1. The utility model provides a take control system of frock line of vision deviation rectification which characterized in that: the tooling line with the visual deviation correction function comprises an X shaft (1), a Y shaft (2) and a U shaft (3), the device comprises a tooling line (4) and a product line (5), wherein the product line (5), an X shaft (1), a Y shaft (2) and a U shaft (3) are positioned above the tooling line (4), the X shaft (1) and the tooling line (4) are arranged in the same direction, the Y shaft (2) and the X shaft (1) are vertically arranged, the U shaft (3) is arranged on the Y shaft (2), the product line (5) and the Y shaft (2) are arranged in the same direction, the product line (5) is positioned on the material taking side of the Y shaft (2), a camera identification area (6) is arranged at the front end of the product line (5), product in-place optical fibers are arranged in the camera identification area (6), a plurality of product clamping grooves (7) and suction nozzles are arranged on the tooling line (4), the suction nozzles are controlled to ascend and descend by adopting lifting oil cylinders, and a tooling plate detection optical fiber is arranged in the clamping grooves (7);

the control system is applied to a tooling line with visual deviation correction and comprises a main control module, a PLC module and a driving module;

the main control module comprises a three-phase power supply R line, an S line and a T line, the three-phase power supply R line, the S line and the T line are connected with one end of a breaker QF1, the other end of the breaker QF1 is connected with one end of a contactor KM1 switch and is connected with the three-phase power supply L1 line, the three-phase power supply L3 line, the three-phase power supply L1 line is connected with one end of an emergency stop switch SE1, the other end of the emergency stop switch SE1 is connected with one end of a contactor KM1 coil, the other end of the contactor KM1 coil is connected with a three-phase power supply L3 line, the other end of the contactor KM1 switch is connected with one end of a breaker QF2, one end of a breaker QF3, one end of a breaker QF4, one end of the breaker QF4 and one end of a breaker QF4, the other end of the breaker QF4 is connected with one end of a servo driver S4, the other end of the servo driver S4 is connected with one end of a motor M4, the servo driver S4, the other end of the frequency converter Q1 is connected with a motor M3, the other end of the breaker QF5 is connected with one end of a frequency converter Q2, the other end of the frequency converter Q2 is connected with a motor M4, the other end of the breaker QF10 is connected with one end of a transformer T1, the other end of the transformer T1 is connected with one end of a switching power supply, an L11 line and an N line are connected in parallel, and the other end of the switching power supply is connected with a touch screen and a PLC.

2. The control system of the tooling line with the visual deviation correction function according to claim 1, characterized in that: the driving module comprises a servo driver S1, a PLS + pin of a servo driver S1 is connected with +24V, a PLS-pin of a servo driver S1 is connected with a Y0 pin of a PLC controller, a DIR + pin of the servo driver S1 is connected with +24V, a DIR-pin of a servo driver S1 is connected with a Y3 pin of the PLC controller, an ALM pin of the servo driver S1 is connected with an X20 pin of the PLC controller, a COM pin of the servo driver S1 is connected with 0V, and a U pin, a V pin, a W pin and a PE pin of the servo driver S1 are connected with a motor M1 and used for X-axis servo driving;

the driving module further comprises a servo driver S2, the PLS + pin of the servo driver S2 is connected with +24V, the PLS-pin of the servo driver S2 is connected with a Y1 pin of a PLC controller, the DIR + pin of the servo driver S2 is connected with +24V, the DIR-pin of the servo driver S2 is connected with a Y4 pin of the PLC controller, the ALM pin of the servo driver S2 is connected with an X21 pin of the PLC controller, the COM pin of the servo driver S2 is connected with 0V, and the U pin, the V pin, the W pin and the PE pin of the servo driver S2 are connected with a motor M2 and used for Y-axis servo driving;

the driving module further comprises a servo driver S3, the PLS + pin of the servo driver S3 is connected with +24V, the PLS-pin of the servo driver S3 is connected with a Y2 pin of a PLC controller, the DIR + pin of the servo driver S3 is connected with +24V, the DIR-pin of the servo driver S3 is connected with a Y5 pin of the PLC controller, and the A + pin, the A-pin, the B + pin and the B-pin of the servo driver S2 are connected with a motor M5 for driving a U-axis rotating stepping motor.

3. The control system of the tooling line with the visual deviation correction function according to claim 1, characterized in that: the driving module further comprises a frequency converter Q1, a relay KA2 switch is connected between an FWD pin and a COM pin of the frequency converter Q1, an AI1 pin of the frequency converter Q1 is connected with a V00 pin of a PLC controller, a GND pin of the frequency converter Q1 is connected with a C0 pin of the PLC controller, an A01 pin of the frequency converter Q1 is connected with an AI0 pin of the PLC controller, an A02 pin of the frequency converter Q1 is connected with an AI2 pin of the PLC controller, an R pin, an S pin and a T pin of the frequency converter Q1 are connected with a three-phase power supply L1 line, an L2 line and an L3 line, and a U pin, a V pin, a W pin and a PE pin of the frequency converter Q1 are connected with a motor M3 for frequency conversion control of an assembly line;

the driving module further comprises a frequency converter Q2, a relay KA3 switch is connected between an FWD pin and a COM pin of the frequency converter Q2, an AI1 pin of the frequency converter Q2 is connected with a V01 pin of a PLC controller, a GND pin of the frequency converter Q2 is connected with a C1 pin of the PLC controller, an A01 pin of the frequency converter Q2 is connected with an AI1 pin of the PLC controller, an A02 pin of the frequency converter Q2 is connected with an AI3 pin of the PLC controller, an R pin, an S pin and a T pin of the frequency converter Q2 are connected with a three-phase power supply L1 line, an L2 line and an L3 line, and a U pin, a V pin, a W pin and a PE pin of the frequency converter Q2 are connected with a motor M4 for product line frequency conversion control.

4. The control system of the tooling line with the visual deviation correction function according to claim 1, characterized in that: the PLC module comprises a PLC U1, a PLC U1 is XD3-32T-E in model, an X0 pin of the PLC U1 is connected with one end of a proximity switch SQ1, the other end of the proximity switch SQ1 is connected with 0V and +24V, the part is used for detecting an X axis origin, an X1 pin of the PLC U1 is connected with one end of a proximity switch SQ2, the other end of the proximity switch SQ2 is connected with 0V and +24V, the part is used for detecting a Y axis origin, an X2 pin of the PLC U1 is connected with one end of a proximity switch SQ3, the other end of the proximity switch SQ3 is connected with 0V and +24V, the part is used for controlling a tooling line encoder A, an X3 pin of the PLC U1 is connected with one end of a proximity switch SQ4, the other end of the proximity switch 4 is connected with 0V and +24V, the part is used for controlling a tooling line encoder B, one end of an X4 pin SQ5, one end of the PLC U1 is connected with a proximity switch SQ5 and the other end of the proximity switch SQ 3924V, the part is used for product in-place optical fiber detection, the X5 pin of a PLC U1 is connected with one end of a proximity switch SQ6, the other end of the proximity switch SQ6 is connected with 0V and +24V, the part is used for lifting cylinder upper detection, the X6 pin of the PLC U1 is connected with one end of a proximity switch SQ7, the other end of the proximity switch SQ7 is connected with 0V and +24V, the part is used for lifting cylinder lower detection, the X7 pin of the PLC U1 is connected with one end of a proximity switch SQ8, the other end of the proximity switch SQ8 is connected with 0V and +24V, and the part is used for tooling plate detection optical fiber;

an X10 pin of the PLC U1 is connected with one end of a displacement switch SK1, the other end of the displacement switch SK1 is connected with 0V, the part is used for positive limit of an X axis, an X11 pin of the PLC U1 is connected with one end of a displacement switch SK2, the other end of the displacement switch SK2 is connected with 0V, the part is used for negative limit of the X axis, an X12 pin of the PLC U1 is connected with one end of the displacement switch SK3, the other end of the displacement switch SK3 is connected with 0V, the part is used for positive limit of a Y axis, an X13 pin of the PLC U1 is connected with one end of the displacement switch SK4, the other end of the displacement switch SK4 is connected with 0V, and the part is used for negative limit of the Y axis.

5. The control system of the tooling line with the visual deviation correction function according to claim 4, characterized in that: the X14 pin of the PLC U1 is connected with one end of a button SE2, the other end of the button SE2 is connected with 0V, the part is used for controlling an emergency stop button, the X15 pin of the PLC U1 is connected with one end of a button SE3, the other end of the button SE3 is connected with 0V, the part is used for controlling a start button, the X16 pin of the PLC U1 is connected with one end of a button SE4, the other end of the button SE4 is connected with 0V, and the part is used for controlling a stop button;

an X20 pin of the PLC U1 is connected with one end of a switch K1, the other end of the switch K1 is connected with 0V, the part is used for X-axis servo alarm, an X21 pin of the PLC U1 is connected with one end of a switch K2, the other end of the switch K2 is connected with 0V, and the part is used for Y-axis servo alarm;

the Y0 foot of the PLC U1 is used for X-axis servo pulse control, the Y1 foot of the PLC U1 is used for Y-axis servo pulse control, the Y2 foot of the PLC U1 is used for rotary stepping pulse control, the Y3 foot of the PLC U1 is used for X-axis servo direction control, the Y4 foot of the PLC U1 is used for Y-axis servo direction control, and the Y5 foot of the PLC U1 is used for rotary stepping direction control.

6. The control system of the tooling line with the visual deviation correction function according to claim 4, characterized in that: the Y6 pin of the PLC U1 is connected with one end of a coil of a relay KA1, the other end of the coil of the relay KA1 is +24V, the part is used for controlling a lifting electromagnetic valve, the Y7 pin of the PLC U1 is connected with one end of a coil of a relay KA2, the other end of the coil of the relay KA2 is +24V, the part is used for starting control of a tool line, the Y10 pin of the PLC U1 is connected with one end of a coil of a relay KA3, the other end of the coil of the relay KA3 is +24V, the part is used for starting control of a product line, the Y11 pin of the PLC U1 is connected with one end of a coil of a relay KA4, the other end of the coil of a relay KA4 is +24V, the part is used for controlling an air suction valve, the Y12 pin of the PLC U1 is connected with one end of a coil of a relay KA5, the other end of a coil of a relay KA5 is used for controlling an air blowing valve, the Y13 pin of the PLC U1 is connected with one end of a coil of a relay 6, the other end of a coil of a relay 6 is connected with +24V, the part is used for standby indicator light-yellow control, a Y14 pin of a PLC U1 is connected with one end of a coil of a relay KA7, the other end of the coil of the relay KA7 is +24V, the part is used for operating indicator light-green control, a Y15 pin of the PLC U1 is connected with one end of a coil of a relay KA8, the other end of the coil of the relay KA8 is +24V, and the part is used for fault indicator light-red control.

7. The control system of the tooling line with the visual deviation correction function according to claim 4, characterized in that: the PLC module further comprises a PLC extension U2, the model number of the PLC extension U2 is XD-E4AD2DA, a C0 pin and an AI0 pin of the PLC extension U2 are connected with a transmitter IT1, the part is used for feeding back the frequency conversion current of a tooling line, a C1 pin and an AI1 pin of the PLC extension U2 are connected with a transmitter IT2, the part is used for feeding back the frequency conversion current of a product line, a C2 pin and an AI2 pin of the PLC extension U2 are connected with a transmitter IT3, the part is used for feeding back the frequency conversion frequency of the tooling line, a C3 pin and an AI3 pin of the PLC extension U2 are connected with a transmitter IT4, the part is used for feeding back the frequency conversion frequency of the product line, a C0 pin and a V00 pin of the PLC extension U2 are connected with a control input R1 of an electric valve, the part is used for controlling the frequency conversion of the tooling line, a C1 pin and a V01 pin of the PLC extension U2 are connected with an electric valve input R2, and the control part is used for controlling the frequency conversion control of the product line.

8. The control system of the tooling line with the visual deviation correction function of claim 6, wherein: one end of a switch of the relay KA1 is connected with an L11 line, the other end of a switch of the relay KA1 is connected with one end of a solenoid valve YV1, the other end of the solenoid valve YV1 is connected with an N line, the other end of the switch of the relay KA4 is used for controlling the lifting solenoid valve, the other end of a switch of the relay KA4 is connected with one end of a solenoid valve YV2, the other end of a switch of the solenoid valve YV2 is connected with the N line, the other end of the switch of the relay KA5 is used for controlling the suction valve, one end of a switch of the relay KA 11 is connected with an L11 line, the other end of a switch of the relay KA5 is connected with one end of a solenoid valve YV3, the other end of the solenoid valve YV3 is connected with the N line, the switch of the relay KA 6959 is used for controlling the air blowing valve, one end of a switch of the relay KA2 is connected with one end of an indicator lamp L1, the other end of an indicator lamp L1 is connected with the N line, the switch of a standby indicator lamp KA-yellow, one end of a switch of a relay 7 is connected with an L11 line, the other end of a switch of a relay KA 867 is connected with an indicator lamp L2, the other end of a switch of a relay KA for controlling an indicator lamp, the green indicator lamp-green control, one end of a switch of the relay KA8 is connected with the line L11, the other end of the switch of the relay KA8 is connected with one end of an indicator light L3, and the other end of the indicator light L3 is connected with the line N, and the part is used for controlling a fault indicator light.

9. A method for realizing a control system of a tooling line with a visual deviation correction function is characterized by comprising the following steps: the implementation method is applied to the control system according to any one of claims 1 to 8;

the implementation method comprises a product coordinate acquisition method, and the product coordinate acquisition method comprises the following steps:

step S101, judging whether photographing is prohibited, if so, executing the step S101, otherwise, entering the step S102;

step S102, starting a product line, and entering step S103 after the product line is started;

s103, detecting the material by the product in-place optical fiber, and entering S104 after the detection is finished;

step S104, stopping the product line, and entering step S105 after the product line is finished;

step S105, triggering a vision system to take a picture, and entering step S106 after the completion;

step S106, the vision system captures images for calculation, and the step S107 is executed after the calculation is finished;

step S107, the vision system outputs coordinates to the PLC controller, and the step S108 is executed after the coordinates are output;

and step S108, the PLC carries out coordinate conversion, the photographing is finished and prohibited at the moment, and the step S101 is returned to after the photographing is finished.

10. The implementation method of the control system of the tooling line with the visual deviation correction function according to claim 9, is characterized in that: the implementation method also comprises a product in-place sucking method, and the product in-place sucking method comprises the following steps:

step S201, after the photographing is completed, rotating the Y axis to a material taking position and the U axis to offset coordinates, and entering step S202 after the photographing is completed;

step S202, moving the lifting cylinder downwards, and entering step S203 after the completion;

step S203, opening an air suction valve of a suction nozzle, and entering step S204 after the air suction valve is opened;

step S204, moving the lifting cylinder upwards, and then entering step S205;

s205, resetting the Y-axis tool position and the Z-axis, removing the prohibition of photographing, and entering S206 after the completion;

step S206, waiting for the 0 bit of the tool encoder, and entering step S207 after the completion;

step S207, starting an X axis, starting tracking, and entering step S208 after the tracking is finished;

step S208, synchronizing the X axis and the tooling line, and entering step S209 after the X axis and the tooling line are synchronized;

step S209, the lifting cylinder moves downwards, and the step S210 is executed after the completion;

step S210, closing an air suction valve, stopping air suction, opening an air blowing valve and opening an air blowing switch, and entering step S211 after the air suction valve is closed and the air blowing switch is opened;

step S211, the lifting cylinder moves upwards, and the step S212 is executed after the completion;

and S212, closing the air blowing valve, stopping air blowing, and returning to execute the step S201 after the air blowing is finished.

Background

With the increasing discovery of the current society, the global commercial economy and the manufacturing intelligence are realized, China is changed from the past agricultural countries to the present industrial production manufacturing countries, the development of developed countries is late on the aspects of good technologies, the people are artificial under the condition that the labor force is sufficient in China, along with the advance of the society, the problem that the aging tends to be serious also occurs in China, the new labor force is reduced, the number of workers meeting the requirements of the product production in the present time cannot be increased, and the productivity can be improved only by using the technologies and equipment.

The module such as loudspeaker, the antenna is the important constitutional part of cell-phone, the shape of modules such as loudspeaker, antenna is irregular, can only absorb two dot that its area is great when the suction nozzle is breathed in and is absorbed, so the direction that needs modules such as loudspeaker, antenna in the cell-phone assembling process need keep same direction, but loudspeaker, antenna when modules such as antenna are put on the product production line the direction all is mixed and disorderly, and the part is very little, if adopt manual adjustment, it is time-consuming and laborious, the precision of adjustment is low, influence the equipment of follow-up cell-phone, and the production efficiency is reduced.

Disclosure of Invention

The technical problem to be solved by the invention is to provide a control system of a tooling line with a visual deviation correction function and an implementation method thereof, which can automatically correct the directions of modules such as a loudspeaker, an antenna and the like to keep the modules in the same direction, so that two round points with larger areas can be accurately sucked by a suction nozzle when the suction nozzle sucks air, the adjustment precision is high, and the production efficiency of mobile phone assembly is improved.

In order to solve the technical problems, the invention adopts the following technical scheme:

a control system of a tooling line with a visual deviation correction function comprises an X axis, a Y axis, a U axis, the tooling line and a product line, wherein the product line, the X axis, the Y axis and the U axis are positioned above the tooling line, the X axis and the tooling line are arranged in the same direction, the Y axis is perpendicular to the X axis, the U axis is arranged on the Y axis, the product line and the Y axis are arranged in the same direction, the product line is positioned on the material taking side of the Y axis, the front end of the product line is provided with a camera identification area, product in-place optical fibers are arranged in the camera identification area, a plurality of product clamping grooves and suction nozzles are arranged on the tooling line, the suction nozzles are controlled to lift by a lifting oil cylinder, and tooling plate detection optical fibers are arranged in the clamping grooves;

the control system is applied to a tooling line with visual deviation correction and comprises a main control module, a PLC module and a driving module;

the main control module comprises a three-phase power supply R line, an S line and a T line, the three-phase power supply R line, the S line and the T line are connected with one end of a breaker QF1, the other end of the breaker QF1 is connected with one end of a contactor KM1 switch and is connected with the three-phase power supply L1 line, the three-phase power supply L3 line, the three-phase power supply L1 line is connected with one end of an emergency stop switch SE1, the other end of the emergency stop switch SE1 is connected with one end of a contactor KM1 coil, the other end of the contactor KM1 coil is connected with a three-phase power supply L3 line, the other end of the contactor KM1 switch is connected with one end of a breaker QF2, one end of a breaker QF3, one end of a breaker QF4, one end of the breaker QF4 and one end of a breaker QF4, the other end of the breaker QF4 is connected with one end of a servo driver S4, the other end of the servo driver S4 is connected with one end of a motor M4, the servo driver S4, the other end of the frequency converter Q1 is connected with a motor M3, the other end of the breaker QF5 is connected with one end of a frequency converter Q2, the other end of the frequency converter Q2 is connected with a motor M4, the other end of the breaker QF10 is connected with one end of a transformer T1, the other end of the transformer T1 is connected with one end of a switching power supply, an L11 line and an N line are connected in parallel, and the other end of the switching power supply is connected with a touch screen and.

Further, the driving module comprises a servo driver S1, a PLS + pin of a servo driver S1 is connected with +24V, a PLS-pin of a servo driver S1 is connected with a Y0 pin of a PLC controller, a DIR + pin of the servo driver S1 is connected with +24V, a DIR-pin of a servo driver S1 is connected with a Y3 pin of the PLC controller, an ALM pin of the servo driver S1 is connected with an X20 pin of the PLC controller, a COM pin of a servo driver S1 is connected with 0V, and a U pin, a V pin, a W pin and a PE pin of the servo driver S1 are connected with a motor M1 and used for X-axis servo driving;

the driving module further comprises a servo driver S2, the PLS + pin of the servo driver S2 is connected with +24V, the PLS-pin of the servo driver S2 is connected with a Y1 pin of a PLC controller, the DIR + pin of the servo driver S2 is connected with +24V, the DIR-pin of the servo driver S2 is connected with a Y4 pin of the PLC controller, the ALM pin of the servo driver S2 is connected with an X21 pin of the PLC controller, the COM pin of the servo driver S2 is connected with 0V, and the U pin, the V pin, the W pin and the PE pin of the servo driver S2 are connected with a motor M2 and used for Y-axis servo driving;

the driving module further comprises a servo driver S3, the PLS + pin of the servo driver S3 is connected with +24V, the PLS-pin of the servo driver S3 is connected with a Y2 pin of a PLC controller, the DIR + pin of the servo driver S3 is connected with +24V, the DIR-pin of the servo driver S3 is connected with a Y5 pin of the PLC controller, and the A + pin, the A-pin, the B + pin and the B-pin of the servo driver S2 are connected with a motor M5 for driving a U-axis rotating stepping motor.

Further, the driving module further comprises a frequency converter Q1, a relay KA2 switch is connected between an FWD pin and a COM pin of the frequency converter Q1, an AI1 pin of the frequency converter Q1 is connected with a V00 pin of a PLC controller, a GND pin of the frequency converter Q1 is connected with a C0 pin of the PLC controller, an A01 pin of the frequency converter Q1 is connected with an AI0 pin of the PLC controller, an A02 pin of the frequency converter Q1 is connected with an AI2 pin of the PLC controller, an R pin, an S pin and a T pin of the frequency converter Q1 are connected with a three-phase power supply L1 line, an L2 line and an L3 line, and a U pin, a V pin, a W pin and a PE pin of the frequency converter Q1 are connected with a motor M3 for tool wire frequency conversion control;

the driving module further comprises a frequency converter Q2, a relay KA3 switch is connected between an FWD pin and a COM pin of the frequency converter Q2, an AI1 pin of the frequency converter Q2 is connected with a V01 pin of a PLC controller, a GND pin of the frequency converter Q2 is connected with a C1 pin of the PLC controller, an A01 pin of the frequency converter Q2 is connected with an AI1 pin of the PLC controller, an A02 pin of the frequency converter Q2 is connected with an AI3 pin of the PLC controller, an R pin, an S pin and a T pin of the frequency converter Q2 are connected with a three-phase power supply L1 line, an L2 line and an L3 line, and a U pin, a V pin, a W pin and a PE pin of the frequency converter Q2 are connected with a motor M4 for product line frequency conversion control.

Further, the PLC module comprises a PLC U1, the model number of the PLC U1 is XD3-32T-E, the X0 foot of the PLC U1 is connected with one end of a proximity switch SQ1, the other end of the proximity switch SQ1 is connected with 0V and +24V, the part is used for detecting an X-axis origin, the X1 foot of the PLC U1 is connected with one end of a proximity switch SQ2, the other end of the proximity switch SQ2 is connected with 0V and +24V, the part is used for detecting a Y-axis origin, the X2 foot of the PLC U1 is connected with one end of a proximity switch SQ3, the other end of the proximity switch SQ3 is connected with 0V and +24V, the part is used for controlling a tooling line encoder A, the X5 foot of the PLC U1 is connected with one end of a proximity switch SQ4, the other end of the proximity switch SQ4 is connected with 0V and +24V, the part is used for controlling a tooling line encoder B, the X4 foot of the PLC U1 is connected with one end of a proximity switch SQ5, the SQ5 and the other end of the proximity switch SQ 5730V and +24, the part is used for product in-place optical fiber detection, the X5 pin of a PLC U1 is connected with one end of a proximity switch SQ6, the other end of the proximity switch SQ6 is connected with 0V and +24V, the part is used for lifting cylinder upper detection, the X6 pin of the PLC U1 is connected with one end of a proximity switch SQ7, the other end of the proximity switch SQ7 is connected with 0V and +24V, the part is used for lifting cylinder lower detection, the X7 pin of the PLC U1 is connected with one end of a proximity switch SQ8, the other end of the proximity switch SQ8 is connected with 0V and +24V, and the part is used for tooling plate detection optical fiber;

an X10 pin of the PLC U1 is connected with one end of a displacement switch SK1, the other end of the displacement switch SK1 is connected with 0V, the part is used for positive limit of an X axis, an X11 pin of the PLC U1 is connected with one end of a displacement switch SK2, the other end of the displacement switch SK2 is connected with 0V, the part is used for negative limit of the X axis, an X12 pin of the PLC U1 is connected with one end of the displacement switch SK3, the other end of the displacement switch SK3 is connected with 0V, the part is used for positive limit of a Y axis, an X13 pin of the PLC U1 is connected with one end of the displacement switch SK4, the other end of the displacement switch SK4 is connected with 0V, and the part is used for negative limit of the Y axis.

Furthermore, a pin X14 of the PLC U1 is connected with one end of a button SE2, the other end of the button SE2 is connected with 0V, the part is used for controlling an emergency stop button, a pin X15 of the PLC U1 is connected with one end of a button SE3, the other end of the button SE3 is connected with 0V, the part is used for controlling a start button, a pin X16 of the PLC U1 is connected with one end of a button SE4, the other end of the button SE4 is connected with 0V, and the part is used for controlling a stop button;

an X20 pin of the PLC U1 is connected with one end of a switch K1, the other end of the switch K1 is connected with 0V, the part is used for X-axis servo alarm, an X21 pin of the PLC U1 is connected with one end of a switch K2, the other end of the switch K2 is connected with 0V, and the part is used for Y-axis servo alarm;

the Y0 foot of the PLC U1 is used for X-axis servo pulse control, the Y1 foot of the PLC U1 is used for Y-axis servo pulse control, the Y2 foot of the PLC U1 is used for rotary stepping pulse control, the Y3 foot of the PLC U1 is used for X-axis servo direction control, the Y4 foot of the PLC U1 is used for Y-axis servo direction control, and the Y5 foot of the PLC U1 is used for rotary stepping direction control.

Further, a Y6 pin of the PLC U1 is connected with one end of a coil of a relay KA1, the other end +24V of the coil of the relay KA1 is used for controlling the lifting electromagnetic valve, a Y7 pin of the PLC U1 is connected with one end of a coil of the relay KA2, the other end +24V of the coil of the relay KA2 is used for starting control of a tool wire, a Y10 pin of the PLC U1 is connected with one end of a coil of the relay KA3, the other end +24V of the coil of the relay KA3 is used for starting control of a product wire, a Y11 pin of the PLC U1 is connected with one end of a coil of the relay KA4, the other end +24V of a coil of the relay KA4 is used for controlling an air suction valve, a Y12 pin of the PLC U1 is connected with one end of a coil of the relay KA5, the other end +24V of the coil of the relay KA5 is used for controlling an air blowing valve, a Y13 pin of the PLC U1 is connected with one end of a coil of the relay 6, the other end +24V of the relay KA6, the part is used for standby indicator light-yellow control, a Y14 pin of a PLC U1 is connected with one end of a coil of a relay KA7, the other end of the coil of the relay KA7 is +24V, the part is used for operating indicator light-green control, a Y15 pin of the PLC U1 is connected with one end of a coil of a relay KA8, the other end of the coil of the relay KA8 is +24V, and the part is used for fault indicator light-red control.

Further, the PLC module further comprises a PLC extension U2, the model number of the PLC extension U2 is XD-E4AD2DA, a C0 pin and an AI0 pin of the PLC extension U2 are connected with a transmitter IT1, the part is used for feeding back variable frequency current of a tool line, a C1 pin and an AI1 pin of the PLC extension U2 are connected with a transmitter IT2, the part is used for feeding back variable frequency current of a product line, a C2 pin and an AI2 pin of the PLC extension U2 are connected with a transmitter IT3, the part is used for feeding back variable frequency current of the tool line, a C3 pin and an AI3 pin of the PLC extension U2 are connected with a transmitter IT4, the part is used for feeding back variable frequency current of the product line, a C0 pin and a V00 pin of the PLC extension U2 are connected with a control input R1 of an electric valve, the part is used for variable frequency control of the tool line, and a C1 pin and a V01 pin of the PLC extension U2 is connected with a control R2 of the electric control of the electric valve.

Furthermore, one end of a switch of the relay KA1 is connected with an L11 line, the other end of the switch of the relay KA1 is connected with one end of a solenoid valve YV1, the other end of the solenoid valve YV1 is connected with an N line, the part is used for controlling the lifting solenoid valve, one end of a switch of the relay KA4 is connected with an L11 line, the other end of a switch of the relay KA4 is connected with one end of a solenoid valve YV2, the other end of a switch of the solenoid valve YV2 is connected with an N line, the part is used for controlling the suction valve, one end of a switch of the relay KA5 is connected with an L11 line, the other end of a switch of the relay KA5 is connected with one end of a solenoid valve YV3, the other end of a switch of the solenoid valve YV3 is connected with an N line, the part is used for controlling the blowing valve, one end of a switch of the relay KA6 is connected with an L11 line, the other end of a switch of the relay KA6 is connected with one end of an indicator lamp L1, the other end of an indicator lamp L1 is connected with an N line, one end of the switch of a standby indicator lamp for controlling yellow, one end of a switch of a relay KA7, one end of a switch of a relay 7 is connected with an L11 line, one end of a switch of a relay 11 line, the relay 7 switch is connected with an indicator lamp L2, the part is used for operating indicator light-green control, one end of a switch of the relay KA8 is connected with an L11 line, the other end of a switch of the relay KA8 is connected with one end of an indicator light L3, the other end of the indicator light L3 is connected with an N line, and the part is used for fault indicator light-red control.

An implementation method of a control system of a tooling line with a visual deviation correction function comprises a product coordinate acquisition method, wherein the product coordinate acquisition method comprises the following steps:

step S101, judging whether photographing is prohibited, if so, executing the step S101, otherwise, entering the step S102;

step S102, starting a product line, and entering step S103 after the product line is started;

s103, detecting the material by the product in-place optical fiber, and entering S104 after the detection is finished;

step S104, stopping the product line, and entering step S105 after the product line is finished;

step S105, triggering a vision system to take a picture, and entering step S106 after the completion;

step S106, the vision system captures images for calculation, and the step S107 is executed after the calculation is finished;

step S107, the vision system outputs coordinates to the PLC controller, and the step S108 is executed after the coordinates are output;

and step S108, the PLC carries out coordinate conversion, the photographing is finished and prohibited at the moment, and the step S101 is returned to after the photographing is finished.

Further, the implementation method further comprises a product in-place sucking method, and the product in-place sucking method comprises the following steps:

step S201, after the photographing is completed, rotating the Y axis to a material taking position and the U axis to offset coordinates, and entering step S202 after the photographing is completed;

step S202, moving the lifting cylinder downwards, and entering step S203 after the completion;

step S203, opening an air suction valve of a suction nozzle, and entering step S204 after the air suction valve is opened;

step S204, moving the lifting cylinder upwards, and then entering step S205;

s205, resetting the Y-axis tool position and the Z-axis, removing the prohibition of photographing, and entering S206 after the completion;

step S206, waiting for the 0 bit of the tool encoder, and entering step S207 after the completion;

step S207, starting an X axis, starting tracking, and entering step S208 after the tracking is finished;

step S208, synchronizing the X axis and the tooling line, and entering step S209 after the X axis and the tooling line are synchronized;

step S209, the lifting cylinder moves downwards, and the step S210 is executed after the completion;

step S210, closing an air suction valve, stopping air suction, opening an air blowing valve and opening an air blowing switch, and entering step S211 after the air suction valve is closed and the air blowing switch is opened;

step S211, the lifting cylinder moves upwards, and the step S212 is executed after the completion;

and S212, closing the air blowing valve, stopping air blowing, and returning to execute the step S201 after the air blowing is finished.

By adopting the technical scheme, compared with the prior art, the invention has the following technical effects:

can correct the direction of modules such as loudspeaker, antenna automatically, make it keep same direction for suction nozzle can be accurate when breathing in the absorption two dot that the area is great on it, the adjustment precision is high, intelligent discernment product automatic adjustment, labour saving and time saving has improved the production efficiency of cell-phone equipment.

During equipment operation, the tooling line can continuously operate, the tooling line is not stopped, the equipment efficiency is improved to the highest degree on one hand, and on the other hand, the equipment is convenient to debug during the process of changing the production.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

FIG. 1 is a schematic structural diagram of a tooling line with vision correction according to the present invention;

FIG. 2 is an electrical schematic of the master control module of the present invention;

FIG. 3 is a partial electrical schematic of the drive module of the present invention;

FIG. 4 is an electrical schematic of another portion of the drive module of the present invention;

FIG. 5 is an electrical schematic diagram of a PLC controller in the PLC module of the present invention;

FIG. 6 is an electrical schematic diagram of PLC expansion in a PLC module according to the present invention;

FIG. 7 is an electrical schematic diagram of the relay control of the PLC module according to the present invention;

FIG. 8 is a flowchart of an implementation of a product coordinate acquisition method of the present invention;

FIG. 9 is a flow chart of an implementation of the product pick-in-place method of the present invention;

FIG. 10 is an analysis diagram of the synchronization curve between the X-axis and the tooling line in the present invention.

Detailed Description

Embodiment 1, as shown in fig. 1, a tooling line with a visual deviation correction function includes an X axis 1, a Y axis 2, a U axis 3, a tooling line 4 and a product line 5, the X axis 1, the Y axis 2 and the U axis 3 are located above the tooling line 4, the X axis 1 and the tooling line 4 are arranged in the same direction, the Y axis 2 and the X axis 1 are arranged perpendicularly, the U axis 3 is arranged on the Y axis 2, the product line 5 and the Y axis 2 are arranged in the same direction, the product line 5 is located on the material taking side of the Y axis 2, a camera identification area 6 is arranged at the front end of the product line 5, a product in-place optical fiber is arranged in the camera identification area 6, a plurality of product clamping grooves 7 and suction nozzles are arranged on the tooling line 4, the suction nozzles are controlled to ascend and descend by using a lifting oil cylinder, and.

X axle 1 removes by servo drive product and removes and places the draw-in groove with the product in, Y axle 2 reciprocates by servo drive product, and U axle 3 is by step motor drive product rotary motion, and product line 5 carries the product to camera identification region in, and the module frock is carried at the uniform velocity from a left side to the right side to frock line 4.

As shown in fig. 2 to 7, a control system of a tool line with a visual deviation correction function includes a main control module, a PLC module and a driving module.

As shown in fig. 2, the main control module comprises three-phase power supply R lines, S lines and T lines, the three-phase power supply R lines, S lines and T lines are connected with one end of a breaker QF1, the other end of the breaker QF1 is connected with one end of a contactor KM1 switch, and is connected with three-phase power supply L1 lines, L2 lines and L3 lines, the three-phase power supply L1 line is connected with one end of an emergency stop switch SE1, the other end of the emergency stop switch SE1 is connected with one end of a contactor KM1 coil, the other end of the contactor KM1 coil is connected with a three-phase power supply L3 line, the other end of the contactor KM1 switch is connected with one end of a breaker QF2, one end of a breaker QF3, one end of a breaker QF4 and one end of a breaker QF4, the other end of the breaker QF4 is connected with one end of a servo driver S4, the other end of the servo driver S4 is connected with a motor M4, the other end of the breaker QF4, the other end of the frequency converter Q1 is connected with a motor M3, the other end of the breaker QF5 is connected with one end of a frequency converter Q2, the other end of the frequency converter Q2 is connected with a motor M4, the other end of the breaker QF10 is connected with one end of a transformer T1, the other end of the transformer T1 is connected with one end of a switching power supply, an L11 line and an N line are connected in parallel, and the other end of the switching power supply is connected with a touch screen and a PLC.

As shown in fig. 3, the driving module includes a servo driver S1, a PLS + pin of the servo driver S1 is connected to +24V, a PLS-pin of the servo driver S1 is connected to a Y0 pin of a PLC controller, a DIR + pin of the servo driver S1 is connected to +24V, a DIR-pin of the servo driver S1 is connected to a Y3 pin of the PLC controller, an ALM pin of the servo driver S1 is connected to an X20 pin of the PLC controller, a COM pin of the servo driver S1 is connected to 0V, and a U pin, a V pin, a W pin, and a PE pin of the servo driver S1 are connected to a motor M1 for X-axis servo driving.

The driving module further comprises a servo driver S2, the PLS + pin of the servo driver S2 is connected with +24V, the PLS-pin of the servo driver S2 is connected with a Y1 pin of a PLC controller, the DIR + pin of the servo driver S2 is connected with +24V, the DIR-pin of the servo driver S2 is connected with a Y4 pin of the PLC controller, the ALM pin of the servo driver S2 is connected with an X21 pin of the PLC controller, the COM pin of the servo driver S2 is connected with 0V, and the U pin, the V pin, the W pin and the PE pin of the servo driver S2 are connected with a motor M2 and used for Y-axis servo driving.

As shown in fig. 4, the driving module further includes a frequency converter Q1, a relay KA2 switch is connected between an FWD pin and a COM pin of the frequency converter Q1, an AI1 pin of the frequency converter Q1 is connected with a V00 pin of a PLC controller, a GND pin of the frequency converter Q1 is connected with a C0 pin of the PLC controller, an a01 pin of the frequency converter Q1 is connected with an AI0 pin of the PLC controller, an a02 pin of the frequency converter Q1 is connected with an AI2 pin of the PLC controller, an R pin, an S pin and a T pin of the frequency converter Q1 are connected with a three-phase power supply L1 line, an L2 line and an L3 line, and a U pin, a V pin, a W pin and a PE pin of the frequency converter Q1 are connected with a motor M3 for tool line frequency conversion control.

The driving module further comprises a frequency converter Q2, a relay KA3 switch is connected between an FWD pin and a COM pin of the frequency converter Q2, an AI1 pin of the frequency converter Q2 is connected with a V01 pin of a PLC controller, a GND pin of the frequency converter Q2 is connected with a C1 pin of the PLC controller, an A01 pin of the frequency converter Q2 is connected with an AI1 pin of the PLC controller, an A02 pin of the frequency converter Q2 is connected with an AI3 pin of the PLC controller, an R pin, an S pin and a T pin of the frequency converter Q2 are connected with a three-phase power supply L1 line, an L2 line and an L3 line, and a U pin, a V pin, a W pin and a PE pin of the frequency converter Q2 are connected with a motor M4 for product line frequency conversion control.

The driving module further comprises a servo driver S3, the PLS + pin of the servo driver S3 is connected with +24V, the PLS-pin of the servo driver S3 is connected with a Y2 pin of a PLC controller, the DIR + pin of the servo driver S3 is connected with +24V, the DIR-pin of the servo driver S3 is connected with a Y5 pin of the PLC controller, and the A + pin, the A-pin, the B + pin and the B-pin of the servo driver S2 are connected with a motor M5 for driving a U-axis rotating stepping motor.

As shown in fig. 5, the PLC module includes a PLC controller U1, the model number of the PLC controller U1 is XD3-32T-E, the pin X0 of the PLC controller U1 is connected with one end of a proximity switch SQ1, the other end of the proximity switch SQ1 is connected with 0V and +24V, the other end of the proximity switch SQ1 is used for detecting the X-axis origin, the pin X1 of the PLC controller U1 is connected with one end of a proximity switch SQ2, the other end of the proximity switch SQ2 is connected with 0V and +24V, the other end of the proximity switch SQ is used for detecting the Y-axis origin, the pin X2 of the PLC controller U1 is connected with one end of a proximity switch SQ3, the other end of the proximity switch SQ3 is connected with 0V and +24V, the other end of the proximity switch SQ1 is used for controlling a tool wire encoder a, the pin X4 of the PLC controller U1 is connected with one end of a proximity switch SQ4, the other end of the proximity switch SQ4 is connected with 0V and +24V, the other end of the proximity switch SQ 639 and the proximity switch 68624V are used for controlling a tool wire encoder B, the part is used for detecting a product in-place optical fiber, the X5 pin of the PLC U1 is connected with one end of a proximity switch SQ6, the other end of the proximity switch SQ6 is connected with 0V and +24V, the part is used for detecting the ascending position of a lifting cylinder, the X6 pin of the PLC U1 is connected with one end of a proximity switch SQ7, the other end of the proximity switch SQ7 is connected with 0V and +24V, the part is used for detecting the descending position of the lifting cylinder, the X7 pin of the PLC U1 is connected with one end of a proximity switch SQ8, the other end of the proximity switch SQ8 is connected with 0V and +24V, and the part is used for detecting an optical fiber by a tooling plate.

An X10 pin of the PLC U1 is connected with one end of a displacement switch SK1, the other end of the displacement switch SK1 is connected with 0V, the part is used for positive limit of an X axis, an X11 pin of the PLC U1 is connected with one end of a displacement switch SK2, the other end of the displacement switch SK2 is connected with 0V, the part is used for negative limit of the X axis, an X12 pin of the PLC U1 is connected with one end of the displacement switch SK3, the other end of the displacement switch SK3 is connected with 0V, the part is used for positive limit of a Y axis, an X13 pin of the PLC U1 is connected with one end of the displacement switch SK4, the other end of the displacement switch SK4 is connected with 0V, and the part is used for negative limit of the Y axis.

The X14 pin of the PLC U1 is connected with one end of a button SE2, the other end of the button SE2 is connected with 0V, the part is used for controlling an emergency stop button, the X15 pin of the PLC U1 is connected with one end of a button SE3, the other end of the button SE3 is connected with 0V, the part is used for controlling a start button, the X16 pin of the PLC U1 is connected with one end of a button SE4, the other end of the button SE4 is connected with 0V, and the part is used for controlling a stop button.

An X20 pin of the PLC U1 is connected with one end of a switch K1, the other end of the switch K1 is connected with 0V, the part is used for X-axis servo alarm, an X21 pin of the PLC U1 is connected with one end of a switch K2, the other end of the switch K2 is connected with 0V, and the part is used for Y-axis servo alarm.

The Y0 foot of the PLC U1 is used for X-axis servo pulse control, the Y1 foot of the PLC U1 is used for Y-axis servo pulse control, the Y2 foot of the PLC U1 is used for rotary stepping pulse control, the Y3 foot of the PLC U1 is used for X-axis servo direction control, the Y4 foot of the PLC U1 is used for Y-axis servo direction control, and the Y5 foot of the PLC U1 is used for rotary stepping direction control.

The Y6 pin of the PLC U1 is connected with one end of a coil of a relay KA1, the other end of the coil of the relay KA1 is +24V, the part is used for controlling a lifting electromagnetic valve, the Y7 pin of the PLC U1 is connected with one end of a coil of a relay KA2, the other end of the coil of the relay KA2 is +24V, the part is used for starting control of a tool line, the Y10 pin of the PLC U1 is connected with one end of a coil of a relay KA3, the other end of the coil of the relay KA3 is +24V, the part is used for starting control of a product line, the Y11 pin of the PLC U1 is connected with one end of a coil of a relay KA4, the other end of the coil of a relay KA4 is +24V, the part is used for controlling an air suction valve, the Y12 pin of the PLC U1 is connected with one end of a coil of a relay KA5, the other end of a coil of a relay KA5 is used for controlling an air blowing valve, the Y13 pin of the PLC U1 is connected with one end of a coil of a relay 6, the other end of a coil of a relay 6 is connected with +24V, the part is used for standby indicator light-yellow control, a Y14 pin of a PLC U1 is connected with one end of a coil of a relay KA7, the other end of the coil of the relay KA7 is +24V, the part is used for operating indicator light-green control, a Y15 pin of the PLC U1 is connected with one end of a coil of a relay KA8, the other end of the coil of the relay KA8 is +24V, and the part is used for fault indicator light-red control.

As shown in fig. 6, the PLC module further includes a PLC extension U2, the model number of the PLC extension U2 is XD-E4AD2DA, the C0 pin and the AI0 pin of the PLC extension U2 are connected with a transmitter IT1, the part is used for feedback of tool line variable frequency current, the C1 pin and the AI1 pin of the PLC extension U2 are connected with a transmitter IT2, the part is used for feedback of product line variable frequency current, the C2 pin and the AI2 pin of the PLC extension U2 are connected with a transmitter IT3, the part is used for feedback of tool line variable frequency current, the C3 pin and the AI3 pin of the PLC extension U2 are connected with a transmitter IT4, the part is used for feedback of product line variable frequency current, the C0 pin and the V00 pin of the PLC extension U2 are connected with a control input R1 of an electric valve, the part is used for control of tool line variable frequency, and the C1 pin and the V01 of the PLC extension U2 are connected with a control input R2 of the electric valve.

As shown in fig. 7, one end of the switch of the relay KA1 is connected with an L11 line, the other end of the switch of the relay KA1 is connected with one end of a solenoid valve YV1, the other end of the solenoid valve YV1 is connected with an N line, the part is used for controlling the lifting solenoid valve, one end of the switch of the relay KA4 is connected with an L11 line, the other end of the switch of the relay KA4 is connected with one end of a solenoid valve YV2, the other end of the solenoid valve YV2 is connected with an N line, the part is used for controlling the suction valve, one end of the switch of the relay KA5 is connected with an L11 line, the other end of the switch of the relay KA5 is connected with one end of a solenoid valve YV3, the other end of the switch of the solenoid valve YV3 is connected with an N line, the part is used for controlling the blowing valve, one end of the switch of the relay KA6 is connected with an L11 line, the other end of the switch of the relay KA6 is connected with one end of an indicator lamp L1, the other end of an indicator lamp L1 is connected with an indicator lamp, one end of the switch of the standby indicator lamp L7 is connected with an L11 line, one end of the switch of the relay 7 is connected with an L11 line, the part is used for operating indicator light-green control, one end of a switch of the relay KA8 is connected with an L11 line, the other end of a switch of the relay KA8 is connected with one end of an indicator light L3, the other end of the indicator light L3 is connected with an N line, and the part is used for fault indicator light-red control.

As shown in fig. 8 and 9, an implementation method of a control system of a tooling line with a visual deviation correction function includes a product coordinate obtaining method and a product in-place sucking method.

The product coordinate acquisition method comprises the following steps:

step S101, judging whether photographing is prohibited, if so, executing the step S101, otherwise, entering the step S102;

step S102, starting a product line, and entering step S103 after the product line is started;

s103, detecting the material by the product in-place optical fiber, and entering S104 after the detection is finished;

step S104, stopping the product line, and entering step S105 after the product line is finished;

step S105, triggering a vision system to take a picture, and entering step S106 after the completion;

step S106, the vision system captures images for calculation, and the step S107 is executed after the calculation is finished;

step S107, the vision system outputs coordinates to the PLC controller, and the step S108 is executed after the coordinates are output;

and step S108, the PLC carries out coordinate conversion, the photographing is finished and prohibited at the moment, and the step S101 is returned to after the photographing is finished.

The product pick-in-place method comprises the following steps:

step S201, after the photographing is completed, rotating the Y axis to a material taking position and the U axis to offset coordinates, and entering step S202 after the photographing is completed;

step S202, moving the lifting cylinder downwards, and entering step S203 after the completion;

step S203, opening an air suction valve of a suction nozzle, and entering step S204 after the air suction valve is opened;

step S204, moving the lifting cylinder upwards, and then entering step S205;

s205, resetting the Y-axis tool position and the Z-axis, removing the prohibition of photographing, and entering S206 after the completion;

step S206, waiting for the 0 bit of the tool encoder, and entering step S207 after the completion;

step S207, starting an X axis, starting tracking, and entering step S208 after the tracking is finished;

step S208, synchronizing the X axis and the tooling line, and entering step S209 after the X axis and the tooling line are synchronized;

step S209, the lifting cylinder moves downwards, and the step S210 is executed after the completion;

step S210, closing an air suction valve, stopping air suction, opening an air blowing valve and opening an air blowing switch, and entering step S211 after the air suction valve is closed and the air blowing switch is opened;

step S211, the lifting cylinder moves upwards, and the step S212 is executed after the completion;

and S212, closing the air blowing valve, stopping air blowing, and returning to execute the step S201 after the air blowing is finished.

As shown in fig. 10, the X-axis and tooling line synchronization curve analysis is as follows:

t 0: an encoder counting starting point;

t0 → t 1: the X-axis servo positive acceleration movement;

t 1: the X-axis servo and the tooling line have the same speed;

t1 → t 2: at the same speed, the X-axis servo and the tooling line are relatively static, and the product is placed on the tooling;

t 2: after the placement is completed, the forward deceleration is started;

t2 → t 3: completing the servo forward deceleration of the X axis;

t 3: the servo forward deceleration of the X axis is completed, and the reverse acceleration is started (the X axis returns to the standby position);

t3 → t 4: the X-axis servo reverse accelerated motion;

t 4: the X-axis servo runs in reverse to the set speed V2;

t4 → t 5: the X-axis servo reverse uniform motion;

t 5: the servo reverse operation of the X axis starts to decelerate;

t5 → t 6: the servo reverse operation of the X axis decelerates;

t 6: completing the servo reverse deceleration of the X axis (reaching a standby position);

t6 → the next cycle t 0: one material was removed.

The tool linear velocity and frequency calculation relationship is as follows:

the synchronous pulley is 8M30 teeth, and the length l =8 × 30mm =240mm per week; the maximum rotating speed Vmax1=1440r/min of the motor; the tooling line motor is provided with a speed reducer with n1= 10;

when the frequency is set to 50Hz, the highest fixture line speed Vmax = Vmax1/n1 l =576 mm/s;

when the frequency is set to f Hz, the tooling line top speed V1= Vmax/50 f =11.52fmm/s =1152 wires/sec.

The X-axis servo calculation is set as follows:

the lead of the X-axis lead screw is 4mm, 1 pulse of actual X-axis lead screw is set to 1 finally, and the servo precision is 20 bits;

servo electronic gear calculation: numerator/denominator =220/400= 65536/25; electronic gear numerator setting 65536, denominator setting 25;

at the moment, 1 wire is actually moved on the X axis by the servo 1 pulse;

the highest speed of the X-axis forward operation, namely the speed of the tool belt V2= V1.

The visual coordinates are calculated in relation to the controller position as follows:

the coordinates output after the visual photographing are positions relative to the template picture and can be converted into actual position pulse values only through calculation;

x-axis, Y-axis and U-axis respectively correspond to the X-axis servo, the Y-axis servo and the rotary stepping motor

1. And (3) coordinate calibration: the relation between the visual coordinate system and the XY axis coordinate system;

defining an identification point on the template picture, and marking the identification point as (X0, Y0);

respectively drawing a line with the length of 1 centimeter (1000 filaments) in the X-axis direction and the Y-axis direction by taking the identification point as a reference on the template picture, and respectively moving the X-axis and the Y-axis to record the coordinate distances X1 and Y1 of the movement;

calculating the relation M1=1000/X1 between the visual coordinate system in the X-axis direction and the XY-axis coordinate system;

and calculating the relation M2=1000/Y1 between the visual coordinate system in the Y-axis direction and the XY-axis coordinate system.

2. Converting a visual coordinate system and XY axis coordinates;

the visual coordinate system outputs (X2, Y2 and U2) correspond to an X axis, a Y axis and a U axis respectively in normal operation;

the scaled coordinates (X3, Y3, U3) are:

X3=X0+X2/M1；

Y3=Y0+Y2/M2；

U3=U2。

according to the invention, products are conveyed through a product line (belt line), are disordered on the product line, and are subjected to product in-place optical fiber detection, when a signal is sent by a detection switch, the system considers that materials reach a photographing area (a dotted line frame), then a camera performs photographing processing, and a calculation coordinate is transmitted to the PLC.

Because the product is the dysmorphism piece, can only absorb two dot that the area is great when the suction nozzle is inhaled and is inhaled.

At the moment, three coordinates transmitted by the camera, namely X/Y/U, correspond to transverse X-axis servo motor pulses, upper and lower Y-axis servo motor pulses and rotating U-axis stepping motor pulses through coordinate calculation and conversion, and the suction nozzle accurately sucks round points with larger two areas in the picture through three motor motions.

The method includes the steps that after materials are taken, products are taken according to correct positions and then are accurately placed in clamping grooves of a tool, a tool line is a belt line body for conveying the tool, the tool line is controlled by a speed regulating motor, the tool line cannot be stopped when running in order to improve efficiency, the tool line runs all the time, the products on a suction nozzle are required to be placed in the tool moving process to be set and debugged according to an X-axis and tool line synchronous curve analysis diagram, and one product is placed without passing through one tool. The process of placing is basically a tracking process, the product is accelerated to the tool linear speed from static in the left and right direction, after the same speed, the product and the tool are relatively static, and then the lifting cylinder descends to place the product on the tool.

The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.