CN117331348A

CN117331348A - Control method and device of processing conveying system, processing conveying system and medium

Info

Publication number: CN117331348A
Application number: CN202311424189.2A
Authority: CN
Inventors: 池峰; 周金明; 詹超博
Original assignee: Guoli Zhizao Shanghai Technology Co ltd
Current assignee: Guoli Zhizao Shanghai Technology Co ltd
Priority date: 2023-10-30
Filing date: 2023-10-30
Publication date: 2024-01-02

Abstract

The embodiment of the application discloses a control method and device of a processing conveying system, the processing conveying system and a medium, and relates to the technical field of automatic processing, wherein the method comprises the following steps: initializing the motion parameters of the rotor when the rotor is judged to enter the interpolation interval; determining a real shaft matched with the mover according to an interpolation process, adjusting the position of the mover according to the position deviation of the mover and the real shaft relative to a virtual shaft corresponding to the mover, synchronizing the time sequence of the motion parameters of the mover with the time sequence of the motion parameters of the real shaft, and generating a shaft group by the virtual shaft and the real shaft; and outputting a control instruction to the shaft group based on the interpolation process, synchronously updating the motion parameters in the shaft group, and executing the interpolation process through the shaft group. According to the method and the device, the virtual shaft and the real shaft are paired into the shaft group in the two aspects of position and time sequence, so that the control instruction can be directly issued to the shaft group, the PLC clock can be kept consistent, the fact that the rotor and the executing mechanism can jointly complete the interpolation process in the same time sequence is ensured, and the obtained interpolation track is smoother.

Description

Control method and device of processing conveying system, processing conveying system and medium

Technical Field

The present disclosure relates to the field of automated processing technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling a processing conveying system.

Background

At present, in the interpolation process, a mechanism such as a numerical control machine tool or a mechanical arm needs to be programmed to complete the distribution of the interpolation process.

However, the programming difficulty of the mechanisms such as the numerical control machine tool and the mechanical arm depends on the complexity degree of the nonlinear curve to be interpolated, programming for different nonlinear curves is difficult to adapt and is used for processing other nonlinear curves, the editing difficulty is high, and the processing time sequence cannot be unified due to the fact that interfaces and positions of different execution mechanisms are often different, and the processing precision is easy to be reduced. The position of the actuating mechanism is calibrated through manual work in the processing intelligence, and depending on the manual experience of operating personnel, batch automatic processing is difficult to realize when complex nonlinear curves are executed.

Disclosure of Invention

The embodiment of the application provides a control method and device of a processing conveying system, the processing conveying system and a medium, which are used for solving the defects of the related technology, and the technical scheme is as follows:

in a first aspect, an embodiment of the present application provides a method for controlling a processing conveying system, the method including:

Initializing the motion parameters of the rotor to preset values when judging that the rotor enters an interpolation interval based on the position of the rotor;

determining a real axis matched with the active cell according to an interpolation process, adjusting the position of the active cell according to the position deviation of the active cell and the real axis relative to a virtual axis corresponding to the active cell, synchronizing the time sequence of the motion parameter of the active cell with the time sequence of the motion parameter of the real axis, and generating an axis group by the virtual axis and the real axis;

based on the interpolation process, outputting a control instruction to the shaft group, synchronously updating the motion parameters of a real shaft and a virtual shaft in the shaft group, and executing the interpolation process through the shaft group;

the real shaft is bound with the motor stroke of an executing mechanism in the machining conveying system, and the virtual shaft is bound with a rotor in the machining conveying system.

In an optional aspect of the first aspect, when the determining that the mover enters the interpolation section based on the position information of the mover, initializing a motion parameter of the mover to a preset value includes:

and initializing the motion parameter of the previous interpolation interval corresponding to the rotor to be a preset value of the next interpolation interval if the rotor transits from the previous interpolation interval to the next interpolation interval.

In an optional aspect of the first aspect, when the determining that the mover enters the interpolation section based on the position information of the mover, initializing the motion parameter of the mover to a preset value further includes:

storing the preset numerical value into a local register;

the method for synchronously updating the motion parameters of the real shaft and the virtual shaft in the shaft group based on the interpolation process output control instructions to the shaft group further comprises the following steps:

and storing the updated motion parameters of the virtual shaft to the local register to replace the preset value.

In an alternative of the first aspect, the determining the real axis matching the mover according to the interpolation process includes:

and identifying the load type carried by the rotor, and determining a real axis matched with the rotor based on an interpolation process corresponding to the load type.

and obtaining interpolation processes corresponding to the real axes in the interpolation interval, determining the interpolation process corresponding to the mover, and matching the real axes and the mover with the same interpolation process.

In an optional implementation manner of the first aspect, the adjusting the position of the mover according to the positional deviation of the mover and the real axis relative to the virtual axis corresponding to the mover includes:

Mapping the position of the rotor to the virtual shaft, mapping the running position of the executing mechanism corresponding to the real shaft to the virtual shaft, and calculating the difference value between the position and the running position along the axial direction of the virtual shaft to obtain the position deviation;

and determining an initial position of the mover based on the sum of the position and the position deviation value, and controlling the mover to move to the initial position.

In an alternative aspect of the first aspect, before mapping the operation position of the actuator corresponding to the real axis onto the virtual axis, the method includes:

and acquiring the command pulse number of the motor of the executing mechanism, presetting the motor stroke of the motor rotating for one circle based on the command pulse number, and acquiring the stroke position of the motor.

In an alternative aspect of the first aspect, before mapping the position of the mover onto the virtual axis and mapping the operation position of the actuator corresponding to the real axis onto the virtual axis, the method includes:

and converting the units of the position and the running position into units of the virtual axis based on a preset conversion coefficient.

In an alternative of the first aspect, the generating the shaft group with the virtual shaft and the real shaft includes:

Acquiring a real axis number of the real axis, acquiring a virtual axis number of a virtual axis corresponding to the rotor, and generating an axis group number;

establishing a mapping relation between the shaft group and the virtual shaft and the real shaft based on the shaft group number; and establishing a mapping relation between the virtual shaft and the mover, and establishing a mapping relation between the real shaft and the real shaft number.

In an optional implementation manner of the first aspect, the outputting, based on the interpolation process, a control instruction to the shaft group, synchronously updating motion parameters of a real shaft and a virtual shaft in the shaft group, and executing, by the shaft group, the interpolation process includes:

transmitting a control instruction generated based on an interpolation track of the interpolation process to the shaft group, dividing the interpolation track into a plurality of interpolation strokes according to an interpolation algorithm, respectively distributing the interpolation strokes to the real shafts or the virtual shafts in the shaft group, respectively determining motion parameters of the real shafts or the virtual shafts according to the interpolation strokes, and respectively executing the corresponding interpolation strokes through an executing mechanism corresponding to the real shafts and a corresponding rotor corresponding to the virtual shafts;

the interpolation track comprises a track shape, a track starting point, a track ending point and a track direction.

In an alternative of the first aspect, the performing the corresponding interpolation stroke by the real shaft and the virtual shaft respectively includes:

and determining the interpolation position of the mover corresponding to the virtual shaft according to the interpolation stroke, and driving the mover to move to the interpolation position according to the motion parameters.

In an optional aspect of the first aspect, the executing the corresponding interpolation stroke through the real shaft and the virtual shaft respectively, after the executing mechanism corresponding to the real shaft completes the previous interpolation stroke, before executing the next interpolation stroke, further includes:

and acquiring a real-time position of the executing mechanism after the previous interpolation stroke is completed, acquiring a starting position of the next interpolation stroke, and driving the executing mechanism to move to the starting position based on a distance difference value between the starting position and the real-time position.

In an alternative aspect of the first aspect, after the performing the interpolation process by the shaft set, the method further includes:

and removing the virtual shaft corresponding to the mover from the shaft group when the mover enters the next interpolation interval based on the position of the mover.

In a second aspect, an embodiment of the present application further provides a control device of a processing conveying system, including:

The initialization module is used for initializing the motion parameters of the rotor to preset values when judging that the rotor enters an interpolation interval based on the position of the rotor;

the shaft group module is used for determining a real shaft matched with the rotor according to an interpolation process, adjusting the position of the rotor according to the position deviation of the rotor and the real shaft relative to a virtual shaft corresponding to the rotor, synchronizing the time sequence of the motion parameters of the rotor with the time sequence of the motion parameters of the real shaft, and generating a shaft group by the virtual shaft and the real shaft;

the interpolation module is used for outputting a control instruction to the shaft group based on the interpolation process, synchronously updating the motion parameters of the real shaft and the virtual shaft in the shaft group, and executing the interpolation process through the shaft group;

In a third aspect, embodiments of the present application further provide a processing conveying system, including a control device provided as in the second aspect or any implementation manner of the second aspect of embodiments of the present application; the conveying line body is used for driving the rotor to execute the interpolation process; the executing mechanism is arranged beside the conveying line body and is used for executing the interpolation process by driving the motor.

In a fourth aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method provided by the first aspect of the embodiments of the present application or any implementation of the first aspect.

The technical scheme provided by some embodiments of the present application has the beneficial effects that at least includes:

according to the control method, the device, the processing conveying system and the medium of the processing conveying system, the rotor entering the interpolation interval is initialized, the rotor and the real shaft are paired according to the corresponding interpolation process, the pairing of the rotor and the real shaft is completed in two aspects of position and time sequence, so that a virtual shaft corresponding to the rotor and the real shaft corresponding to the executing mechanism are established as a shaft group, a control instruction can be directly issued to the shaft group, the interpolation process is completed through the shaft group, the PLC clock based on the shaft group can be kept consistent, the rotor and the executing mechanism can jointly complete the interpolation process at the same time sequence, the obtained interpolation track is smoother, and the accuracy of the interpolation process is improved.

Drawings

In order to more clearly illustrate the technical solutions of the present application or related art, the drawings that are required to be used in the embodiments or related art description will be briefly described below, and it is apparent that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for a person of ordinary skill in the art.

Fig. 1 is a schematic application scenario diagram of a control method of a processing and conveying system according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a process transport system according to an embodiment of the present application;

FIG. 3 is a flow chart of a method of controlling a process transport system according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a control device of a processing and conveying system according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a processing conveying system according to an embodiment of the present application.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application, and it is apparent that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

The terms "comprising" and "having" and any variations thereof in the description and claims of the present application and in the foregoing drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or modules is not limited to only those steps or modules but may include other steps or modules not expressly listed or inherent to such process, method, article, or apparatus.

It should be noted that, the term "first\second" referred to in this application merely distinguishes between similar objects, and does not represent a specific ordering for the objects, and it is understood that "first\second" may interchange a specific order or sequence, where allowed. It is to be understood that the "first\second" distinguishing objects may be interchanged where appropriate to enable embodiments of the present application described herein to be implemented in sequences other than those described or illustrated herein.

The processing conveying system in the related art can convey a work piece by a magnetic drive conveying line, which has a fixed stator and a mover movable on the stator, a tray is provided on the mover, the work piece can be provided in the tray, and an actuator such as a robot is provided externally to process the work piece on the mover. However, when the actuator processes the workpiece, the mover stays at the process position, and the processing process is performed only by the actuator. The higher the programming difficulty of an executing mechanism such as a manipulator is, the higher the complexity of a nonlinear curve is, the more difficult to realize high-precision processing is, the lower the processing efficiency is caused due to the fact that the manipulator is limited by a mechanical structure and has low moving speed and long time consumption in steering and long-stroke movement. And when the interpolation process is carried out, the motion time sequences of the rotor and the execution mechanism are difficult to uniformly distribute, the PLC clocks of the rotor and the execution mechanism are difficult to keep consistent, and the inconsistent PLC clocks of the rotor and the execution mechanism easily cause the motion errors of the rotor and the execution mechanism, so that the precision requirement of the interpolation process which is finished together is difficult to meet.

Based on this, the embodiment of the application provides a control method, a device, a processing conveying system and a medium of the processing conveying system, by initializing a mover entering an interpolation zone, pairing the mover with a real shaft according to a corresponding interpolation process, and completing pairing of the mover with the real shaft in two aspects of position and time sequence, thereby obtaining a virtual shaft corresponding to the mover and a real shaft corresponding to an executing mechanism to be established as a shaft group, a control instruction can be directly issued to the shaft group, the interpolation process is completed through the shaft group, a PLC clock based on the shaft group can be kept consistent, and the mover and the executing mechanism can jointly complete the interpolation process at the same time sequence, so that the obtained interpolation track is smoother, and the accuracy of the interpolation process is improved.

Referring next to fig. 1 and fig. 2, fig. 1 is a schematic view of an application scenario of a control method of a processing and conveying system according to an exemplary embodiment of the present application, and fig. 2 is a schematic view of a processing and conveying system according to an exemplary embodiment of the present application, where the control method of the processing and conveying system according to the embodiment of the present application is applied to a PLC host computer of the processing and conveying system. As shown in fig. 1, the processing and conveying system includes a PLC host 110, at least one actuator 120, at least one conveying line 130, and a plurality of movers 140; as shown in fig. 2, a plurality of stators 150 and movers 140 provided in the conveying direction are provided on a conveying line body 130 in the processing conveying system. The conveying line body 130 is used as a conveying mechanism in the processing conveying system, the rotor 140 on the conveying line body 130 is magnetically coupled with the corresponding stator, a permanent magnet array is arranged on the rotor 140, a coil is arranged on the stator 150, and the coil is electrified to drive the rotor 140 to operate. The mover 140 is provided with a workpiece to be machined, and the actuator 120 is used for performing a machining operation on the workpiece to be machined.

Specifically, the stator 150 may detect the position of the mover through a magnetic grating sensor or a grating sensor, a grating ruler or a magnetic grating ruler may be disposed on the mover 140, and a reading head may be disposed on the stator 150, and the stator 150 may read the grating ruler or the magnetic grating ruler through the reading head to obtain the operation position of the mover 140. Wherein, the real shaft is bound with the motor stroke of the executing mechanism 130, the virtual shaft is bound with the mover on the conveying line body 130, which can be understood that the mover 140 moves along the direction of the virtual shaft, the virtual shaft is a linear shaft preset based on stator arrangement, and the shaft length of the virtual shaft can extend from 0 to infinity.

As shown in fig. 2, the processing and conveying system includes two conveying line bodies 130, an actuator 120 is installed above the two conveying line bodies 130, and the actuator 120 performs a processing process to process a workpiece through an actuator 121.

The actuator 120 includes at least one actuator 121 for performing a machining process, the actuator 121 being driven by a corresponding motor; illustratively, the implement 121 may be at least one of a robot, a dispensing head, a probe, a camera, a cutter, etc. The processing operation to be performed on the workpiece may include nonlinear complex operations such as dispensing, flying welding, flying shooting, or complex operations that are a combination of linear and nonlinear operations, and the execution unit 121 may be a multi-axis manipulator that may be operated at least in two directions, and on the basis of this, may perform nonlinear operations such as rotation. The actuator 11 shown in fig. 2 is illustratively a linear motor that moves in the direction indicated by the arrow.

Specifically, the PLC host computer periodically issues a control instruction, so that the mover 140 cooperates with the execution part 121 of the execution mechanism 120 to complete a corresponding interpolation process.

The present application is described in detail with reference to specific examples.

Next, referring to fig. 3, a control method of the processing and conveying system executed by the PLC host computer is taken as an example, and the control method of the processing and conveying system provided in the embodiment of the present application is described. Referring specifically to fig. 3, fig. 3 is a schematic flow chart illustrating a control method of a processing and conveying system according to an embodiment of the present application. As shown in fig. 3, the method comprises the steps of:

s301, initializing the motion parameters of the mover to preset values when the mover enters the interpolation interval based on the position of the mover.

Specifically, the real-time position of the mover relative to the conveying line body on the processing conveying system can be obtained in real time, a plurality of interpolation sections can be divided on the conveying line body according to the setting of the processing conveying system, the mover and the conveying line body can be understood to form a virtual shaft together, a plurality of coordinate sections are defined on the virtual shaft as coordinate sections corresponding to the interpolation sections, and when the position of the mover relative to the coordinate position of the virtual shaft falls into the coordinate sections, the mover is judged to enter the interpolation sections.

Alternatively, the position information of the mover located on the stator may be acquired according to the corresponding stator in the interpolation region; it can be understood that, for a mover located in a transition zone of two stators, the stator coupled with the mover may be determined according to the overlapping region of the mover and the two stators, and the stator having a larger overlapping region with the mover is the stator coupled with the mover, and when the mover is coupled with the stator in the interpolation zone, the mover may be determined to enter the interpolation zone.

It can be understood that, before the mover enters the interpolation interval, the original motion track and motion parameters are controlled by the stator, and the interpolation interaction with the executing mechanism is not considered, so that when the mover enters the interpolation interval, the initialization is needed based on the original motion parameters of the mover, and the position of the mover is convenient to adjust, thereby being convenient for updating the motion parameters of the corresponding mover in real time when the interpolation process is executed.

Specifically, initializing the motion parameters of the mover includes setting transfer functions of speed feedforward, acceleration feedforward, speed feedback, acceleration feedback, and the like of the mover to a preset value, for example, setting the speed to 0 and the acceleration to 0.

Optionally, if the mover transitions from the previous interpolation interval to the next interpolation interval, the previous interpolation interval and the next interpolation interval are set along the virtual axis direction corresponding to the mover, and when the mover moves to the next interpolation interval, since the interpolation processes and/or the execution mechanisms executed by the different interpolation intervals may be different, it is necessary to initialize the motion parameters of the previous interpolation interval to the preset values corresponding to the next interpolation interval, which may be understood as adjusting the motion parameters of the mover according to the setting of the next interpolation interval; the former interpolation section and the latter interpolation section may have an intersection, or may be connected by a conveyor line having only a conveying function, which is not limited in the embodiment of the present application.

Optionally, the modified preset value can be saved to a local register, and the motion parameters of the rotor are reserved through the register, so that original data can be reserved under the special condition of power failure caused by accidents such as system downtime, and the like, and the power-off protection function is realized.

S302, determining a real axis matched with the mover according to an interpolation process, adjusting the position of the mover according to the position deviation of the mover and the real axis relative to a virtual axis corresponding to the mover, synchronizing the time sequence of the motion parameters of the mover with the time sequence of the motion parameters of the real axis, and generating an axis group by the virtual axis and the real axis.

Specifically, determining the real axis matching the mover according to the interpolation process may be understood as selecting the paired real axis and the corresponding mover based on the type of the interpolation process. It will be appreciated that after the real axis and the mover are paired, the mover essentially appears to move along the real axis, i.e. the movement parameters of the mover are determined by the PLC host computer corresponding to the real axis.

Optionally, after the PLC upper computer determines the motion parameters, the updated motion parameters of the virtual shaft are stored in a local register to replace the original preset numerical value.

Alternatively, the load type of the mover may be identified, the real axis matched with the mover may be determined based on the interpolation process corresponding to the load type, and the correspondence between the mover and the real axis may be determined. For example, two loads A, B are respectively carried by different movers, a load A is carried by a mover 1, a load B is carried by a mover 2, an arc interpolation is carried out on a real axis C corresponding to the load A, a straight line interpolation is carried out on a real axis D corresponding to the load B, the load type carried by the movers can be judged first, and then the real axis corresponding to the movers is determined according to an interpolation process corresponding to the load type.

Alternatively, paired movers may be determined based on real axes, for example, a real axis C and a real axis D are disposed in tandem, the real axis C is used to perform a process corresponding to the load a, the real axis D is used to perform a process corresponding to the load B, each group of movers includes a mover 1 and a mover 2, the mover 1 corresponds to the load a, the mover 2 corresponds to the load 2, the former real axis C may be paired with the mover 1 disposed in front, and the latter real axis D may be paired with the mover 2 disposed behind.

Optionally, before entering the interpolation interval, the movers may set a following mode among a plurality of movers, and a group of movers may be set to be active movers arranged forefront along a virtual axis corresponding to the movers, where other movers in the group of movers follow the active movers to move along the virtual axis; the safe distance between every two adjacent movers in the group of movers can be set, and the former mover in every two adjacent movers is an active mover relative to the latter mover. It can be appreciated that by such arrangement, collision between movers can be avoided, different loads can be arranged on one conveying line, and necessary distances are arranged between the movers carrying the different loads, so that the process is distinguished, and the transport capacity of the processing conveying system is effectively utilized.

Specifically, in the process of establishing the vertical shaft group, the position of the mover and the time sequence of the motion parameters of the mover are required to be matched with the real shaft, the position of the mover can be mapped onto the virtual shaft corresponding to the mover, the coordinate of the mover on the virtual shaft is obtained, the running stroke of the executing mechanism corresponding to the real shaft is obtained, the coordinate of the executing mechanism mapped onto the virtual shaft is obtained based on the running stroke calculation of the executing mechanism, the difference value of the two coordinates is calculated, and the position deviation of the mover and the real shaft relative to the virtual shaft is obtained, so that the mover is further driven to the position corresponding to the executing mechanism according to the position deviation.

Specifically, after the position deviation is calculated, the position deviation is used as an input value, and the initial position of the rotor is calculated based on the sum of the position of the rotor and the numerical value of the position deviation, namely, the coordinate of the initial position of the interpolation process on the virtual axis is obtained, so that the coordinate of the control command driving the rotor to move to the initial position is generated.

The corresponding stator can be determined according to the corresponding interpolation interval, and the position of the rotor on the stator can be positioned through the stator, so that the position coordinate of the rotor on the virtual axis is determined.

Specifically, the motion parameters of the setting mover can be adjusted based on the motion parameters of the real shaft by the PLC controller, for example, a control instruction for keeping the actuator motionless and driving the mover to move to the position corresponding to the actuator is generated according to the position deviation, and the actuator and the mover can realize parallel motion. And adjusting the position of the rotor and calibrating the time sequence of the motion parameters of the rotor and the real shaft, namely establishing the shaft group.

Alternatively, the number of command pulses for one rotation of the motor of the actuator may be obtained, and the stroke of the motor for one rotation may be preset based on the number of command pulses, so as to calculate the stroke position of the motor. It will be appreciated that for a rotationally moving motor, rotational movement may be considered circumferential linear movement and processed as linear movement strokes, thereby mapping the stroke positions of the motor onto corresponding virtual axes.

It will be appreciated that, since the units adopted by the virtual axis corresponding to the mover and the actuator corresponding to the real axis may be different, the units of the virtual axis corresponding to the mover and the actuator corresponding to the real axis need to be unified before the position of the mover is mapped onto the virtual axis and the operation position of the actuator corresponding to the real axis is mapped onto the virtual axis. For example, since the virtual axis is um and the actuator is mm, it is necessary to multiply the value corresponding to the actuator by a conversion coefficient to convert the actuator unit into um, thereby unifying the units of both.

In some embodiments, the conversion coefficient may be 1, 0.001, 1000, etc. according to the units of the mover and/or the actuator, which is not limited in this application.

Optionally, after the shaft group is established, the real shaft number of the real shaft can be obtained, the virtual shaft number of the virtual shaft corresponding to the rotor is obtained, the shaft group number is further generated, and the mapping relation between the shaft group and the virtual shaft and the real shaft can be established based on the shaft group number; and establishing a mapping relation between the virtual shaft and the mover, and establishing a mapping relation between the real shaft and the real shaft number. It is understood that the shaft group includes not only the shaft group number, but also a real shaft number and a virtual shaft number in the shaft group, through which a corresponding actuator can be determined, and through which a corresponding mover can be determined.

The number of the shaft groups can be multiple, the shaft group numbers among different shaft groups are different, and corresponding real shaft information and virtual shaft information can be rapidly acquired according to the shaft group numbers.

Alternatively, a number of logical axes may be defined within each axis set, and the normal direction may be defined by the logical axes, e.g., logical axes S1 and S2 may be set, corresponding to the X-axis and Y-axis directions, respectively, to provide a reference for the direction of the axis set.

S303, outputting a control instruction to the shaft group based on the interpolation process, synchronously updating the motion parameters of the real shaft and the virtual shaft in the shaft group, and executing the interpolation process through the shaft group;

wherein, real axle binds with the motor stroke of actuating mechanism in the processing conveying system, and virtual axle binds with the active cell in the processing conveying system.

Specifically, the PLC host computer may generate a control instruction based on an interpolation track of the interpolation process, and send the control instruction to the shaft group in real time, specifically may divide the interpolation track into a plurality of interpolation strokes according to an interpolation algorithm, respectively allocate the interpolation strokes to real shafts or virtual shafts in the shaft group, respectively determine motion parameters of the real shafts or virtual shafts according to the interpolation strokes, respectively execute the corresponding interpolation strokes through an execution mechanism corresponding to the real shafts and a mover corresponding to the virtual shafts, which may be understood as decomposing the interpolation process into a plurality of interpolation strokes, and completing allocation of the interpolation strokes.

Specifically, the interpolation track may include, but is not limited to, parameters such as track shape, track start point, track end point, and track direction.

It can be understood that the interpolation operation is to input curve data (such as the coordinates of the start point and the end point of a straight line, the coordinates of the start point, the end point and the center of a circle of a circular arc, etc.) to be processed into the numerical control system, apply a certain algorithm to calculate, and send a feeding instruction to the corresponding coordinates according to the calculation result, namely, the interpolation stroke. According to the given interpolation stroke, the processing mechanism moves a given distance according to given motion parameters (including motion speed, motion acceleration, motion deceleration and motion direction) in the corresponding coordinate direction determined by the interpolation stroke, so as to process the contour shape required by the workpiece. For the interpolation tracks of different interpolation processes, the calculated preset interpolation strokes are different.

Specifically, the interpolation strokes may be matched to corresponding real or virtual axes in the axis group, respectively.

It will be appreciated that the interpolation operation is essentially a combination of two or more unidirectional motions, and that the interpolation stroke obtained by the interpolation operation includes real axis motion information in multiple directions, and is distributed according to the actual situation of the interpolation process.

Optionally, the PLC host computer may generate a corresponding control instruction according to the interpolation stroke, for example, generate a command position according to the interpolation stroke, determine an interpolation position corresponding to the interpolation stroke, and drive the mover to move to the corresponding interpolation position according to the command position.

Optionally, since the actuator corresponding to the real shaft and the mover corresponding to the virtual shaft may move separately and may also move in parallel, it may happen that the starting position of the next interpolation stroke is different from the ending position of the previous interpolation stroke after the actuator performs the previous interpolation stroke, and the actuator needs to be reset to avoid interpolation errors, so that before the actuator corresponding to the real shaft completes the previous interpolation stroke, the PLC host computer may generate a corresponding control instruction according to the interpolation stroke, for example, generate a setting position according to the interpolation stroke, where the setting position is the starting position of the actuator when performing the next interpolation stroke, and the setting position may be understood as the starting point of each interpolation stroke requirement set by the control instruction, thereby ensuring the accuracy of the interpolation process.

In some embodiments, the determination may be made according to the position of the mover, and if the mover enters the next interpolation interval, the virtual axis corresponding to the mover may be removed from the axis set of the previous interpolation interval, or the axis set of the previous interpolation interval may be broken up.

The following are device embodiments of the present application that may be used to perform method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

Referring next to fig. 4, a schematic structural diagram of a control device of a processing and conveying system according to an exemplary embodiment of the present application is provided. The device may be implemented as a whole or part of the terminal by software, hardware or a combination of both, or may be integrated on the server as a separate module. The computing device for the application usage duration in the embodiment of the present application may be applied to a terminal or a cloud, where the device 4 includes an initialization module 400, an axis group module 410, and an interpolation module 420, where:

an initialization module 400, configured to initialize a motion parameter of a mover to a preset value when determining that the mover enters an interpolation interval based on a position of the mover;

an axis group module 410, configured to determine a real axis matched with the mover according to an interpolation process, adjust a position of the mover according to a positional deviation between the mover and a virtual axis corresponding to the real axis relative to the mover, and generate an axis group according to the virtual axis and the real axis after synchronizing a time sequence of a motion parameter of the mover with a time sequence of a motion parameter of the real axis;

An interpolation module 420, configured to output a control instruction to the shaft group based on the interpolation process, synchronously update motion parameters of a real shaft and a virtual shaft in the shaft group, and execute the interpolation process through the shaft group;

In some embodiments, the initialization module 400 is further configured to initialize a motion parameter of a previous interpolation interval corresponding to a mover to a preset value of a subsequent interpolation interval when the mover transitions from the previous interpolation interval to the subsequent interpolation interval.

In some embodiments, the initialization module 400 is further configured to save the preset value to a local register; after the axis set module 410 outputs a control instruction to the axis set based on the interpolation process and synchronously updates the motion parameters of the real axis and the virtual axis in the axis set, the initialization module 400 stores the updated motion parameters of the virtual axis in the local register to replace the preset value.

In some embodiments, the axle set module 410 is further configured to identify a load type of the mover, and determine a real axle matching the mover based on an interpolation process corresponding to the load type.

In some embodiments, the axis set module 410 is further configured to obtain interpolation processes corresponding to the real axes in the interpolation interval, determine interpolation processes corresponding to the mover, and match the real axes and the mover with the same interpolation process.

In some embodiments, the axle set module 410 is further configured to map the position of the mover onto the virtual axle, map the operation position of the actuator corresponding to the real axle onto the virtual axle, and calculate a difference between the position and the operation position along the axial direction of the virtual axle to obtain the position deviation;

In some embodiments, the axle set module 410 is further configured to obtain a command pulse number of one rotation of the motor of the actuator before mapping the operation position of the actuator corresponding to the real axle onto the virtual axle, preset a motor stroke of one rotation of the motor based on the command pulse number, and obtain a stroke position of the motor.

In some embodiments, the axle set module 410 is further configured to convert the position and the unit of the operation position into the unit of the virtual axle based on a preset conversion coefficient before mapping the position of the mover onto the virtual axle and mapping the operation position of the actuator corresponding to the real axle onto the virtual axle.

In some embodiments, the axis group module 410 is further configured to obtain a real axis number of the real axis, obtain a virtual axis number of a virtual axis corresponding to the mover, and generate an axis group number;

In some embodiments, the interpolation module 420 is further configured to send a control instruction generated based on an interpolation track of the interpolation process to the shaft group, divide the interpolation track into a plurality of interpolation strokes according to an interpolation algorithm, respectively allocate the interpolation strokes to the real shaft or the virtual shaft in the shaft group, respectively determine a motion parameter of the real shaft or the virtual shaft according to the interpolation strokes, and respectively execute the corresponding interpolation strokes through an execution mechanism corresponding to the real shaft and a mover corresponding to the virtual shaft;

In some embodiments, the interpolation module 420 is further configured to determine an interpolation position of the mover corresponding to the virtual axis according to the interpolation stroke, and drive the mover to move to the interpolation position according to the motion parameter.

In some embodiments, the interpolation module 420 is further configured to obtain, after the execution mechanism corresponding to the real axis completes a previous interpolation stroke and before performing a next interpolation stroke, a real-time position of the execution mechanism after completing the previous interpolation stroke, obtain a starting position of the next interpolation stroke, and drive the execution mechanism to move to the starting position based on a distance difference between the starting position and the real-time position.

In some embodiments, the axis set module 410 is further configured to remove the virtual axis corresponding to the mover from the axis set when it is determined that the mover enters a next interpolation interval based on the position of the mover after the interpolation module 420 performs the interpolation process through the axis set.

It should be noted that, when the apparatus 4 provided in the foregoing embodiment performs a control method of a processing and conveying system, only the division of the foregoing functional modules is used as an example, in practical application, the foregoing functional allocation may be performed by different functional modules according to needs, that is, the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. In addition, the control device of the processing and conveying system provided in the above embodiment and the control method embodiment of the processing and conveying system belong to the same concept, which embody detailed implementation procedures in the method embodiment, and are not described herein again.

Referring next to fig. 5, an embodiment of the present application further provides a processing conveying system, including:

any one of the control devices of the processing conveying system provided by the embodiment of the application;

the conveying line body is used for driving the rotor to execute the interpolation process;

the executing mechanism is arranged beside the conveying line body and is used for executing the interpolation process by driving the motor.

Specifically, when the control device of the processing conveying system judges that the rotor enters an interpolation interval based on the position of the rotor, initializing the motion parameter of the rotor to a preset value;

specifically, the control device of the processing and conveying system further determines a real shaft matched with the rotor according to an interpolation process, adjusts the position of the rotor according to the position deviation of the rotor and the real shaft relative to a virtual shaft corresponding to the rotor, and generates a shaft group by the virtual shaft and the real shaft after synchronizing the time sequence of the motion parameters of the rotor with the time sequence of the motion parameters of the real shaft;

further, the control device of the processing and conveying system outputs a control instruction to the shaft group based on the interpolation process, synchronously updates the motion parameters of the real shaft and the virtual shaft in the shaft group, and executes the interpolation process through the shaft group;

The present application also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method of any of the previous embodiments. The computer readable storage medium may include, among other things, any type of disk including floppy disks, optical disks, DVDs, CD-ROMs, micro-drives, and magneto-optical disks, ROM, RAM, EPROM, EEPROM, DRAM, VRAM, flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and/or data.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on such understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the related art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the method described in the respective embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims

1. A method of controlling a process transport system, comprising:

2. The method according to claim 1, wherein initializing the motion parameter of the mover to a preset value when the mover is determined to enter the interpolation section based on the position information of the mover, comprises:

3. The method according to claim 1, wherein when the mover is determined to enter the interpolation section based on the position information of the mover, initializing the motion parameter of the mover to a preset value, further comprises:

storing a preset numerical value into a local register;

4. The method according to claim 1, wherein the determining the real axis matching the mover according to the interpolation process includes:

5. The method according to claim 1, wherein the determining the real axis matching the mover according to the interpolation process includes:

6. The method according to claim 1, wherein adjusting the position of the mover according to the positional deviation of the mover and the real axis with respect to the virtual axis corresponding to the mover comprises:

7. The method of claim 6, wherein before mapping the operating position of the actuator corresponding to the real axis onto the virtual axis, the method comprises:

8. The method according to claim 6, wherein before mapping the position of the mover onto the virtual shaft and mapping the operation position of the actuator corresponding to the real shaft onto the virtual shaft, further comprising:

9. The method of claim 1, wherein generating the shaft group from the virtual shaft and the real shaft comprises:

10. The method according to claim 1, wherein the outputting of the control command to the shaft group based on the interpolation process, the updating of the motion parameters of the real shaft and the virtual shaft in the shaft group in synchronization, the performing of the interpolation process through the shaft group, comprises:

11. The method according to claim 10, wherein the performing the corresponding interpolation stroke by the real shaft and the virtual shaft, respectively, includes:

12. The method according to claim 10, wherein the performing the corresponding interpolation stroke by the real shaft and the virtual shaft, respectively, includes:

after the executing mechanism corresponding to the real shaft completes the previous interpolation stroke and before the next interpolation stroke is carried out, acquiring the real-time position of the executing mechanism after the executing mechanism completes the previous interpolation stroke, acquiring the initial position of the next interpolation stroke, and driving the executing mechanism to move to the initial position based on the distance difference value between the initial position and the real-time position.

13. A method of controlling a process feed system according to any one of claims 1 to 12, wherein after the interpolation process is performed by the shaft assembly, further comprising:

14. A control device of a processing conveying system, comprising:

15. A process transport system, comprising:

the control device of claim 14;

16. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method according to any one of claims 1 to 13.