Wirting_Array[N].Targetpos_X:=PC data area_incoming data [N].TargetX/1000;

ST_Wirting_Array[N].Targetpos_Y:=PC data area_incoming data [N].TargetY/1000;

ST_Wirting_Array[N].Code:=1;

ELSE ST_Wirting_Array[N].Code:=0;

ST_Wirting_Array[N].TargetPos_X:=0.0;

ST_Wirting_Array[N].TargetPos_Y:=0.0;

END IF

END FOR

The above program is to circularly analyze the total points of incoming line data in the PC data area at the coordinate positions of the X-axis and Y-axis, and convert them into the incoming line track coordinates of the optical fiber to obtain the incoming line track, among which the incoming line data in the PC data area The total points of line data refers to the total incoming line points issued by the host computer.

S22: The lower PLC cyclically executes the total wiring track points and imports the coordinate data into the buffer area to obtain the optical fiber wiring track and track coordinates.

S23: The lower-level PLC cyclically executes the points of the total outgoing line trajectory and imports the coordinate data into the buffer area to obtain the optical fiber outgoing line trajectory and trajectory coordinates.

Step 22, step 23 and step 21 coordinates are acquired in the same way, all are to analyze the data points sent by the host computer on the X-axis and Y-axis coordinate positions, convert them into corresponding trajectory coordinates, and obtain the trajectory route.

In addition, the lower PLC includes a data register, and the data register includes a common data storage area, an incoming line data storage area, a wiring data storage area, and an outgoing line data storage area.

The public data storage area is used to store the aforementioned public data, while the incoming line data storage area is used to store the fiber incoming line track data, the wiring data storage area is used to store the optical fiber wiring track data, and the outgoing line data storage area is used to store the optical fiber outgoing line track data .

S3: Control the R-axis servo group, stepping motor and servo motor through the lower PLC to determine the wire feeding speed and wire feeding direction according to the trajectory coordinates, and use the PLC cycle control synchronous motion function to perform synchronous wire feeding.

Among them, the stepper motor is used to feed the wire, the servo motor is used to output the wire, and the R-axis servo group is used to adjust the wiring direction

As shown in Figure 3, input the outgoing line track data obtained in step 23 as a variable to obtain the moving positions of the X-axis servo group and the Y-axis servo group, and determine the motion control on the X/Y axis, that is, determine the movement control on the X/Y axis. The speed of movement on the Y axis.

After determining the movement of the X/Y axis, since the wiring direction needs to be adjusted, it is also necessary to use the R-axis servo group to determine the wire feeding direction, that is, to determine the following angle of the R-axis servo group following the X/Y axis.

The calculation of the following angle of the R-axis servo group following the X/Y axis depends on the following procedures:

Pos1.Mv.Point[0]:=Wiring_Array[buffer_No].TargetPos_X;

Pos1.Mv.Point[1]:=Wiring_Array[buffer_No].TargetPos_Y;

Pos1.Mv.Vel=HMI_routing speed;

R.ABS.Velocity = LREAL #300;

That is, by determining the position of the target point of the movement track on the X/Y axis (ie Pos1.Mv.Point[0] (X axis) and Pos1.Mv.Point[1] (Y axis)), combined with the X axis servo group And the movement speed of the Y-axis servo group (ie Pos1.Mv.Vel), to determine the following angle of the R-axis servo group following the X/Y axis (ie R.ABS.Velocity).

After determining the following angle of the R-axis servo group, it is necessary to determine the following period of the R-axis servo group. As shown in Figure 4, the R-axis servo group responds synchronously according to the coordinates of the following target (that is, the X/Y axis), so as to achieve Follow the purpose of the cycle.

The synchronous speed calculation of the servo motor used for wire feeding is based on the following formula:

Servo motor synchronous speed

=1.0*abs(SQRT(MC_Axis000.Act.Vel*MC_Axis000.Act.Vel

+MC_Axis001.Act.Vel*MC_Axis001.Act.Vel))

The calculation of speed synchronization of stepper motors for outgoing lines is based on the following formula:

Synchronous speed in fast state of stepper motor

=1.6*abs(SQRT(MC_Axis000.Act.Vel*MC_Axis000.Act.Vel

+MC_Axis001.Act.Vel*MC_Axis001.Act.Vel))

Synchronous speed in slow state of stepper motor

=0.7*abs(SQRT(MC_Axis000.Act.Vel*MC_Axis000.Act.Vel

+MC_Axis001.Act.Vel*MC_Axis001.Act.Vel))

Among them, abs represents the absolute value, SQRT represents the root sign, MC_Axis000.Act.Vel represents the movement speed of axis 1 (that is, X axis), and MC_Axis001.Act.Vel represents the movement speed of axis 2 (that is, Y axis), expressed in X/Y The speed of motion on the shaft is used to determine the synchronous speed of the stepper motor and the servo motor.

According to the calculated wire feeding speed, wire feeding cycle and wire feeding direction, the synchronous wire feeding function is realized.

Embodiment two

In order to cooperate with the multi-axis synchronous motion control method of the optical fiber wiring machine described in the first embodiment, a multi-axis synchronous motion control system of the optical fiber wiring machine is provided, which is applied to a kind of optical fiber wiring as described in the first embodiment A multi-axis synchronous motion control method for a machine, including: a host computer, a PLC controller, a mechanical arm module, and a pulley block.

Specifically, the upper computer is used to analyze the basic data of the wiring path to obtain the data of the optical fiber wiring path, the PLC controller is used to receive the data of the optical fiber wiring path, the pulley block is fixed on the mechanical arm module, and the pulley block includes at least two a fixed pulley and a movable pulley, the movable pulley is arranged between two fixed pulleys, a movable pulley detection sensor is arranged on one side of the movable pulley, the optical fiber penetrates from above one of the fixed pulleys, and passes from the movable pulley The lower part is wound to the upper part of another fixed pulley. The robot arm module controls the servo motor, stepping motor, and pulley block to move along the wiring path on the X and Y axes and controls the angle of the stepping motor to adjust the routing of the optical fiber. line direction.

Use the robot arm module to control the servo motor, stepping motor and pulley block to move on the X/Y axis. Since the pulley block includes at least two fixed pulleys and one movable pulley, when the optical fiber roller is in use, it will be consumed with the laying of the optical fiber. When the moving diameter of the wire roller gradually decreases, the optical fiber will lift the pulley, and the moving pulley detection sensor below will detect the pulley lifting, and at the same time trigger the fast wire-out program, that is, the stepping motor will adopt the fast wire-out mode at this time, and it adopts the fast motor under the fast state The synchronous speed is matched, and the X/Y axis can be synchronized and quickly exit the line. And when the diameter of the optical fiber roll is sufficient, the pulley will fall, and the stepper motor will match at the synchronous speed in the slow state.

In one embodiment, the robot arm module is a four-axis robot arm module, and the four-axis robot arm module includes an X-axis servo group, a Y-axis servo group, a Z-axis servo group, and an R-axis servo group, The Y-axis servo group is fixed on the moving end of the X-axis servo group, the Z-axis servo group is fixed on the moving end of the Y-axis servo group, and the R-axis servo group is fixed on one side of the Z-axis servo group.

The four-axis robot arm module is composed of X, Y, Z, and R axes to work.

In one embodiment, the X-axis servo group and the Y-axis servo group control the servo motors, stepping motors, and pulleys to move along the wiring path on the X and Y axes, and the R-axis controls the angle of the stepping motors to Adjust the wiring direction of the optical fiber, and the servo motor, stepping motor, and pulley block are fixed on one side of the Z-axis servo group.

That is, the Z-axis servo group does not participate in the movement during the wiring, but only serves as a support. The wire roller and various equipment are installed through the Z-axis. The X-axis servo group, the Y-axis servo group, the Z-axis servo group, and the R-axis servo group are used, respectively. Control each structure, use the X-axis servo group and Y-axis servo group to control the movement of the whole on the plane, and use the R-axis servo group to control the wiring direction.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.

Claims (8)

1.A multi-axis synchronous motion control method of an optical fiber wiring machine is characterized by comprising the following steps:

sending the wiring path data obtained by analysis to a lower PLC in an Ethernet transmission mode through an upper computer;

converting the wiring path data into a track coordinate of the movement of the mechanical arm module on a X, Y axis through the lower PLC;

and the lower PLC is used for controlling the R-axis servo group, the stepping motor and the servo motor to determine the wire feeding speed and the wire feeding direction according to the track coordinates, and the synchronous wire feeding is carried out by adopting a mode of a PLC periodic control synchronous motion function.

2. The method of claim 1, wherein the method further comprises: the mode of will analyzing the wiring route data ethernet transmission who obtains to send to next PLC through the host computer includes:

analyzing the wiring path basic data through an upper computer to obtain wiring path data;

sending the wiring path data to a lower PLC through the Ethernet;

the wiring path basic data is pre-generated in CAD and stored in EXCEL form.

3. The method of claim 1, wherein the method further comprises: the wiring path data obtained by analyzing the wiring path basic data through the upper computer comprises the following steps:

and analyzing the track data of the plurality of optical fiber wiring paths one by one through the upper computer, and calculating to obtain the number of inlet wire total tracks, the number of wiring total tracks and the number of outlet wire total tracks.

4. The method of claim 3, wherein the step of controlling the multi-axis synchronous motion comprises: the converting of the wiring path data into the track coordinates of the robot arm module moving on the X, Y axis by the lower PLC comprises:

the lower PLC circularly executes the inlet wire total track point number and leads in coordinate data to enter a cache region so as to obtain an optical fiber inlet wire track and a track coordinate;

the lower PLC circularly executes the wiring total track points and introduces coordinate data into a cache region to obtain optical fiber wiring tracks and track coordinates;

and the lower PLC circularly executes the leading-in coordinate data of the outgoing total track points to enter a cache region so as to obtain the optical fiber outgoing track and the track coordinate.

5. The method of claim 4, wherein the method further comprises: the lower PLC comprises a data register, and the data register comprises a public data register area, an incoming line data register area, a wiring data register area and an outgoing line data register area.

6. A multi-axis synchronous motion control system of an optical fiber wiring machine, which is applied to the multi-axis synchronous motion control method of the optical fiber wiring machine according to any one of claims 1 to 5, characterized by comprising:

the upper computer is used for analyzing the wiring path basic data to obtain optical fiber wiring path data;

a PLC controller for receiving optical fiber wiring path data;

a robot arm module;

the pulley block is fixed on the mechanical arm module and comprises at least two fixed pulleys and a movable pulley, the movable pulley is arranged between the two fixed pulleys, a movable pulley detection sensor is arranged on one side of the movable pulley, and an optical fiber penetrates from the upper part of one of the fixed pulleys and is wound to the upper part of the other fixed pulley from the lower part of the movable pulley;

the mechanical arm module controls the servo motor, the stepping motor and the pulley block to move along the wiring path on the X, Y shaft and controls the angle of the stepping motor to adjust the wiring direction of the optical fiber.

7. A multi-axis synchronous motion control system for an optical fiber wiring machine as claimed in claim 6, wherein: the robotic arm module is four-axis robotic arm module, four-axis robotic arm module is including X axle servo group, Y axle servo group, Z axle servo group, R axle servo group, Y axle servo group is fixed in the removal end of X axle servo group, Z axle servo group is fixed in the removal end of Y axle servo group, R axle servo group is fixed in one side of Z axle servo group.

8. A multi-axis synchronous motion control system for an optical fiber wiring machine as claimed in claim 7, wherein: the X-axis servo group and the Y-axis servo group control the servo motor, the stepping motor and the pulley block to move along a wiring path on a X, Y shaft, the R shaft controls the angle of the stepping motor to adjust the wiring direction of the optical fiber, and the servo motor, the stepping motor and the pulley block are fixed on one side of the Z-axis servo group.

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