Multi-axis servo motor control system

Abstract

The present invention relates to the field of motor control technology, and in particular to a multi-axis servo motor control system comprising: a housing, a cutter head, an X-axis servo motor, a transverse transmission mechanism, a Y-axis servo motor, a base, and a central control processor. The present invention utilizes a central control processor to monitor the operating parameters of various components during a machining process in real time. When the degree of overlap between the actual movement path of the cutter head and the estimated movement path does not meet a preset standard, the operating parameters of the corresponding components are adjusted to corresponding values. This effectively improves the accuracy of the cutter head's operation while ensuring that the system can effectively avoid situations where the degree of overlap between the actual movement path of the cutter head and the estimated movement path does not meet the preset standard due to various issues.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a multi-axis servo motor control system. Background Art

[0002] With the rapid development of industry in recent years, multi-axis servo motors have been widely used in the field of mechanical processing. Correspondingly, multi-axis servo motor control systems have also experienced rapid development. Accuracy and stability are increasingly becoming the criteria for evaluating the quality of multi-axis servo motor control systems.

[0003] Chinese Patent Publication No. CN115189620A discloses a servo motor control method and control system. The method includes: after starting the servo motor, controlling the servo motor's shaft to rotate at a speed greater than a first preset speed threshold, so that the spindle fast-forwards from an initial position to a preset detection position at a fast-forward speed; after detecting that the spindle has reached the detection position, controlling the servo motor's shaft to rotate at a speed less than a second preset speed threshold, so that the spindle moves to a preset contact position at the detection speed; after detecting that the spindle has reached the contact position, controlling the servo motor's shaft to rotate at a speed greater than the second preset speed threshold but less than the first preset speed threshold, while simultaneously identifying the spindle's following error using a deep learning method and adjusting the motor's shaft speed based on the identification result. Therefore, the aforementioned method has the following problem: during the machining process, the actual tool head movement path may not meet the preset standard due to the inability to accurately and timely determine the specific faulty component in the system, resulting in low tool head movement accuracy. Summary of the Invention

[0004] To this end, the present invention provides a multi-axis servo motor control system to overcome the problem in the prior art that during the machining process, the actual running path of the cutter head does not meet the preset standards due to the inability to timely and accurately determine the specific faulty components in the system, resulting in low cutter head running accuracy.

[0005] To achieve the above object, the present invention provides a multi-axis servo motor control system, comprising:

[0006] a housing, wherein an image collector and a vibration detector are arranged in the housing;

[0007] A cutter head is disposed in the housing and is used for cutting the workpiece to be processed;

[0008] An X-axis servo motor is disposed in the housing and is used to drive the cutter head to move laterally;

[0009] a transverse transmission mechanism disposed in the housing and connected to the X-axis servo motor, comprising a driving wheel connected to the output shaft of the X-axis servo motor, a driven wheel rotatably connected to the bracket in the housing, and a transmission chain disposed between the driving wheel and the driven wheel;

[0010] A Y-axis servo motor is fixedly mounted on the transmission chain to drive the cutter head to move longitudinally, and the output shaft of the Y-axis servo motor is a screw;

[0011] a base, which is provided on the screw and is used to load the cutter head and move the cutter head to a corresponding position according to the X-axis servo motor and the Y-axis servo motor;

[0012] A central control processor is respectively connected to the image collector, the vibration detector, the X-axis servo motor and the Y-axis servo motor, and is used to determine the actual movement path of the cutter head based on the position information of the cutter head collected by the image collector and to judge whether the operating power of each servo motor meets the standard based on the overlap between the actual movement path and the estimated movement path, and, when it is judged that the overlap between the actual movement path and the estimated movement path is lower than the preset standard and it is preliminarily judged that the operating power of each servo motor meets the standard, to judge whether the operating parameters of the transmission chain or the screw meet the preset standard.

[0013] Furthermore, a second transverse transmission mechanism is provided in the outer shell, which is arranged parallel to the transverse transmission mechanism, including a second driving wheel coaxially arranged with the driving wheel, a second driven wheel coaxially arranged with the driven wheel, and a second transmission chain arranged between the second driving wheel and the second driven wheel; a driven block is fixedly provided on the second transmission chain, the driven block is rotationally connected to the screw, and a plurality of slide rails are provided between the driven block and the Y-axis servo motor, and each slide rail passes through the base, so that the base is used to move on the screw at a preset angle.

[0014] Furthermore, the central control processor detects and identifies turning points in the actual moving path of the tool head under the first preset condition, and divides the actual moving path into a corresponding number of actual secondary paths according to the angles between the paths at both ends of each turning point. For the i-th angle in the actual moving path, the central control processor records the angle as θi, and sets i=1, 2, 3, ..., n, where n is the total number of angles in the actual moving path.

[0015] If θi≤θ0, the central control processor divides the paths at both ends of the turning point where the angle is located into different actual secondary paths, where θ0 is a preset angle standard set by the central control processor;

[0016] If θi>θ0, the central control processor divides the paths at both ends of the turning point where the angle is located into the same actual secondary path;

[0017] The central control processor sequentially calculates the overlap between each actual secondary path and the corresponding estimated secondary path to determine whether the operating power of each servo motor controlling the tool head to move along the corresponding estimated secondary path meets the standard;

[0018] The first preset condition is that the central control processor generates an actual movement path for the cutter head according to the cutter head movement trajectory acquired by the image collector.

[0019] Furthermore, the central control processor detects the overlap Si of each actual secondary path and the corresponding estimated secondary path under the second preset condition, and calculates the overlap S of the entire actual running path of the cutter head and the preset path based on Si, and judges whether the operating power of each servo motor controlling the cutter head to move along the corresponding estimated secondary path meets the standard based on S, and sets S = (S1 + S2 + S3 + ... + Sm) / m. For the i-th path, set i = 1, 2, 3, ..., m, where m is the total number of the secondary paths; the central control processor is provided with a first preset overlap S1 and a second preset overlap S2, where S1 < S2,

[0020] If S>S2, the central control processor determines that the operating power of each servo motor controlling the tool head to move along the corresponding estimated secondary path meets the standard;

[0021] If S1<S≤S2, the central control processor determines that the operating power of each servo motor controlling the tool head to move along the corresponding estimated secondary path does not meet the standard, and preliminarily determines that the servo motor or the transmission mechanism has failed. The central control processor sequentially detects the coordinates of each i-th secondary path to perform a secondary determination of the cause of the failure.

[0022] If S≤S1, the central control processor determines that the operating power of each servo motor controlling the tool head to move along the corresponding estimated secondary path does not meet the standard, and determines that there is a fault in the system power supply;

[0023] The second preset condition is that the central control processor completes the division of each of the actual secondary paths.

[0024] Furthermore, the central control processor establishes a rectangular coordinate system with the starting point of the motion trajectory of the tool head as the origin under the third preset condition and obtains the coordinate value of the starting point of each actual secondary path in the coordinate system and the coordinate value of the end point of each actual secondary path in the coordinate system respectively. For the actual secondary path with the starting point as the origin, the central control processor obtains the actual end point coordinate value of the end point in the actual secondary path in the coordinate system, and detects whether the actual end point coordinate value coincides with the estimated end point coordinate value of the end point in the estimated secondary path corresponding to the actual secondary path in the coordinate system.

[0025] If the actual endpoint coordinate value coincides with the estimated endpoint coordinate value, the central control processor determines whether the operating power of each servo motor controlling the tool head to move along the corresponding estimated secondary path meets the standard based on the degree of coincidence between the actual secondary path and the corresponding estimated secondary path;

[0026] If the actual endpoint coordinate value does not coincide with the estimated endpoint coordinate value, the central control processor determines that there is a servo motor with power failure, and the central control processor determines the faulty servo motor based on the difference between the actual endpoint coordinate value and the estimated endpoint coordinate value at each coordinate;

[0027] The third preset condition is that the overlap S between the entire actual running path of the cutter head and the preset path satisfies S1<S≤S2.

[0028] Furthermore, when the central control processor detects that the actual endpoint coordinate value of the i-th secondary path of the tool head coincides with the estimated endpoint coordinate value, the central control processor further detects the overlap degree Sr of the actual secondary path of the tool head and the corresponding estimated secondary path. Sr is the ratio of the path length of the actual secondary path and the estimated secondary path overlapping to the total length of the estimated secondary path. The central control processor is provided with a first preset overlap degree Sr1 and a second preset overlap degree Sr2, wherein Sr1<Sr2.

[0029] If Sr>Sr2, the central control processor determines that the overlap Sr between the actual secondary path of the cutter head and the corresponding estimated secondary path is within a preset allowable range;

[0030] If Sr1<Sr≤Sr2, the central control processor determines that there is an abnormality in the transmission mechanism, and the central control processor controls the vibration monitor to detect the amplitude of the cutter head operation to further determine the cause of the fault;

[0031] If Sr≤Sr1, the central control processor determines that the fault cause is abnormal operation of the servo motor, and the central control processor sends a unidirectional operation instruction to the servo motor in turn to further determine the cause of the fault.

[0032] Furthermore, the central control processor controls the vibration detector to detect the average amplitude Fx of the cutter head in the lateral direction during the movement under the fourth preset condition, and compares Fx with the lateral vibration amplitude threshold Fxmin preset in the central control processor.

[0033] If Fx≤Fxmin, the central control processor determines that the operation stability of the transmission chain meets the standard;

[0034] If Fx>Fxmin, the central control processor determines that the operation stability of the transmission chain does not meet the standard, and the central control processor calculates the difference ΔF between Fx and Fxmin and adjusts the distance L between the driving wheel and the driven wheel to a corresponding value according to ΔF, setting ΔF=Fx-Fxmin;

[0035] The central control processor is also provided with a first preset lateral vibration amplitude difference ΔF1, a second preset lateral vibration amplitude difference ΔF2, a first preset distance adjustment coefficient α1, a second preset distance adjustment coefficient α2, and a third preset distance adjustment coefficient α3, wherein ΔF1 < ΔF2, 1 < α1 < α2 < α3 < 1.3,

[0036] If ΔF≤ΔF1, the central control processor uses α1 to adjust the distance L between the driving wheel and the driven wheel to a corresponding value;

[0037] If ΔF1<ΔF≤ΔF2, the central control processor uses α2 to adjust the distance L between the driving wheel and the driven wheel to a corresponding value;

[0038] If ΔF>ΔF2, the central control processor uses α3 to adjust the distance L between the driving wheel and the driven wheel to a corresponding value;

[0039] The central control processor records the adjusted distance between the driving wheel and the driven wheel as L', and sets L'=L×αi, where i=1, 2, 3;

[0040] The fourth preset condition is that the central control processor determines that the overlap degree Sr of the actual secondary path of the cutter head and the estimated secondary path corresponding thereto satisfies Sr1<Sr≤Sr2.

[0041] Furthermore, the central control processor controls the vibration detector to detect the average amplitude Fy of the tool head in the longitudinal direction during the movement under the fourth preset condition, and compares Fy with the longitudinal vibration amplitude critical value Fymin preset in the central control processor.

[0042] If Fy≤Fymin, the central control processor determines that the screw operation stability meets the standard (modification as above);

[0043] If Fy>Fymin, the central control processor determines that there is a fault in the screw operation stability and issues a warning to replace the screw.

[0044] Furthermore, the central control processor sends unidirectional operation instructions to the servo motor in sequence under the fifth preset condition.

[0045] The central control processor controls the X-axis servo motor to operate and the Y-axis servo motor to stop operating. The central control processor detects and calculates the ratio of the actual secondary path of the tool head to the corresponding estimated secondary path in the horizontal direction, which is recorded as Sx, and determines whether the X-axis servo motor has a fault based on Sx; the central control processor is provided with a first preset ratio Sx1 and a second preset ratio Sx2, and Sx1<Sx2.

[0046] If Sx<Sx1, the central control processor determines that the X-axis servo motor is faulty and issues a warning to replace the X-axis servo motor;

[0047] If Sx1<Sx≤Sx2, the central control processor determines that the X-axis servo motor has a fault and adjusts the power of the X-axis servo motor according to the difference between the actual ratio and the preset ratio;

[0048] If Sx>Sx2, the central control processor determines that the operating state of the X-axis servo motor meets the standard;

[0049] The central control processor controls the Y-axis servo motor to operate and the X-axis servo motor to stop operating. The central control processor detects and calculates the longitudinal length ratio Sy of the actual secondary path of the tool head and the corresponding estimated secondary path, and determines whether the Y-axis servo motor has a fault based on Sy. The central control processor is provided with a first preset ratio Sy1 and a second preset ratio Sy2, and Sy1<Sy2.

[0050] If Sy<Sy1, the central control processor determines that the Y-axis servo motor is faulty and issues a warning to replace the Y-axis servo motor;

[0051] If Sy1<Sy≤Sy2, the central control processor determines that the Y-axis servo motor has a fault, and adjusts the power of the Y-axis servo motor according to the difference between the actual ratio and the preset ratio;

[0052] If Sy>Sy2, the central control processor determines that the operating state of the Y-axis servo motor meets the standard;

[0053] The fifth preset condition is that the central control processor determines that the overlap degree Sr of the actual secondary path of the tool head and the estimated secondary path corresponding thereto satisfies Sr≤Sr1.

[0054] Furthermore, the central control processor calculates the difference △Sx between Sx and Sx2 under the sixth preset condition, and adjusts the operating power Wx of the X-axis servo motor according to △Sx, setting △Sx=Sx2-Sx. The central control processor is also provided with a first preset coincidence difference △Sx1, a second preset coincidence difference △Sx2, a first preset coincidence difference adjustment coefficient β1, a second preset coincidence difference adjustment coefficient β2, and a third preset coincidence difference adjustment coefficient β3, wherein △Sx1<△Sx2, 1<β1<β2<β3<1.5,

[0055] If ΔSx≤ΔSx1, the central control processor uses β1 to adjust the operating power Wx of the servo X-axis motor to the corresponding value;

[0056] If ΔSx1<ΔSx≤ΔSx2, the central control processor uses β2 to adjust the operating power Wx of the X-axis servo motor to the corresponding value;

[0057] If ΔSx>ΔSx2, the central control processor uses β3 to adjust the operating power Wx of the X-axis servo motor to the corresponding value;

[0058] The central control processor records the adjusted operating power of the X-axis servo motor as Wx', and sets Wx'=Wx×βi, where i=1, 2, 3;

[0059] The sixth preset condition is that the central control processor determines that Sx satisfies if Sx1<Sx≤Sx2.

[0060] The central control processor calculates the difference △Sy between Sy and Sy2 under the seventh preset condition, and adjusts the operating power Wy of the Y-axis servo motor according to △Sy, setting △Sy=Sy2-Sy. The central control processor is also provided with a first preset coincidence difference △Sy1, a second preset coincidence difference △Sy2, a first preset coincidence difference adjustment coefficient γ1, a second preset coincidence difference adjustment coefficient γ2, and a third preset coincidence difference adjustment coefficient γ3, wherein △Sy1<△Sy2, 1<γ1<γ2<γ3<1.7,

[0061] If ΔSy≤ΔSy1, the central control processor uses β1 to adjust the operating power Wy of the Y-axis servo motor to the corresponding value;

[0062] If ΔSy1<ΔSy≤ΔSy2, the central control processor uses β2 to adjust the operating power Wy of the Y-axis servo motor to a corresponding value;

[0063] If ΔSy>ΔSy2, the central control processor uses β3 to adjust the operating power Wy of the Y-axis servo motor to a corresponding value;

[0064] The central control processor records the adjusted operating power of the Y-axis servo motor as Wy', and sets Wy'=Wy×γi, where i=1, 2, 3.

[0065] The seventh preset condition is that the central control processor determines that Sy satisfies Sy1<Sy≤Sy2.

[0066] Compared with the prior art, the beneficial effect of the present invention lies in that the present invention uses a central control processor to monitor the running path of the cutter head during the machining process in real time, and can adjust the operating parameters of the corresponding components to corresponding values ​​when the overlap between the actual moving path of the cutter head and the estimated moving path does not meet the preset standards. While ensuring that the system described in the present invention can effectively avoid the situation where the overlap between the actual moving path of the cutter head and the estimated moving path does not meet the preset standards due to different problems, it effectively improves the accuracy of the operation of the cutter head described in the present invention.

[0067] Furthermore, a preset angle standard θ0 is provided in the central control processor. The central control processor determines the total number of divided secondary paths by comparing the angle between the paths at both ends of the turning point in the actual moving path of the cutter head with θ0. The present invention determines the total number of divided secondary paths by comparing the angle between the paths at both ends of the turning point in the actual moving path of the cutter head with θ0, which can effectively ensure the accuracy of the secondary path division.

[0068] Furthermore, the central control processor is provided with a first preset overlap S1 and a second preset overlap S2. The central control processor will calculate the overlap S between the entire actual running path of the cutter head and the preset path and compare it with the overlap S to determine whether the operating power of each servo motor when controlling the cutter head to move along the corresponding estimated secondary path meets the standard and determine the actual reason why the operating power does not meet the preset standard according to the value of S when the operating power does not meet the standard. The present invention determines the actual reason why the operating power does not meet the preset standard according to the overlap of the entire actual running path of the cutter head and the preset path when the operating power of each servo motor when controlling the cutter head to move along the corresponding estimated secondary path does not meet the preset standard. After the cause is determined, the adjustment method that best suits the current situation can be selected to adjust the working parameters of the corresponding components to the corresponding values, so that the operating power of each servo motor when controlling the cutter head to move along the corresponding estimated secondary path after the adjustment is completed meets the preset standard, thereby further ensuring the accuracy of the cutter head operation described in the present invention.

[0069] Furthermore, when determining that the degree of overlap S between the entire actual running path of the cutter head and the preset path satisfies S1<S≤S2, the central control processor detects the starting point coordinate value and the end point coordinate value of each actual secondary path, and determines whether the operating power of each servo motor controlling the cutter head to move along the corresponding estimated secondary path meets the standard based on whether the end point coordinate value of the actual secondary path and the estimated end point coordinate value of the secondary path corresponding to the actual secondary path coincide with each other. The present invention makes a secondary determination on whether the operating power of each servo motor controlling the cutter head to move along the corresponding estimated secondary path meets the standard by determining whether the end point coordinate value of the actual secondary path and the estimated end point coordinate value of the secondary path corresponding to the actual secondary path coincide with each other. This can accurately analyze the running path of the cutter head of the present invention, thereby further ensuring the accuracy of the operation of the cutter head of the present invention.

[0070] Furthermore, when the central control processor detects that the actual end point coordinate value of the i-th secondary path coincides with the estimated end point coordinate value, it further detects the overlap Sr between the actual secondary path of the cutter head and the estimated secondary path corresponding thereto, and compares Sr with the first preset overlap Sr1 and the second preset overlap Sr2 set in the central control processor to determine that the reason why the operating power of each servo motor controlling the cutter head to move along the corresponding estimated secondary path does not meet the preset standard is that there is an abnormality in the transmission mechanism or an abnormality in the operation of the servo motor. The present invention compares the overlap Sr between the actual secondary path of the cutter head and the estimated secondary path corresponding thereto with the preset overlap in the central control processor to determine the reason why the operating power does not meet the preset standard, thereby being able to accurately analyze the operating path of the cutter head of the present invention, thereby further ensuring the accuracy of the operation of the cutter head of the present invention.

[0071] Furthermore, when the central control processor determines that the degree of overlap S between the entire actual running path of the cutter head and the preset path satisfies Sr1<Sr≤Sr2 and the actual end point coordinate value of the i-th secondary path does not coincide with the estimated end point coordinate value, it controls the vibration detector to detect the amplitude Fx and Fy of the cutter head in the X-axis direction and the Y-axis direction, and compares them with the amplitude critical values ​​Fxmin and Fymin of the corresponding directions preset in the central control processor, so as to determine that the specific reason why the operating power of each servo motor controlling the cutter head to move along the corresponding estimated secondary path does not meet the standard is that there is a fault in the operation of the transmission chain or the operation of the screw, and after determining the cause of the fault, the operating parameters of the specific components are adjusted in a targeted manner, which can ensure the normal operation of the various components of the system described in the present invention, thereby further improving the accuracy of the operation of the cutter head described in the present invention.

[0072] Furthermore, when the central control processor determines that the degree of overlap S between the entire actual running path of the cutter head and the preset path satisfies Sr≤Sr1, the central control processor sequentially sends unidirectional running instructions to the servo motors, and the central control processor respectively detects and calculates the degrees of overlap Sx and Sy between the actual secondary path of the cutter head and the corresponding estimated secondary path, and compares them with the preset degrees of overlap in the central control processor to determine that the specific reason why the running path of each servo motor controlling the cutter head to move along the corresponding estimated secondary path does not meet the standard is that there is a fault in the X-axis servo motor or the Y-axis servo motor, and after determining the cause of the fault, the operating power of the corresponding servo motor is adjusted to the corresponding value, which can ensure the normal operation of the various components of the system described in the present invention, thereby further improving the accuracy of the cutter head operation described in the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] Figure 1 This is a front view of a multi-axis servo motor control system according to an embodiment of the present invention;

[0074] Figure 2 A top view of a multi-axis servo motor control system according to an embodiment of the present invention;

[0075] Figure 3 It is a left view of the multi-axis servo motor control system according to an embodiment of the present invention.

[0076] Among them, the housing 1, the cutter head 2, the X-axis servo motor 3, the driving wheel 411, the driven wheel 421, the transmission chain 431, the second driving wheel 412, the second driven wheel 422, the second transmission chain 432, the Y-axis servo motor 5, the base 6, the central control processor 7, the image collector 8, the vibration detector 9, the screw 10, the driven block 11, and the slide rail 12. DETAILED DESCRIPTION

[0077] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are merely used to explain the present invention and are not intended to limit the present invention.

[0078] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0079] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0080] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0081] See also Figures 1 to 3 As shown, Figure 1 This is a front view of a multi-axis servo motor control system according to an embodiment of the present invention. Figure 2 FIG1 is a top view of a multi-axis servo motor control system according to an embodiment of the present invention. Figure 3 The multi-axis servo motor control system of the present invention comprises a housing 1, a cutter head 2, an X-axis servo motor 3, a transverse transmission mechanism, a Y-axis servo motor 5, a base 6 and a central control processor 7.

[0082] Among them, the cutter head 2 is arranged in the housing 1 for cutting the workpiece to be processed; the X-axis servo motor 3 is arranged in the housing 1 for driving the cutter head 2 to move laterally; the transverse transmission mechanism is arranged in the housing 1 and connected to the X-axis servo motor 3 for cooperating with the X-axis servo motor to drive the cutter head 2 to move laterally; the Y-axis servo motor 5 is fixedly arranged on the transmission chain 431 for driving the cutter head 2 to move longitudinally, and the output shaft of the Y-axis servo motor 5 is a screw 10; the base 6 is arranged on the screw 10, for loading the cutter head 2 and moving the cutter head 2 to the corresponding position according to the X-axis servo motor 3 and the Y-axis servo motor 5; an image collector 8 and a vibration detector 9 are provided in the housing 1 for real-time acquisition of the operation information of the cutter head 2; the central control processor 7 is respectively connected to the image collector 8, the vibration detector 9, the X-axis servo motor 3 and the Y-axis servo motor 5, for detecting the operation path of the cutter head 2 and adjusting the corresponding operation parameters of the corresponding components to corresponding values ​​when it is determined that the operation path of the cutter head 2 does not meet the preset standards.

[0083] Specifically, the transverse transmission mechanism described in the present invention includes a driving wheel 411 connected to the output shaft of the X-axis servo motor 3, a driven wheel 421 rotatably connected to the bracket inside the outer shell 1, and a transmission chain 431 arranged between the driving wheel 411 and the driven wheel 421; when the system described in the present invention is running, the X-axis servo motor 3 is started, the driving wheel 411 connected to the output shaft of the X-axis servo motor 3 starts to rotate and drives the driven wheel 421 connected to it through the transmission chain 431 to rotate together to drive the cutter head 2 to move laterally.

[0084] Specifically, a second transverse transmission mechanism is also provided in the housing 1, which is arranged parallel to the transverse transmission mechanism, including a second driving wheel 412 coaxially arranged with the driving wheel 411, a second driven wheel 422 coaxially arranged with the driven wheel 421, and a second transmission chain 423 arranged between the second driving wheel 421 and the second driven wheel 422; a driven block 11 is fixedly provided on the second transmission chain 423, and the driven block 11 is rotationally connected to the screw 10. A plurality of slide rails 12 are provided between the driven block 11 and the Y-axis servo motor 5, and each slide rail 12 passes through the base 6, so as to enable the base 6 to move on the screw 10 at a preset angle.

[0085] When the system of the present invention is in operation, the X-axis servo motor 3, the lateral transmission mechanism and the Y-axis servo motor 5 arranged in the housing 1 cooperate to control the cutter head 2 fixed on the base 6 to move along a preset path to cut the parts to be processed; the central control processor 7 determines the actual moving path of the cutter head 2 based on the position information of the cutter head 2 collected by the image acquirer 8 and determines whether the operating power of each servo motor meets the standard based on the overlap between the actual moving path and the estimated moving path, and, when it is determined that the overlap between the actual moving path and the estimated moving path is lower than the preset standard and it is preliminarily determined that the operating power of each servo motor meets the standard, it is determined whether the operating parameters of the transmission chain 431 or the screw 10 meet the preset standard.

[0086] Specifically, when the system of the present invention is running, the central control processor 7 controls the image acquisition device 8 and the vibration monitor 9 to further analyze the actual secondary running path of the cutter head 2 when it preliminarily determines that the actual running path of the cutter head 2 does not meet the preset standard to determine the specific reason why the actual moving path of the cutter head 2 and the estimated moving path do not coincide with the preset standard, and adjusts the operating parameters of the corresponding components to corresponding values.

[0087] Specifically, the central control processor 7 detects and identifies the turning points in the actual moving path of the cutter head 2 under the first preset condition, and divides the actual moving path into a corresponding number of actual secondary paths according to the angles between the paths at both ends of each turning point. For the i-th angle in the actual moving path, the central control processor 7 records the angle as θi, and sets i=1, 2, 3, ..., n, where n is the total number of angles in the actual moving path.

[0088] If θi≤θ0, the central control processor 7 divides the paths at both ends of the turning point where the angle is located into different actual secondary paths, where θ0 is a preset angle standard set by the central control processor 7;

[0089] If θi>θ0, the central control processor 7 divides the paths at both ends of the turning point where the angle is located into the same actual secondary path;

[0090] The central control processor 7 sequentially calculates the overlap between each actual secondary path and the corresponding estimated secondary path to determine whether the operating power of each servo motor controlling the cutter head 2 to move along the corresponding estimated secondary path meets the standard;

[0091] The first preset condition is that the central control processor 7 generates an actual moving path for the cutter head 2 according to the moving trajectory of the cutter head 2 acquired by the image collector 8 .

[0092] Specifically, the central control processor 7 detects the overlap Si of each actual secondary path and the corresponding estimated secondary path under the second preset condition, and calculates the overlap S of the entire actual running path of the cutter head 2 and the preset path based on Si, and judges whether the operating power of each servo motor controlling the cutter head 2 to move along the corresponding estimated secondary path meets the standard based on S, and sets S=(S1+S2+S3+...+Sm) / m. For the i-th path, set i=1,2,3,...,m, where m is the total number of the secondary paths; the central control processor 7 is provided with a first preset overlap S1 and a second preset overlap S2, where S1<S2,

[0093] If S>S2, the central control processor 7 determines that the operating power of each servo motor controlling the cutter head 2 to move along the corresponding estimated secondary path meets the standard;

[0094] If S1<S≤S2, the central control processor 7 determines that the operating power of each servo motor controlling the tool head 2 to move along the corresponding estimated secondary path does not meet the standard, and preliminarily determines that the servo motor or the transmission mechanism has failed. The central control processor 7 sequentially detects the coordinates of each i-th secondary path to perform a secondary determination of the cause of the failure.

[0095] If S≤S1, the central control processor 7 determines that the operating power of each servo motor controlling the cutter head 2 to move along the corresponding estimated secondary path does not meet the standard, and determines that the system power supply has a fault;

[0096] The second preset condition is that the central control processor 7 completes the division of each of the actual secondary paths.

[0097] Specifically, the central control processor 7 establishes a rectangular coordinate system with the starting point of the motion trajectory of the tool head 2 as the origin under the third preset condition and obtains the coordinate values ​​of the starting points of each actual secondary path in the coordinate system and the coordinate values ​​of the end points of each actual secondary path in the coordinate system respectively. For the actual secondary path with the starting point as the origin, the central control processor 7 obtains the actual end point coordinate value of the end point in the actual secondary path in the coordinate system, and detects whether the actual end point coordinate value coincides with the estimated end point coordinate value of the end point in the estimated secondary path corresponding to the actual secondary path in the coordinate system.

[0098] If the actual end point coordinate value coincides with the estimated end point coordinate value, the central control processor 7 determines whether the operating power of each servo motor controlling the tool head 2 to move along the corresponding estimated secondary path meets the standard based on the degree of coincidence between the actual secondary path and the corresponding estimated secondary path;

[0099] If the actual endpoint coordinate value does not coincide with the estimated endpoint coordinate value, the central control processor 7 determines that there is a servo motor with power failure, and the central control processor 7 determines the faulty servo motor based on the difference between the actual endpoint coordinate value and the estimated endpoint coordinate value at each coordinate;

[0100] The third preset condition is that the overlap S between the entire actual running path of the cutter head 2 and the preset path satisfies S1<S≤S2.

[0101] Specifically, when the central control processor 7 detects that the actual endpoint coordinate value of the i-th secondary path of the cutter head 2 coincides with the estimated endpoint coordinate value, it further detects the overlap Sr of the actual secondary path of the cutter head 2 and the corresponding estimated secondary path. Sr is the ratio of the path length of the actual secondary path and the estimated secondary path to the total length of the estimated secondary path. The central control processor 7 is provided with a first preset overlap Sr1 and a second preset overlap Sr2, where Sr1<Sr2.

[0102] If Sr>Sr2, the central control processor 7 determines that the overlap Sr between the actual secondary path of the cutter head 2 and the corresponding estimated secondary path is within a preset allowable range;

[0103] If Sr1<Sr≤Sr2, the central control processor 7 determines that there is an abnormality in the transmission mechanism, and the central control processor 7 controls the vibration monitor 9 to detect the amplitude of the operation of the cutter head 2 to further determine the cause of the fault;

[0104] If Sr≤Sr1, the central control processor 7 determines that the fault cause is abnormal operation of the servo motor, and the central control processor 7 sends a unidirectional operation instruction to the servo motor in turn to further determine the cause of the fault.

[0105] Specifically, the central control processor 7 controls the vibration detector 9 to detect the average amplitude Fx of the cutter head 2 in the lateral direction during the movement under the fourth preset condition, and compares Fx with the lateral vibration amplitude threshold Fxmin preset in the central control processor.

[0106] If Fx≤Fxmin, the central control processor 7 determines that the operation stability of the transmission chain meets the standard;

[0107] If Fx>Fxmin, the central control processor 7 determines that the operation stability of the transmission chain 431 does not meet the standard, and the central control processor 7 calculates the difference ΔF between Fx and Fxmin and adjusts the distance L between the driving wheel 411 and the driven wheel 421 to a corresponding value according to ΔF, setting ΔF=Fx-Fxmin;

[0108] The central control processor 7 is also provided with a first preset lateral vibration amplitude difference ΔF1, a second preset lateral vibration amplitude difference ΔF2, a first preset distance adjustment coefficient α1, a second preset distance adjustment coefficient α2, and a third preset distance adjustment coefficient α3, wherein ΔF1 < ΔF2, 1 < α1 < α2 < α3 < 1.3,

[0109] If ΔF≤ΔF1, the central control processor 7 uses α1 to adjust the distance L between the driving wheel 411 and the driven wheel 421 to a corresponding value;

[0110] If ΔF1<ΔF≤ΔF2, the central control processor 7 uses α2 to adjust the distance L between the driving wheel 411 and the driven wheel 421 to a corresponding value;

[0111] If ΔF>ΔF2, the central control processor 7 uses α3 to adjust the distance L between the driving wheel 411 and the driven wheel 421 to a corresponding value;

[0112] The central control processor 7 records the adjusted distance between the driving wheel 411 and the driven wheel 421 as L', and sets L'=L×αi, where i=1, 2, 3;

[0113] The fourth preset condition is that the central control processor 7 determines that the overlap degree Sr of the actual secondary path of the cutter head 2 and the corresponding estimated secondary path satisfies Sr1<Sr≤Sr2.

[0114] Specifically, the central control processor 7 controls the vibration detector 9 to detect the average amplitude Fy in the longitudinal direction during the movement of the tool head under the fourth preset condition, and compares Fy with the longitudinal vibration amplitude critical value Fymin preset in the central control processor 7.

[0115] If Fy≤Fymin, the central control processor 7 determines that the operating stability of the screw 10 meets the standard;

[0116] If Fy>Fymin, the central control processor 7 determines that there is a fault in the operating stability of the screw 10 and issues a warning to replace the screw 10.

[0117] Specifically, the central control processor 7 sends unidirectional operation instructions to the servo motor in sequence under the fifth preset condition.

[0118] The central control processor 7 controls the X-axis servo motor 3 to operate and the Y-axis servo motor 5 to stop operating. The central control processor 7 detects and calculates the ratio of the actual secondary path of the tool head 2 to the corresponding estimated secondary path in the horizontal direction, which is recorded as Sx, and determines whether the X-axis servo motor 3 has a fault based on Sx; the central control processor 7 is provided with a first preset ratio Sx1 and a second preset ratio Sx2, and Sx1<Sx2.

[0119] If Sx<Sx1, the central control processor 7 determines that the X-axis servo motor 3 is faulty and issues a warning to replace the X-axis servo motor 3;

[0120] If Sx1<Sx≤Sx2, the central control processor 7 determines that the X-axis servo motor 3 has a fault and adjusts the power of the X-axis servo motor 3 according to the difference between the actual ratio and the preset ratio;

[0121] If Sx>Sx2, the central control processor 7 determines that the operating state of the X-axis servo motor 3 meets the standard;

[0122] The central control processor 7 controls the Y-axis servo motor 5 to operate and the X-axis servo motor 3 to stop operating. The central control processor 7 detects and calculates the longitudinal length ratio Sy of the actual secondary path of the tool head 2 and the corresponding estimated secondary path, and determines whether the Y-axis servo motor 5 has a fault based on Sy. The central control processor 7 is provided with a first preset ratio Sy1 and a second preset ratio Sy2, and Sy1<Sy2.

[0123] If Sy<Sy1, the central control processor 7 determines that the Y-axis servo motor 5 is faulty and issues a warning to replace the Y-axis servo motor 5;

[0124] If Sy1<Sy≤Sy2, the central control processor 7 determines that the Y-axis servo motor 5 has a fault, and adjusts the power of the Y-axis servo motor 5 according to the difference between the actual ratio and the preset ratio;

[0125] If Sy>Sy2, the central control processor 7 determines that the operating state of the Y-axis servo motor 5 meets the standard;

[0126] The fifth preset condition is that the central control processor 7 determines that the overlap degree Sr of the actual secondary path of the cutter head 2 and the estimated secondary path corresponding thereto satisfies Sr≤Sr1.

[0127] Specifically, the central control processor 7 calculates the difference △Sx between Sx and Sx2 under the sixth preset condition, and adjusts the operating power Wx of the X-axis servo motor 3 according to △Sx, setting △Sx=Sx2-Sx. The central control processor 7 is also provided with a first preset coincidence difference △Sx1, a second preset coincidence difference △Sx2, a first preset coincidence difference adjustment coefficient β1, a second preset coincidence difference adjustment coefficient β2, and a third preset coincidence difference adjustment coefficient β3, wherein △Sx1<△Sx2, 1<β1<β2<β3<1.5,

[0128] If ΔSx≤ΔSx1, the central control processor 7 uses β1 to adjust the operating power Wx of the X-axis servo motor 3 to the corresponding value;

[0129] If ΔSx1<ΔSx≤ΔSx2, the central control processor 7 uses β2 to adjust the operating power Wx of the X-axis servo motor 3 to the corresponding value;

[0130] If ΔSx>ΔSx2, the central control processor 7 uses β3 to adjust the operating power Wx of the X-axis servo motor 3 to the corresponding value;

[0131] The central control processor 7 records the adjusted operating power of the X-axis servo motor 3 as Wx', and sets Wx'=Wx×βi, where i=1, 2, 3;

[0132] The sixth preset condition is that the central control processor 7 determines that Sx satisfies if Sx1<Sx≤Sx2;

[0133] The central control processor 7 calculates the difference △Sy between Sy and Sy2 under the seventh preset condition, and adjusts the operating power Wy of the Y-axis servo motor 5 according to △Sy, setting △Sy=Sy2-Sy. The central control processor 7 is also provided with a first preset coincidence difference △Sy1, a second preset coincidence difference △Sy2, a first preset coincidence difference adjustment coefficient γ1, a second preset coincidence difference adjustment coefficient γ2, and a third preset coincidence difference adjustment coefficient γ3, wherein △Sy1<△Sy2, 1<γ1<γ2<γ3<1.7,

[0134] If ΔSy≤ΔSy1, the central control processor 7 uses β1 to adjust the operating power Wy of the Y-axis servo motor 5 to the corresponding value;

[0135] If ΔSy1<ΔSy≤ΔSy2, the central control processor 7 uses β2 to adjust the operating power Wy of the Y-axis servo motor 5 to the corresponding value;

[0136] If ΔSy>ΔSy2, the central control processor 7 uses β3 to adjust the operating power Wy of the Y-axis servo motor 5 to the corresponding value;

[0137] The central control processor records the adjusted operating power of the Y-axis servo motor 5 as Wy', and sets Wy'=Wy×γi, where i=1, 2, 3.

[0138] The seventh preset condition is that the central control processor 7 determines that Sy satisfies Sy1<Sy≤Sy2.

[0139] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

[0140] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A multi-axis servo motor control system, characterized in that: include: a housing, wherein an image collector and a vibration detector are arranged in the housing; A cutter head is disposed in the housing and is used for cutting the workpiece to be processed; An X-axis servo motor is disposed in the housing and is used to drive the cutter head to move laterally; a transverse transmission mechanism disposed in the housing and connected to the X-axis servo motor, comprising a driving wheel connected to the output shaft of the X-axis servo motor, a driven wheel rotatably connected to the bracket in the housing, and a transmission chain disposed between the driving wheel and the driven wheel; A Y-axis servo motor is fixedly mounted on the transmission chain to drive the cutter head to move longitudinally, and the output shaft of the Y-axis servo motor is a screw; a base, which is provided on the screw and is used to load the cutter head and move the cutter head to a corresponding position according to the X-axis servo motor and the Y-axis servo motor; A central control processor is respectively connected to the image collector, the vibration detector, the X-axis servo motor and the Y-axis servo motor, and is used to determine the actual movement path of the cutter head based on the position information of the cutter head collected by the image collector and to judge whether the operating power of each servo motor meets the standard based on the overlap between the actual movement path and the estimated movement path, and, when it is judged that the overlap between the actual movement path and the estimated movement path is lower than the preset standard and it is preliminarily judged that the operating power of each servo motor meets the standard, to judge whether the operating parameters of the transmission chain or the screw meet the preset standard.

2. The multi-axis servo motor control system according to claim 1, characterized in that: A second transverse transmission mechanism is also provided in the housing, which is arranged parallel to the transverse transmission mechanism and includes a second driving wheel coaxially arranged with the driving wheel, a second driven wheel coaxially arranged with the driven wheel, and a second transmission chain arranged between the second driving wheel and the second driven wheel; a driven block is fixedly provided on the second transmission chain, the driven block is rotationally connected to the screw, and a plurality of slide rails are provided between the driven block and the Y-axis servo motor, each slide rail passes through the base, so that the base is used to move on the screw at a preset angle.

3. The multi-axis servo motor control system according to claim 2, characterized in that: The central control processor detects and identifies turning points in the actual moving path of the tool head under a first preset condition, and divides the actual moving path into a corresponding number of actual secondary paths according to the angles between the paths at both ends of each turning point. For the i-th angle in the actual moving path, the central control processor records the angle as θi, and sets i=1, 2, 3, ..., n, where n is the total number of angles in the actual moving path. If θi≤θ0, the central control processor divides the paths at both ends of the turning point where the angle is located into different actual secondary paths, where θ0 is a preset angle standard set by the central control processor; If θi>θ0, the central control processor divides the paths at both ends of the turning point where the angle is located into the same actual secondary path; The central control processor sequentially calculates the overlap between each actual secondary path and the corresponding estimated secondary path to determine whether the operating power of each servo motor controlling the tool head to move along the corresponding estimated secondary path meets the standard; The first preset condition is that the central control processor generates an actual movement path for the cutter head according to the cutter head movement trajectory acquired by the image collector.

4. The multi-axis servo motor control system according to claim 3, characterized in that: The central control processor detects the overlap Si of each actual secondary path and the corresponding estimated secondary path under the second preset condition, and calculates the overlap S of the entire actual running path of the cutter head and the preset path based on Si, and judges whether the operating power of each servo motor controlling the cutter head to move along the corresponding estimated secondary path meets the standard based on S, and sets S=(S1+S2+S3+...+Sm) / m. For the i-th path, set i=1, 2, 3,..., m, where m is the total number of the secondary paths; the central control processor is provided with a first preset overlap S1 and a second preset overlap S2, where S1<S2, If S>S2, the central control processor determines that the operating power of each servo motor controlling the tool head to move along the corresponding estimated secondary path meets the standard; If S1<S≤S2, the central control processor determines that the operating power of each servo motor controlling the tool head to move along the corresponding estimated secondary path does not meet the standard, and preliminarily determines that the servo motor or the transmission mechanism has failed. The central control processor sequentially detects the coordinates of each i-th secondary path to perform a secondary determination of the cause of the failure. If S≤S1, the central control processor determines that the operating power of each servo motor controlling the tool head to move along the corresponding estimated secondary path does not meet the standard, and determines that there is a fault in the system power supply; The second preset condition is that the central control processor completes the division of each of the actual secondary paths.

5. The multi-axis servo motor control system according to claim 4, characterized in that: The central control processor establishes a rectangular coordinate system with the starting point of the motion trajectory of the tool head as the origin under the third preset condition and obtains the coordinate value of the starting point of each actual secondary path in the coordinate system and the coordinate value of the end point of each actual secondary path in the coordinate system respectively. For the actual secondary path with the starting point as the origin, the central control processor obtains the actual end point coordinate value of the end point in the coordinate system of the actual secondary path, and detects whether the actual end point coordinate value coincides with the estimated end point coordinate value of the end point in the coordinate system of the estimated secondary path corresponding to the actual secondary path. If the actual endpoint coordinate value coincides with the estimated endpoint coordinate value, the central control processor determines whether the operating power of each servo motor controlling the tool head to move along the corresponding estimated secondary path meets the standard based on the degree of coincidence between the actual secondary path and the corresponding estimated secondary path; If the actual endpoint coordinate value does not coincide with the estimated endpoint coordinate value, the central control processor determines that there is a servo motor with power failure, and the central control processor determines the faulty servo motor based on the difference between the actual endpoint coordinate value and the estimated endpoint coordinate value at each coordinate; The third preset condition is that the overlap S between the entire actual running path of the cutter head and the preset path satisfies S1<S≤S2.

6. The multi-axis servo motor control system according to claim 5, characterized in that: When the central control processor detects that the actual endpoint coordinate value of the i-th secondary path of the tool head coincides with the estimated endpoint coordinate value, it further detects the overlap degree Sr of the actual secondary path of the tool head and the corresponding estimated secondary path. Sr is the ratio of the path length of the actual secondary path and the estimated secondary path overlapping to the total length of the estimated secondary path. The central control processor is provided with a first preset overlap degree Sr1 and a second preset overlap degree Sr2, wherein Sr1<Sr2. If Sr>Sr2, the central control processor determines that the overlap degree Sr of the actual secondary path of the cutter head and the corresponding estimated secondary path is within a preset allowable range; If Sr1<Sr≤Sr2, the central control processor determines that there is an abnormality in the transmission mechanism, and the central control processor controls the vibration monitor to detect the amplitude of the cutter head operation to further determine the cause of the fault; If Sr≤Sr1, the central control processor determines that the fault cause is abnormal operation of the servo motor, and the central control processor sends a unidirectional operation instruction to the servo motor in turn to further determine the cause of the fault.

7. The multi-axis servo motor control system according to claim 6, characterized in that: The central control processor controls the vibration detector to detect the average amplitude Fx of the tool head in the lateral direction during the movement under the fourth preset condition, and compares Fx with the lateral vibration amplitude threshold Fxmin preset in the central control processor. If Fx≤Fxmin, the central control processor determines that the operation stability of the transmission chain meets the standard; If Fx>Fxmin, the central control processor determines that the running stability of the transmission chain does not meet the standard, and the central control processor calculates the difference ΔF between Fx and Fxmin and adjusts the distance L between the driving wheel and the driven wheel to a corresponding value according to ΔF, setting ΔF=Fx-Fxmin; The central control processor is also provided with a first preset lateral vibration amplitude difference ΔF1, a second preset lateral vibration amplitude difference ΔF2, a first preset distance adjustment coefficient α1, a second preset distance adjustment coefficient α2, and a third preset distance adjustment coefficient α3, wherein ΔF1 < ΔF2, 1 < α1 < α2 < α3 < 1.3, If ΔF≤ΔF1, the central control processor uses α1 to adjust the distance L between the driving wheel and the driven wheel to a corresponding value; If ΔF1<ΔF≤ΔF2, the central control processor uses α2 to adjust the distance L between the driving wheel and the driven wheel to a corresponding value; If ΔF>ΔF2, the central control processor uses α3 to adjust the distance L between the driving wheel and the driven wheel to a corresponding value; The central control processor records the adjusted distance between the driving wheel and the driven wheel as L', and sets L'=L×αi, where i=1, 2, 3; The fourth preset condition is that the central control processor determines that the overlap degree Sr of the actual secondary path of the cutter head and the estimated secondary path corresponding thereto satisfies Sr1<Sr≤Sr2.

8. The multi-axis servo motor control system according to claim 7, characterized in that: The central control processor controls the vibration detector to detect the average amplitude Fy of the tool head in the longitudinal direction during the movement under the fourth preset condition, and compares Fy with the longitudinal vibration amplitude threshold Fymin preset in the central control processor. If Fy≤Fymin, the central control processor determines that the screw operation stability meets the standard; If Fy>Fymin, the central control processor determines that there is a fault in the screw operation stability and issues a warning to replace the screw.

9. The multi-axis servo motor control system according to claim 6, characterized in that: The central control processor sends unidirectional operation instructions to the servo motor in sequence under the fifth preset condition. The central control processor controls the X-axis servo motor to operate and the Y-axis servo motor to stop operating. The central control processor detects and calculates the ratio of the actual secondary path of the tool head to the corresponding estimated secondary path in the horizontal direction, which is recorded as Sx, and determines whether the X-axis servo motor has a fault based on Sx; the central control processor is provided with a first preset ratio Sx1 and a second preset ratio Sx2, and Sx1<Sx2. If Sx<Sx1, the central control processor determines that the X-axis servo motor is faulty and issues a warning to replace the X-axis servo motor; If Sx1<Sx≤Sx2, the central control processor determines that the X-axis servo motor has a fault and adjusts the power of the X-axis servo motor according to the difference between the actual ratio and the preset ratio; If Sx>Sx2, the central control processor determines that the operating state of the X-axis servo motor meets the standard; The central control processor controls the Y-axis servo motor to operate and the X-axis servo motor to stop operating. The central control processor detects and calculates the longitudinal length ratio Sy of the actual secondary path of the tool head and the corresponding estimated secondary path, and determines whether the Y-axis servo motor has a fault based on Sy. The central control processor is provided with a first preset ratio Sy1 and a second preset ratio Sy2, and Sy1<Sy2. If Sy<Sy1, the central control processor determines that the Y-axis servo motor is faulty and issues a warning to replace the Y-axis servo motor; If Sy1<Sy≤Sy2, the central control processor determines that the Y-axis servo motor has a fault, and adjusts the power of the Y-axis servo motor according to the difference between the actual ratio and the preset ratio; If Sy>Sy2, the central control processor determines that the operating state of the Y-axis servo motor meets the standard; The fifth preset condition is that the central control processor determines that the overlap degree Sr of the actual secondary path of the tool head and the estimated secondary path corresponding thereto satisfies Sr≤Sr1.

Images