A material shaft control method and device

Abstract

The present application relates to the technical field of material shaft control, and provides a material shaft control method and device, the material shaft control device is used for executing the material shaft control method, the deviation distance between the end face of the material shaft and the end face of the machine table shaft is detected, if the deviation distance is greater than the first threshold value, the first moving distance of the material shaft is determined according to the deviation distance, then the material shaft is controlled to move along the radial direction of the end face by the first moving distance, and the deviation distance between the end face of the material shaft and the end face of the machine table shaft is detected again, whether the deviation distance detected again is less than or equal to the first threshold value is judged, after the material shaft is centered to the machine table shaft, the material shaft is pushed along the axial direction, so that the material shaft is close to the machine table shaft or is connected with the machine table shaft, so that the material shaft control method can quickly and accurately assist the material shaft to be close to or connected with the machine table shaft.

Description

Technical Field

[0001] This invention relates to the field of material shaft control technology, and in particular to a material shaft control method and device. Background Technology

[0002] In the field of warehousing and transportation, there is a need for the transportation and storage of sheet-like structures with holes in the middle, such as the axial electrode sheets involved in the lithium battery manufacturing process. For this type of structure similar to the axial electrode sheet (hereinafter referred to as axial electrode sheet), during transportation and storage, a long rod-shaped machine shaft is generally used to place the axial electrode sheet. During automatic loading, a pushing structure pushes the axial electrode sheet from the material shaft of the transport device onto the machine shaft, or from the machine shaft onto the material shaft of the transport device.

[0003] To ensure the smooth transfer of the electrode plates between the machine shaft and the material shaft, it is necessary to align the material shaft with the machine shaft before the transfer, so that the material shaft and the machine shaft are close to or connected to each other. Summary of the Invention

[0004] In order to achieve smooth approach or docking between the material shaft and the machine shaft, the present invention provides a material shaft control method and device.

[0005] The material shaft control method includes: The deviation distance between the end face of the material shaft and the end face of the machine shaft is detected. If the deviation distance is greater than a preset first threshold, then in response to the deviation distance, a first movement distance is obtained; The material shaft is moved a first distance in the radial direction along the end face of the material shaft; The deviation distance between the end face of the material shaft and the end face of the machine shaft is checked again. If the deviation distance is less than or equal to the preset first threshold, the material shaft is pushed along the axial direction to bring it closer to or connect with the machine shaft.

[0006] In one implementation, the step of moving the material shaft a first distance in the radial direction along the end face of the material shaft specifically includes: The first moving distance is decomposed into moving distances in a first direction and moving distances in a second direction that are perpendicular to each other; Based on the moving distance in the first direction, the material shaft moves along the first direction by the moving distance in the first direction. And, based on the second direction moving distance, the material shaft moves along the second direction by the second direction moving distance.

[0007] In one implementation, the material shaft control method further includes: The deviation angle between the material shaft and the machine shaft is detected to obtain the first deviation angle; And in response to the first deviation angle, a first rotation angle is obtained; The material shaft is rotated around its pivot point as the center of rotation and around the plane containing the first rotation angle as the plane of rotation, rotating by the first rotation angle. In one implementation, the material shaft control method further includes: The real-time deviation distance between the end face of the material shaft and the end face of the machine shaft is detected. Determine whether the real-time deviation distance is greater than or equal to a preset second threshold. If the real-time deviation distance is greater than or equal to the preset second threshold, then obtain the second movement distance in response to the real-time deviation distance. The material shaft is moved a second distance in the radial direction.

[0008] In one implementation, the material shaft control method further includes: Detect the real-time deviation angle of the material shaft relative to the machine shaft; Determine whether the real-time deviation angle is greater than or equal to a preset third threshold. If the real-time deviation angle is greater than or equal to the preset third threshold, then obtain a second rotation angle in response to the real-time deviation angle. The material shaft is rotated around its pivot point as the center of rotation, with the plane containing the third rotation angle as the plane of rotation, and rotated by the second rotation angle.

[0009] In one implementation, the material shaft control method further includes: The real-time deviation angle of the material shaft relative to the machine axis is detected, and in response to the real-time deviation angle, a third moving distance is obtained, causing the material shaft to move the third moving distance in the radial direction.

[0010] In one implementation, the material shaft control method further includes: The distance between the end face of the material shaft and the end face of the machine shaft is detected, and the extension and retraction distance of the material shaft is obtained in response to the distance between the end face of the material shaft and the end face of the machine shaft. The material shaft moves axially according to the aforementioned telescopic distance.

[0011] A feed shaft control device includes: A deviation distance sensor is installed on the material shaft to collect a reference pattern on the end face of the machine tool shaft; A distance adjustment mechanism connected to the material shaft is used to control the translation of the material shaft; A propulsion docking mechanism for propelling the material shaft; The system also includes a controller connected to the deviation distance sensor to receive a reference image collected by the deviation distance sensor. The controller calculates the deviation distance between the end face of the material shaft and the end face of the machine shaft based on the collected reference image, and compares the deviation distance with a preset first threshold. If the deviation distance is greater than the preset first threshold, the system responds to the deviation distance and obtains a first movement distance. The controller is also connected to the distance adjustment mechanism and the propulsion docking mechanism to control the operation of the distance adjustment mechanism. If the deviation distance is less than or equal to the preset first threshold, the system controls the operation of the propulsion docking mechanism.

[0012] In one implementation, the distance adjustment mechanism includes: an X-axis distance adjustment mechanism and an X-axis distance adjustment mechanism with mutually perpendicular adjustment directions.

[0013] In one implementation, the material shaft control device further includes: A deviation angle sensor is installed at the end of the material shaft to detect a first deviation angle between the material shaft and the machine tool shaft; An angle adjustment mechanism is connected to the material shaft to control the rotation of the material shaft; The controller connects the deviation angle sensor and the angle adjustment mechanism to receive the first deviation angle sent by the deviation angle sensor, and responds to the first deviation angle to obtain the first rotation angle. It also controls the material shaft to rotate around the rotation fulcrum of the material shaft as the rotation center and the plane where the first rotation angle is located as the rotation surface, and rotates by the first rotation angle through the angle adjustment mechanism.

[0014] In one implementation, the material shaft control device further includes: A relative distance sensor is used to detect the distance between the end face of the material shaft and the end face of the machine shaft. The controller is connected to the relative distance sensor to receive the distance between the end face of the material shaft and the end face of the machine shaft sent by the relative distance sensor, and to obtain the extension distance of the material shaft in response to the distance between the end face of the material shaft and the end face of the machine shaft.

[0015] As can be seen from the above technical solutions, the material shaft control method provided by the embodiments of the present invention detects the deviation distance between the end face of the material shaft and the end face of the machine shaft. If the deviation distance is greater than a preset first threshold, the first moving distance that the material shaft needs to move is determined according to the deviation distance. Then, the material shaft is controlled to move the first moving distance in the radial direction along the end face of the material shaft. By detecting the deviation distance between the end face of the material shaft and the end face of the machine shaft again, it is determined whether the second detected deviation distance is less than or equal to the preset first threshold. After the material shaft is aligned with the machine shaft, it is pushed forward in the axial direction to make the material shaft approach or dock with the machine shaft. Thus, the material shaft control method can quickly and accurately assist the material shaft to approach or dock with the machine shaft. Attached Figure Description

[0016] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0017] Figure 1 A transport vehicle with a material shaft is provided as an embodiment of the present invention; Figure 2 for Figure 1 Side view; Figure 3 To hide the outer shell Figure 1 Front view structural diagram; Figure 4 This is a schematic diagram of the material shaft end face structure provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of a state structure of the material shaft and the machine shaft provided in an embodiment of the present invention; Figure 6 This is a flowchart illustrating a material shaft control method provided in an embodiment of the present invention. Figure 7 This is a schematic diagram of a process for controlling the angle of a feed shaft, provided as an embodiment of the present invention.

[0018] In the diagram: 1-Mobile platform, 2-Base, 3-Outer shell, 4-Material shaft, 5-Control mechanism, 6-Deviation distance sensor, 7-Deviation angle sensor, 101-Shaft electrode, 102-Machinery shaft. Detailed Implementation

[0019] For ease of understanding, in this embodiment of the invention, a spatial coordinate system is established with the axial direction of the material shaft 4 as the reference. The axis of the material shaft 4 is denoted as the Y-axis, the axis perpendicular to the Y-axis in the horizontal plane is denoted as the X-axis, and the axis perpendicular to the horizontal plane is denoted as the Z-axis.

[0020] It should be noted that the machine shaft 102 mentioned in this embodiment of the invention refers to a mechanism for storing materials, which is generally installed on a machine platform. The machine platform is generally placed directly on or fixed to the warehouse floor. The machine shaft 102 is a cantilever shaft fixedly installed on the machine platform. The machine shaft 102 generally extends approximately horizontally, and the shaft diameter of the machine shaft 102 is smaller than the central hole in the middle of the shaft pole piece 101.

[0021] Figure 1 This invention provides a transport tool with a material shaft as an embodiment of the present invention. Figure 2 yes Figure 1 Side view; Figure 3 After the outer shell is removed Figure 1The internal main view structural diagram shows that the transport vehicle includes a mobile platform 1, a base 2 on the mobile platform 1, and a shell 3 on the base 2. Figure 3 As shown, a control mechanism 5 for controlling the movement of the material shaft 4 is provided inside the outer casing 3. The material shaft 4 extends out of the outer casing 3 and can be loaded with perforated materials, such as... Figure 1 As shown, the material shaft 4 is provided with a shaft pole piece 101.

[0022] The axial pole piece 101 is typically an intermediate shaft and an annular piece formed on the intermediate shaft. The intermediate shaft has a central hole. Generally, the axial pole piece 101 is named according to the diameter of the central hole. For example, a three-inch shaft is an axial pole piece with a three-inch (76mm) rotating central hole, and a six-inch shaft is an axial pole piece with a six-inch (152mm) rotating central hole.

[0023] like Figure 6 As shown, the material shaft control method includes S601 to S604, such as... Figure 4 As shown, a deviation distance sensor 6 is provided at the end of the material shaft 4 to detect the deviation distance between the end face of the material shaft 4 and the end face of the machine shaft 102. In actual application, when the transport vehicle needs to transfer the shaft pole piece 101 on the material shaft 4 to the machine shaft 102, or when it is ready to transfer the shaft pole piece 101 on the machine shaft 102 to the material shaft 4, the transport vehicle moves to the machine shaft in advance through positioning and navigation to prepare to start the docking procedure.

[0024] S601: Detects the deviation distance between the end face of the material shaft and the end face of the machine shaft.

[0025] Specifically, a deviation distance sensor 6 mounted on the material shaft 4 acquires a reference image on the end face of the machine shaft 102, and then sends the acquired reference image to the controller. The controller calculates the deviation distance between the material shaft 4 and the machine shaft 102 based on the acquired reference image to obtain the initial deviation distance. In the specific detection process, a reference image for positioning and alignment is set on the machine shaft 102, and the reference image is generally set as a "+". The deviation distance sensor 6, which is located at the center of the material shaft 4, detects the deviation distance between the end face of the material shaft 4 and the end face of the machine shaft 102. The position of the deviation distance sensor 6 on the end face of the material shaft 4 is pre-fixed, generally located at the center of the end face of the material shaft 4, that is, the acquisition center of the deviation distance sensor 6 coincides with the center of the end face of the material shaft 4.

[0026] It should be noted that the deviation distance does not refer to the straight-line distance between the end face of the material shaft 4 and the end face of the machine shaft 102, but rather to the distance between the vertical projection point of the center of the material shaft 4 onto the plane containing the reference pattern on the end face of the machine shaft 102 and the center of the reference pattern. The end face of the material shaft 4 refers to a plane perpendicular to the axis of the material shaft 4.

[0027] S602, if the deviation distance is greater than a preset first threshold, then in response to the deviation distance, a first moving distance is obtained.

[0028] Specifically, after detecting the deviation distance between the end face of the material shaft 4 and the end face of the machine shaft 102, it is necessary to first compare the deviation distance with the size of a preset first threshold. If the deviation distance is greater than the preset first threshold, then based on the deviation distance, a first moving distance that the end face of the material shaft 4 needs to move relative to the end face of the machine shaft 102 is determined. The first moving distance includes the moving direction and the moving distance value.

[0029] It should be noted that the deviation distance and the first moving distance are not necessarily equal in value. The diameters of the material shaft 4 and the machine shaft 102 need to be considered. If the diameter of the material shaft 4 is equal to the diameter of the machine shaft 102, then the deviation distance is equal to the first moving distance, but in the opposite direction. If the diameter of the material shaft 4 is not equal to the diameter of the machine shaft 102, the difference in diameter between the two needs to be considered to determine the first moving distance. This ensures that after the material shaft 4 moves the first moving distance, the highest point of the material shaft 4 is at the same position as the highest point of the machine shaft 102, that is, the height of the uppermost outer contour of the material shaft 4 is the same as the height of the uppermost outer contour of the machine shaft 102. In practical applications, the diameters of the material shaft 4 and the machine shaft 102 are generally set to be equal.

[0030] Step S603: Move the material shaft a first distance along the radial direction of the end face of the material shaft.

[0031] Specifically, the material shaft 4 is connected to a control mechanism 5 that controls the movement of the material shaft 4. The control mechanism 5 includes a distance adjustment mechanism for controlling the translation of the material shaft 4, an angle adjustment mechanism for controlling the rotation of the material shaft 4, and a propulsion and docking mechanism for controlling the extension and retraction of the material shaft 4. The controller controls the distance adjustment mechanism to operate according to the first moving distance, so as to adjust the material shaft 4, so that the end face of the material shaft 4 moves relative to the end face of the machine shaft 102 by the first moving distance.

[0032] In practical applications, since the distance adjustment mechanism of the material shaft 4 generally adopts three-axis control, that is, three guide shafts located on the three axes of the three-dimensional coordinate system, when the material shaft 4 is moved in the radial direction along the end face of the material shaft 4, it is necessary to decompose the movement direction. S603 includes S6031 to S6033.

[0033] S6031, decompose the first moving distance into a first direction moving distance and a second direction moving distance that are perpendicular to each other.

[0034] S6032, based on the first direction moving distance, the material shaft moves along the first direction by the first direction moving distance.

[0035] S6033, based on the second direction moving distance, the material shaft moves along the second direction by the second direction moving distance.

[0036] For example, the first moving distance is decomposed into a first direction moving distance (X-axis) and a second direction moving distance (Z-axis) that are perpendicular to each other; then, the material shaft 4 is moved along the first direction according to the first direction moving distance; and, the material shaft 4 is moved along the second direction according to the second direction moving distance.

[0037] It should be noted that the preset first threshold needs to be determined according to the actual situation. For example, the relative offset distance in the X-axis direction is 2cm and the relative offset distance in the Z-axis direction is 2cm. It can also be a numerical range, such as the relative offset distance in the X-axis direction is 2cm to 5cm and the relative offset distance in the Z-axis direction is 2cm to 4cm. Those skilled in the art can select appropriate values ​​based on the specific structure and size of the material shaft 4, the machine shaft 102 and the shaft pole plate 101.

[0038] S604, re-detect the deviation distance between the end face of the material shaft and the end face of the machine shaft. If the re-detected deviation distance is less than or equal to the preset first threshold, then advance the material shaft in the axial direction to bring the material shaft closer to the machine shaft or connect with the machine shaft.

[0039] Specifically, after the translation of the material shaft 4 is completed, in order to further ensure the success rate of docking between the material shaft 4 and the machine shaft 102, the deviation angle sensor 7 needs to be activated again to collect the reference image on the machine shaft 102. Based on the reference image collected again, the deviation distance of the re-detected set is calculated. Then, the re-detected deviation distance is compared with a preset first threshold. When the re-detected deviation distance is less than the preset first threshold, it is determined that the material shaft 4 can dock with the machine shaft 102. The pushing docking mechanism is then controlled to push the material shaft 4 along the axial direction of the material shaft 4, so that the material shaft 4 approaches (end face fits) or docks with the machine shaft 102 (mechanical locking).

[0040] It should be noted that in step S602, if the deviation distance detected initially is less than or equal to the preset first threshold, the pushing docking mechanism can be directly controlled to push the material shaft 4 along the axial direction of the material shaft 4, so that the material shaft 4 approaches (end face fits) or docks with the machine shaft 102 (mechanical locking).

[0041] Specifically, the step of advancing the material shaft 4 along the axial direction is as follows: First, the distance between the end face of the material shaft 4 and the end face of the machine shaft 102 is detected, and in response to the distance between the end face of the material shaft 4 and the end face of the machine shaft 102, the extension distance of the material shaft 4 is obtained; then, according to the extension distance, the material shaft 4 is moved along the axial direction, so that the material shaft 4 approaches (end face fits) or docks with the machine shaft 102.

[0042] In practical use, because the material shaft 4 is a relatively slender rod, and the transported pole pieces 101 are generally located at the end of the material shaft 4, and the pole pieces 101 are relatively heavy, when a certain number of pole pieces 101 are transported on the material shaft 4, the end of the material shaft 4 will tilt downward to a certain extent, and the degree of tilt is related to the number of pole pieces 101. Therefore, when the pole pieces 101 are transferred between the material shaft 4 and the machine shaft 102, the number of pole pieces 101 on the material shaft 4 gradually decreases, the material shaft 4 is subjected to pressure and lowers, and the material shaft 4 gradually tilts upward to restore its own state. The end of the material shaft 4 will produce a certain degree of upward tilting. When the tilting amplitude of the end of the material shaft 4 is large, such as Figure 4 As shown, the material shaft 4 and the machine shaft 102 will have a certain angle in the axial direction. When the angle is large, it will make it difficult to transfer the shaft electrode 101, or even get stuck between the material shaft 4 and the machine shaft 102 and cannot move, resulting in the failure of the shaft electrode 101 to be transported.

[0043] To address the aforementioned technical problems, this invention also provides a method for controlling the angle of the material shaft 4. It should be noted that the material shaft angle control can be performed before the material shaft 4 aligns with the machine shaft 102, or it can be performed in real-time during the transfer of the shaft electrode 101. Figure 7As shown, the angle control method for the material shaft includes steps S701 to S703. It should be noted that in this embodiment, steps S701 to S703 can be performed before or after steps S601 to S603, or the two adjustment processes can be combined and performed synchronously. That is, when detecting the deviation distance between the end face of the material shaft 4 and the end face of the machine shaft 102, the deviation angle between the material shaft 4 and the machine shaft 102 is simultaneously detected. Then, the angle of the material shaft 4 and the deviation distance between the end face of the material shaft 4 and the end face of the machine shaft 102 are adjusted in one step. It should be noted that in practical applications, the angle adjustment of the material shaft 4 will affect the deviation distance between the center of the end face of the material shaft 4 and the center of the machine shaft 102. Therefore, in the synchronous adjustment process, the relationship between the deviation angle and the deviation distance can be pre-calibrated for subsequent adjustment processes. In this system, the correspondence between deviation angle and deviation distance can be directly invoked. By using the compensation relationship between deviation angle and deviation distance, the adjustment process can be simplified. For example, assuming that the material shaft 4 rotates by 1 unit angle in the plane containing the X-axis and the Z-axis, and the center of the end face of the material shaft 4 moves by 1 unit distance in the Z-axis direction, when the center of the end face of the material shaft 4 differs from the center of the end face of the machine shaft 102 by 2 units, the deviation angle between the material shaft 4 and the machine shaft 102 differs by -1 unit angle. If the deviation distance is adjusted first, the material shaft 4 needs to be translated by 2 units and then rotated by -1 unit angle. At this time, the material shaft 4 needs to be translated again to ensure that the material shaft 4 is aligned with the machine shaft 102. By calibrating the correspondence between deviation angle and deviation distance in advance, the material shaft 4 can be directly translated by 1 unit distance and then rotated by -1 unit angle to achieve alignment between the material shaft 4 and the machine shaft 102.

[0044] S701 detects the deviation angle between the material shaft and the machine shaft to obtain the first deviation angle.

[0045] like Figure 4 As shown, a deviation angle sensor 7 is provided on the end face of the material shaft 4. The deviation angle sensor 7 includes at least three distance sensors arranged in a triangle on the end face of the material shaft 4 and configured to detect the distance between the end face of the material shaft 4 and the end face of the machine shaft 102. Then, the deviation angle between the material shaft 4 and the machine shaft 102 is calculated based on the distance values ​​detected by the at least three distance sensors to obtain the first deviation angle.

[0046] S702, and in response to the first deviation angle, obtain the first rotation angle.

[0047] S703, the material shaft is rotated around the rotation fulcrum of the material shaft 4 as the rotation center and the plane containing the first rotation angle as the rotation surface, and rotated by the first rotation angle.

[0048] Before the material shaft 4 is connected to the machine shaft 102, the deviation angle between the material shaft 4 and the machine shaft 102 is detected to obtain the first deviation angle between the material shaft 4 and the machine shaft 102. The controller determines the first rotation angle that the material shaft 4 needs to rotate relative to the machine shaft 102 based on the first deviation angle. Then, the controller controls the angle adjustment mechanism connected to the material shaft 4 to operate, so that the material shaft 4 rotates by the first rotation angle with the rotation fulcrum of the material shaft 4 as the rotation center and the plane where the first rotation angle is located as the rotation surface, thereby adjusting the deviation angle between the material shaft 4 and the machine shaft 102. The rotation fulcrum does not refer to the location of the support structure, but to the location of the virtual rotation center formed by the support structure causing the material shaft 4 to rotate.

[0049] During the transfer of the shaft electrode 101, the real-time deviation distance of the material shaft 4 relative to the machine shaft 102 can be detected in real time, and in response to the real-time deviation distance, a second moving distance is obtained, so that the material shaft 4 moves a second moving distance in the radial direction of the end face.

[0050] During the transfer of the axial pole piece 101, the real-time deviation angle of the material shaft 4 relative to the machine shaft 102 can be detected in real time, and in response to the real-time deviation angle, a second rotation angle is obtained, so that the material shaft 4 rotates with the rotation fulcrum as the rotation center and the plane where the second rotation angle is located as the rotation surface, and rotates by the second rotation angle.

[0051] like Figure 5 As shown, in actual use, when the shaft electrode 101 is transferred from the material shaft 4 to the machine shaft 102, the end of the material shaft 4 tends to tilt upwards. If the diameter of the material shaft 4 is large or the shaft length is long, or if the number of transferred shaft electrodes 101 is small, the elastic deformation of the material shaft 4 is small. When a deviation angle is detected between the material shaft 4 and the machine shaft 102, the angle adjustment can be performed directly. Alternatively, when a deviation distance is detected between the material shaft 4 and the machine shaft 102, the offset distance adjustment can be performed directly. Instead, the relationship between the offset distance of the end of the material shaft 4 relative to the machine shaft 102 and the deviation angle can be used for compensation adjustment.

[0052] Specifically, the real-time deviation distance of the material shaft 4 relative to the machine shaft 102 is detected, and it is determined whether the real-time deviation distance is greater than or equal to a preset second threshold. If the real-time deviation distance is greater than or equal to the preset second threshold, then in response to the real-time deviation distance, a third movement distance is obtained, so that the material shaft 4 rotates with the rotation fulcrum of the material shaft 4 as the rotation center and the plane where the third rotation angle is located as the rotation surface, and rotates by a third rotation angle.

[0053] Alternatively, the real-time deviation angle of the material shaft 4 relative to the machine shaft 102 is detected, and it is determined whether the real-time deviation angle is greater than or equal to a preset third threshold. If the real-time deviation angle is greater than or equal to the preset third threshold, a third rotation angle is obtained in response to the real-time deviation angle, so that the material shaft 4 moves a third distance in the radial direction.

[0054] Corresponding to the embodiments of the aforementioned material shaft control method, the present invention also provides embodiments of a material shaft control device. This material shaft control device is used to execute the aforementioned material shaft control method.

[0055] The material shaft control device includes a deviation distance sensor 6, a distance adjustment mechanism, a propulsion docking mechanism, and a controller. The deviation distance sensor 6 is a camera that captures a reference image on the end face of the machine shaft 102. This image is then sent to the controller, which calculates the deviation distance between the material shaft 4 and the machine shaft 102 based on the captured image. The controller compares this deviation distance with a preset first threshold. If the deviation distance is greater than the first threshold, it responds to the deviation distance and obtains a first movement distance. This first movement distance is then sent to the distance adjustment mechanism and the propulsion docking mechanism connected to the controller. The distance adjustment mechanism controls the movement of the material shaft 4. After the material shaft 4 completes the first movement distance, the propulsion docking mechanism propels the material shaft 4 closer to the machine shaft 102 to complete the docking. Before docking, the controller also compares the deviation distance with the preset first threshold. If the deviation distance is greater than the first threshold, it controls the distance adjustment mechanism to continue adjusting the position of the material shaft 4 until the deviation distance is less than or equal to the preset first threshold.

[0056] The distance adjustment mechanism includes at least: an X-axis distance adjustment mechanism and an X-axis distance adjustment mechanism with mutually perpendicular adjustment directions.

[0057] In some embodiments of the present invention, the material shaft control device further includes: a deviation angle sensor 7 disposed on the material shaft 4, the deviation angle sensor 7 including at least three distance sensors arranged in a triangle on the end face of the material shaft 4, and configured to detect the distance between the end face of the material shaft 4 and the end face of the machine shaft 102. Then, the deviation angle between the material shaft 4 and the machine shaft 102 is calculated based on the distance values ​​detected by the at least three distance sensors respectively.

[0058] The material shaft control device also includes an angle adjustment mechanism connected to the material shaft 4. When the controller receives the first deviation angle sent by the deviation angle sensor 7 and responds to the first deviation angle, it obtains a first rotation angle and controls the material shaft 4 to rotate around the rotation fulcrum of the material shaft 4 as the rotation center and the plane where the first rotation angle is located as the rotation surface, and rotates by the first rotation angle.

[0059] Furthermore, in some embodiments of the present invention, in order to achieve precise docking between the material shaft 4 and the machine shaft 102, the material shaft control device further includes: a relative distance sensor for detecting the distance between the end face of the material shaft 4 and the end face of the machine shaft 102. The controller is connected to the relative distance sensor to receive the distance between the end face of the material shaft 4 and the end face of the machine shaft 102 sent by the relative distance sensor, and responds to the distance between the end face of the material shaft 4 and the end face of the machine shaft 102 to obtain the material shaft extension distance. Then, the controller controls the propulsion docking mechanism to operate according to the material shaft extension distance to achieve precise docking between the material shaft and the machine shaft 102. The relative distance sensor can be a laser rangefinder or other sensors that can measure distances.

[0060] As can be seen from the above technical solutions, the material shaft control method and device provided in the embodiments of the present invention are used to execute the material shaft control method. By detecting the deviation distance between the end face of the material shaft 4 and the end face of the machine shaft 102, if the deviation distance is greater than a preset first threshold, the first moving distance that the material shaft 4 needs to move is determined according to the deviation distance. Then, the material shaft 4 is controlled to move the first moving distance in the radial direction of the end face. By detecting the deviation distance between the end face of the material shaft 4 and the end face of the machine shaft 102 again, it is determined whether the second detected deviation distance is less than or equal to the preset first threshold. After ensuring that the material shaft 4 is aligned with the machine shaft 102, the material shaft 4 is pushed in the axial direction so that the material shaft 4 is close to or docks with the machine shaft 102. Thus, the material shaft control method can quickly and accurately assist the material shaft 4 to approach or dock with the machine shaft 102.

[0061] The above specific embodiments further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solution of the present invention should be included within the scope of protection of the present invention.

Claims

1. A material shaft control method, characterized in that, A deviation distance sensor is installed on the end face of the material shaft, and the deviation distance sensor is used to acquire a reference image on the end face of the machine shaft; the material shaft control method includes: The deviation distance between the end face of the material shaft and the end face of the machine shaft is calculated based on the reference image collected on the machine shaft. Obtain the deviation angle between the material shaft and the machine shaft; If the deviation distance is greater than a preset first threshold, the first moving distance of the material shaft is determined in response to the deviation distance based on the correspondence between the deviation angle and the deviation distance; The rotation angle is determined in response to the deviation angle. Control the material shaft to move a first distance in the radial direction along the end face of the material shaft; Control the rotation angle of the material shaft; The reference image is received again, and the deviation distance between the end face of the material shaft and the end face of the machine shaft is recalculated based on the re-acquired reference image. If the recalculated deviation distance is less than or equal to the preset first threshold, the material shaft is pushed along the axial direction to bring the material shaft closer to the machine shaft or to dock with the machine shaft.

2. The material shaft control method according to claim 1, characterized in that, The step of moving the material shaft a first distance radially along the end face of the material shaft is specifically as follows: The first moving distance is decomposed into moving distances in a first direction and moving distances in a second direction that are perpendicular to each other; Based on the moving distance in the first direction, the material shaft moves along the first direction by the moving distance in the first direction. And, based on the second direction moving distance, the material shaft moves along the second direction by the second direction moving distance.

3. The material shaft control method according to claim 1, characterized in that, The material shaft control method further includes: The deviation angle between the material shaft and the machine shaft is detected to obtain the first deviation angle; And in response to the first deviation angle, a first rotation angle is obtained; The material shaft is rotated around its pivot point as the center of rotation and around the plane containing the first rotation angle as the plane of rotation, rotating by the first rotation angle.

4. The material shaft control method according to claim 3, characterized in that, The material shaft control method further includes: The real-time deviation distance between the end face of the material shaft and the end face of the machine shaft is detected. Determine whether the real-time deviation distance is greater than or equal to a preset second threshold. If the real-time deviation distance is greater than or equal to the preset second threshold, then obtain the second movement distance in response to the real-time deviation distance. The material shaft is moved a second distance in the radial direction.

5. The material shaft control method according to claim 3, characterized in that, The material shaft control method further includes: Detect the real-time deviation angle of the material shaft relative to the machine shaft; Determine whether the real-time deviation angle is greater than or equal to a preset third threshold. If the real-time deviation angle is greater than or equal to the preset third threshold, then obtain a second rotation angle in response to the real-time deviation angle. The material shaft is rotated around its pivot point as the center of rotation and around the plane containing the second rotation angle as the plane of rotation, rotating by the second rotation angle.

6. The material shaft control method according to claim 3, characterized in that, The material shaft control method further includes: The real-time deviation distance between the end face of the material shaft and the end face of the machine shaft is detected, and in response to the real-time deviation distance, a third rotation angle is obtained, so that the material shaft rotates around the rotation fulcrum of the material shaft as the rotation center and the plane where the third rotation angle is located as the rotation surface, and rotates by a third rotation angle.

7. The material shaft control method according to claim 3, characterized in that, The material shaft control method further includes: The real-time deviation angle of the material shaft relative to the machine axis is detected, and in response to the real-time deviation angle, a third moving distance is obtained, causing the material shaft to move the third moving distance in the radial direction.

8. The material shaft control method according to claim 1, characterized in that, The material shaft control method further includes: The distance between the end face of the material shaft and the end face of the machine shaft is detected, and the extension and retraction distance of the material shaft is obtained in response to the distance between the end face of the material shaft and the end face of the machine shaft. The material shaft moves axially according to the aforementioned telescopic distance.

9. A material shaft control device, characterized in that, The material shaft control device is used to execute the material shaft control method according to any one of claims 1-8, and the material shaft control device includes: A deviation distance sensor and a deviation angle sensor are installed on the end face of the material shaft. The deviation distance sensor is used to acquire a reference image on the end face of the machine shaft. The deviation angle sensor is used to detect the deviation angle between the material shaft and the machine shaft. A distance adjustment mechanism connected to the material shaft is used to control the translation of the material shaft; A propulsion docking mechanism for propelling the material shaft; An angle adjustment mechanism is connected to the material shaft to control the rotation of the material shaft; The system includes a controller connected to the deviation distance sensor and the deviation angle sensor to receive a reference image acquired by the deviation distance sensor and a deviation angle acquired by the deviation angle sensor. The controller calculates the deviation distance between the end face of the material shaft and the end face of the machine shaft based on the acquired reference image and compares the deviation distance with a preset first threshold. If the deviation distance is greater than the preset first threshold, the system responds to the deviation distance and obtains a first moving distance. The controller is also connected to the distance adjustment mechanism, the angle adjustment mechanism, and the propulsion docking mechanism to control the operation of the distance adjustment mechanism and the angle adjustment mechanism. If the deviation distance is less than or equal to the preset first threshold, the system controls the propulsion docking mechanism to operate.

10. A material shaft control device according to claim 9, characterized in that, The distance adjustment mechanism includes an X-axis distance adjustment mechanism and a Z-axis distance adjustment mechanism, which are perpendicular to each other in the adjustment direction.

11. A material shaft control device according to claim 9, characterized in that, The feed shaft control device also includes: A deviation angle sensor is installed at the end of the material shaft to detect a first deviation angle between the material shaft and the machine tool shaft; An angle adjustment mechanism is connected to the material shaft to control the rotation of the material shaft; The controller connects the deviation angle sensor and the angle adjustment mechanism to receive the first deviation angle sent by the deviation angle sensor, and responds to the first deviation angle to obtain the first rotation angle. It also controls the material shaft to rotate around the rotation fulcrum of the material shaft as the rotation center and the plane where the first rotation angle is located as the rotation surface, and rotates by the first rotation angle through the angle adjustment mechanism.

12. A material shaft control device according to claim 9, characterized in that, The feed shaft control device also includes: A relative distance sensor is used to detect the distance between the end face of the material shaft and the end face of the machine shaft. The controller is connected to the relative distance sensor to receive the distance between the end face of the material shaft and the end face of the machine shaft sent by the relative distance sensor, and to obtain the extension distance of the material shaft in response to the distance between the end face of the material shaft and the end face of the machine shaft.

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