CN115146753A - Compensation algorithm for controlling aluminum ingot coding skew - Google Patents
Compensation algorithm for controlling aluminum ingot coding skew Download PDFInfo
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- CN115146753A CN115146753A CN202210829035.0A CN202210829035A CN115146753A CN 115146753 A CN115146753 A CN 115146753A CN 202210829035 A CN202210829035 A CN 202210829035A CN 115146753 A CN115146753 A CN 115146753A
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- aluminum ingot
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 title claims abstract description 67
- 229910052782 aluminium Inorganic materials 0.000 title claims abstract description 67
- 239000000523 sample Substances 0.000 claims abstract description 47
- 238000000034 method Methods 0.000 claims abstract description 6
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000002844 melting Methods 0.000 description 2
- 230000008018 melting Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
- G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
- G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06M—COUNTING MECHANISMS; COUNTING OF OBJECTS NOT OTHERWISE PROVIDED FOR
- G06M7/00—Counting of objects carried by a conveyor
- G06M7/02—Counting of objects carried by a conveyor wherein objects ahead of the sensing element are separated to produce a distinct gap between successive objects
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Automatic Control Of Machine Tools (AREA)
- Manufacture And Refinement Of Metals (AREA)
Abstract
The invention discloses a compensation algorithm for controlling aluminum ingot coding skew, which comprises the following steps: the method comprises the following steps: the X axis, the Y axis and the Z axis are controlled by the PLC, the Y axis drives the X axis and the Z axis to move up and down, the X axis drives the Z axis to move left and right, code assigning equipment is installed on the Z axis, and the Z axis drives the code assigning equipment to move back and forth; step two: and a left probe S1 and a right probe S2 are arranged on the X axis. Has the advantages that: after the Y-axis drives the X-axis and the Z-axis to complete up-down positioning, the Z-axis drives the code assigning equipment and the probe to move forwards, after the Z-axis probe contacts the aluminum ingot, the limit switch is lightened, the Z continues to move forwards for a certain distance, so that the focal distance of the code assigning equipment from the side edge of the aluminum ingot reaches a preset sentence distance, after the Z-axis drives the code assigning equipment to complete front-back positioning, the X-axis drives the Z-axis and the code assigning equipment to move from left to right to code, and meanwhile, the Y drives the X-axis and the Z-axis to move up and down to perform height compensation, so that the code assigning content cannot exceed the surface of the aluminum ingot.
Description
Technical Field
The invention relates to the technical field of aluminum ingot production, in particular to a compensation algorithm for controlling aluminum ingot coding skew.
Background
The main technological process of aluminum ingot production comprises hot melting, pouring, cooling, stacking and the like, the algorithm has the function of assigning codes to the side surface of the uppermost aluminum ingot of the whole stack of aluminum ingots after stacking the aluminum ingots, the pouring is carried out after the hot melting, the surface of the aluminum ingot is not particularly smooth, the whole stack of aluminum ingots can be inclined in the height direction after the stacking of a robot, the height difference of two ends can reach 5cm, the space where the assigned codes can be assigned to the aluminum ingots is only 5cm in the height direction, and the height of a single character of the assigned codes is 2cm. Therefore, skew compensation is required in the coding process, and if the skew compensation is not performed, the coding content overflows the surface of the aluminum ingot.
Disclosure of Invention
The invention aims to provide a compensation algorithm for controlling the deflection of aluminum ingot coding, wherein after the Y axis drives the X axis and the Z axis to position and complete the up-and-down positioning, the Z axis drives the coding equipment and a probe to move forwards, when the Z axis probe contacts the aluminum ingot, a limit switch is lightened, the Z continues to move forwards for a certain distance, so that the focal distance of the coding equipment from the side edge of the aluminum ingot reaches the preset sentence distance, after the Z axis drives the coding equipment to complete the front-and-back positioning, the X axis drives the Z axis and the coding equipment to move from left to right to code, and meanwhile, the Y drives the X axis and the Z axis to move up and down to perform height compensation, so that the coding content cannot exceed the surface of the aluminum ingot.
The technical scheme of the invention is realized as follows:
a compensation algorithm for controlling aluminum ingot coding skew comprises the following steps:
the method comprises the following steps: the X axis, the Y axis and the Z axis are controlled by the PLC, the Y axis drives the X axis and the Z axis to move up and down, the X axis drives the Z axis to move left and right, code assigning equipment is installed on the Z axis, and the Z axis drives the code assigning equipment to move back and forth;
step two: a left probe S1 and a right probe S2 are arranged on the X axis, and the left probe S1 and the right probe S2 are respectively positioned at the origin position and the limit position of the X axis movement;
step three: when the left probe S1 or the right probe S2 contacts the surface of the aluminum ingot, the PLC starts to count at a high speed, when the left probe S1 and the right probe S2 both contact the aluminum ingot, the PLC stops counting at a high speed, and a high-speed count value H1 is taken out;
(1) If the probe S1 contacts the surface of the aluminum ingot firstly, the fact that the left side of the aluminum ingot is higher is indicated, in the case, the Y axis needs to move upwards in a returning mode, the returning distance is the number of pulses of H1, and Y axis positioning is completed after returning is completed;
(2) If the probe S2 contacts the upper surface of the aluminum ingot firstly, the right side of the whole stack of aluminum ingots is higher, and in the case, when the probe S1 and the probe S2 both contact the surface of the aluminum ingot, Y-axis positioning is completed;
step four: the Z axis drives the coding equipment to move back and forth, when a probe S3 on the Z axis contacts the side face of the aluminum ingot, the Z axis starts to move in a position mode, the Z axis stops after reaching a set position distance according to a set position distance, and Z axis positioning is finished;
step five: after the Y axis and the Z axis are positioned, the X axis drives the Z axis and the code assigning equipment to assign codes from left to right, the PLC controls the compensation motion direction of the Y axis according to the judgment result of the step three, the Y axis performs up-and-down compensation motion according to the speed of V2, and the compensation distance of the Y axis is H1 pulse number;
step six: after the coding is finished, the X, Y and Z axes automatically return to the original point of the equipment, and after the original point of the equipment is finished, the aluminum ingot can be sent to the conveying equipment to continuously convey signals.
Further, an X-axis movement speed V1 is set, an X-axis movement distance, that is, a code length is L1, and an X-axis movement time, that is, a movement time for up-down compensation of the Y-axis is calculated according to T1= L1/V1.
Further, V2= H1/T1, that is, the Y axis performs up-and-down compensation motion according to the velocity of V2, and H1 is the distance required for compensation.
The invention has the beneficial effects that: when the whole stack of aluminum ingots runs to the coding station, the aluminum ingots are stopped for 5S, and after the moving system detects that the aluminum ingots are in place, the Y axis drives the X axis, the Z axis and the two probes to move up and down, so that the height difference of two ends of the aluminum ingots is detected. After the Y-axis drives the X, after the Z-axis positioning is completed and the up-and-down positioning is completed, the Z-axis drives the code-giving equipment and the probe to move forwards, after the Z-axis probe contacts the aluminum ingot, the limit switch is lightened, the Z continues to move forwards for a certain distance, the focal distance of the code-giving equipment from the side edge of the aluminum ingot reaches the preset sentence distance, after the Z-axis drives the code-giving equipment to move forwards and backwards, the X-axis drives the Z-axis and the code-giving equipment to move from left to right to code, meanwhile, the Y drives the X, the Z-axis moves up and down to perform height compensation, and the code-giving content is ensured not to exceed the surface of the aluminum ingot.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
According to an embodiment of the invention, a compensation algorithm for controlling aluminum ingot coding skew is provided.
The compensation algorithm for controlling the aluminum ingot coding skew comprises the following steps:
the method comprises the following steps: the X axis, the Y axis and the Z axis are controlled by the PLC, the Y axis drives the X axis and the Z axis to move up and down, the X axis drives the Z axis to move left and right, code assigning equipment is installed on the Z axis, and the Z axis drives the code assigning equipment to move back and forth;
step two: a left probe S1 and a right probe S2 are arranged on the X axis, and the left probe S1 and the right probe S2 are respectively positioned at the origin position and the limit position of the X axis movement;
step three: when the left probe S1 or the right probe S2 contacts the surface of the aluminum ingot, the PLC starts to count at a high speed, when the left probe S1 and the right probe S2 both contact the aluminum ingot, the PLC stops counting at the high speed, and takes out a high-speed count value H1;
(3) If the probe S1 contacts the surface of the aluminum ingot firstly, the fact that the left side of the aluminum ingot is higher is indicated, in the case, the Y axis needs to move upwards in a returning mode, the returning distance is the number of pulses of H1, and Y axis positioning is completed after returning is completed;
(4) If the probe S2 contacts the upper surface of the aluminum ingot firstly, the right side of the whole stack of aluminum ingots is higher, and in the case, when S1 and S2 contact the surface of the aluminum ingot, Y-axis positioning is finished;
step four: the Z axis drives the coding equipment to move back and forth, when a probe S3 on the Z axis contacts the side face of the aluminum ingot, the Z axis starts to move in a position mode, the Z axis stops after reaching a set position distance according to the set position distance, and Z axis positioning is finished;
step five: after the Y axis and the Z axis are positioned, the X axis drives the Z axis and the code assigning equipment to assign codes from left to right, the PLC controls the compensation motion direction of the Y axis according to the judgment result of the step three, the Y axis performs up-and-down compensation motion according to the speed of V2, and the compensation distance of the Y axis is H1 pulse number;
step six: after the coding is finished, the X, Y and Z axes automatically return to the original point of the equipment, and after the original point of the equipment is finished, the aluminum ingot can be sent to the conveying equipment to continuously convey signals.
Further, an X-axis movement speed V1 is set, an X-axis movement distance, that is, a code length is L1, and an X-axis movement time, that is, a movement time for up-down compensation of the Y-axis is calculated according to T1= L1/V1.
Further, V2= H1/T1, that is, the Y axis performs up-and-down compensation motion according to the velocity of V2, and H1 is the distance required for compensation.
When the whole stack of aluminum ingots runs to the coding station and stops for 5S, the Y-axis drives the X-axis, the Z-axis and the two probes to move up and down after the moving system detects that the aluminum ingots are in place, and the height difference of the two ends of the aluminum ingots is detected. After the Y-axis drives the X-axis and the Z-axis to complete up-down positioning, the Z-axis drives the code assigning equipment and the probe to move forwards, after the Z-axis probe contacts the aluminum ingot, the limit switch is lightened, the Z continues to move forwards for a certain distance, so that the focal distance of the code assigning equipment from the side edge of the aluminum ingot reaches a preset sentence distance, after the Z-axis drives the code assigning equipment to complete front-back positioning, the X-axis drives the Z-axis and the code assigning equipment to move from left to right to code, and meanwhile, the Y drives the X-axis and the Z-axis to move up and down to perform height compensation, so that the code assigning content cannot exceed the surface of the aluminum ingot.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (3)
1. A compensation algorithm for controlling the coding skew of an aluminum ingot is characterized by comprising the following steps:
the method comprises the following steps: the X axis, the Y axis and the Z axis are driven by the Y axis to move up and down, the X axis drives the Z axis to move left and right, a code assigning device is installed on the Z axis, and the Z axis drives the code assigning device to move back and forth;
step two: a left probe S1 and a right probe S2 are installed on the X axis, and the left probe S1 and the right probe S2 are respectively located at the origin position and the limit position of the X axis movement;
step three: when the left probe S1 or the right probe S2 contacts the surface of the aluminum ingot, the PLC starts to count at a high speed, when the left probe S1 and the right probe S2 both contact the aluminum ingot, the PLC stops counting at the high speed, and takes out a high-speed count value H1;
(1) If the probe S1 contacts the surface of the aluminum ingot firstly, the fact that the left side of the aluminum ingot is higher is indicated, in the case, the Y axis needs to move upwards in a returning mode, the returning distance is the number of pulses of H1, and Y axis positioning is completed after returning is completed;
(2) If the probe S2 contacts the upper surface of the aluminum ingot firstly, the right side of the whole stack of aluminum ingots is higher, and in the case, when S1 and S2 contact the surface of the aluminum ingot, Y-axis positioning is finished;
step four: the Z axis drives the coding equipment to move back and forth, when a probe S3 on the Z axis contacts the side face of the aluminum ingot, the Z axis starts to move in a position mode, the Z axis stops after reaching a set position distance according to a set position distance, and Z axis positioning is finished;
step five: after the Y axis and the Z axis are positioned, the X axis drives the Z axis and the code assigning equipment to assign codes from left to right, the PLC controls the compensation motion direction of the Y axis according to the judgment result of the step three, the Y axis performs up-and-down compensation motion according to the speed of V2, and the compensation distance of the Y axis is H1 pulse number;
step six: after the coding is finished, the X, Y and Z axes automatically return to the original point of the equipment, and after the equipment returns to the original point, the aluminum ingot conveying equipment sends aluminum ingot conveying signals to the conveying equipment continuously.
2. The compensation algorithm for controlling the coding skew of the aluminum ingot as claimed in claim 1, wherein an X-axis moving speed V1 is set, an X-axis moving distance, i.e. a coding length, is L1, and an X-axis moving time, i.e. a moving time for up-and-down compensation of the Y-axis, is calculated according to T1= L1/V1.
3. A compensation algorithm for controlling the coding skew of the aluminum ingot as claimed in claim 2, wherein V2= H1/T1, that is, the Y-axis performs up-and-down compensation movement according to the velocity of V2, and H1 is the distance required for compensation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210829035.0A CN115146753B (en) | 2022-07-14 | 2022-07-14 | Compensation algorithm for controlling aluminum ingot coding skew |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210829035.0A CN115146753B (en) | 2022-07-14 | 2022-07-14 | Compensation algorithm for controlling aluminum ingot coding skew |
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| CN115146753A true CN115146753A (en) | 2022-10-04 |
| CN115146753B CN115146753B (en) | 2024-04-12 |
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| US20050111725A1 (en) * | 2003-11-25 | 2005-05-26 | Mitutoyo Corporation | Surface scan measuring device and method of forming compensation table for scanning probe |
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| CN114359210A (en) * | 2021-12-30 | 2022-04-15 | 武汉华威科智能技术有限公司 | Battery cell code assigning detection method and device |
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2022
- 2022-07-14 CN CN202210829035.0A patent/CN115146753B/en active Active
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|---|---|---|---|---|
| US20050111725A1 (en) * | 2003-11-25 | 2005-05-26 | Mitutoyo Corporation | Surface scan measuring device and method of forming compensation table for scanning probe |
| EP3480557A1 (en) * | 2017-11-03 | 2019-05-08 | Hexagon Metrology GmbH | Method for measuring a workpiece using a coordinate measuring machine |
| CN110329604A (en) * | 2019-07-10 | 2019-10-15 | 合肥友高物联网标识设备有限公司 | A kind of endowed, detection, the control method rejected based on eight station packing machines |
| CN114192992A (en) * | 2021-12-29 | 2022-03-18 | 南光高科（厦门）激光科技有限公司 | Wafer laser coding method and wafer laser coding system |
| CN114359210A (en) * | 2021-12-30 | 2022-04-15 | 武汉华威科智能技术有限公司 | Battery cell code assigning detection method and device |
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| 朱立红;李雪枚;顾泽苍;赵严;陈锡蓉;刘晓;步荣霞;许文才;罗世勇;: "印刷网点点阵编码赋码与在线检测方法", 绿色包装, no. 05, 15 May 2017 (2017-05-15) * |
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