Zero point calibration method, device and equipment of tube cutting machine material supporting shaft and medium

Abstract

Embodiments of the present disclosure provide a zero point calibration method, device, equipment and medium for a pipe cutting machine. The method comprises the following steps: determining a plurality of to-be-calibrated supporting shafts in the pipe cutting machine, a basic zero point position of each supporting shaft, and a torque determination value; determining a calibration zero point position of each supporting shaft according to the basic zero point position and the torque determination value of each supporting shaft in a preset calibration sequence; determining a zero point offset value of each supporting shaft according to the basic zero point position and the calibration zero point position of each supporting shaft, and calibrating each supporting shaft in a numerical control system according to the zero point offset value. The zero point offset value of each supporting shaft is automatically determined according to the torque feedback of each supporting shaft, so that each supporting shaft is calibrated according to the zero point offset value, and each supporting shaft can be kept on the same horizontal plane during work. The problem of manual debugging and error checking in the prior art is solved, and the zero point calibration efficiency of the supporting shaft of the pipe cutting machine is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of CNC technology, and in particular to a method, apparatus, equipment and medium for zero-point calibration of the material support shaft of a pipe cutting machine. Background Technology

[0002] In pipe cutting applications, excessively long pipes will deform due to gravity. The servo-controlled material support mechanism can move up and down according to the shape of the pipe as it rotates, ensuring that all material support mechanisms can support the pipe well. This prevents deformation of the unsupported portion of the pipe and ensures that the uncut end of the pipe will not suddenly drop due to being cut, thus preventing sudden damage to some material support mechanisms.

[0003] Longer pipe cutting machines typically have multiple material support shafts. Since each material support shaft is installed independently, the zero-point switches of each material support shaft may not be on the same horizontal plane, and there may be some height difference.

[0004] In the existing technology, each material support shaft needs to be manually calibrated by the commissioning engineer. The calibration process is cumbersome and requires multiple manual checks to verify the error, which is time-consuming and labor-intensive. If the customer finds that the zero-point calibration is off during use, they have to wait for the commissioning engineer to calibrate it again, which greatly reduces production efficiency. Summary of the Invention

[0005] This invention provides a zero-point calibration method, device, equipment, and medium for the material support shaft of a pipe cutting machine. It can automatically calibrate each material support shaft, ensuring that each material support shaft remains on the same horizontal plane during operation. This solves the problem of needing manual adjustment and error verification in the prior art, and effectively improves the zero-point calibration efficiency of the material support shaft of the pipe cutting machine.

[0006] In a first aspect, embodiments of this disclosure provide a method for zero-point calibration of the material support shaft of a pipe cutting machine, the method comprising: Determine the multiple material support shafts to be calibrated in the pipe cutting machine, the basic zero point position of each material support shaft, and the torque judgment value; Based on the basic zero point position and torque judgment value of each material support shaft, the calibration zero point position of each material support shaft is determined according to the preset calibration sequence. Based on the basic zero point position and the calibration zero point position of each material support shaft, the zero point offset value of each material support shaft is determined, and based on the zero point offset value, each material support shaft is calibrated in the CNC system.

[0007] Optionally, determine the multiple material support shafts to be calibrated in the pipe cutting machine, the basic zero point position of each material support shaft, and the torque determination value, including: Determine the type of switch used for the zero point of the pipe cutter, and when it is determined that the starting conditions matching the switch type are met, obtain the point with the smallest coordinate value in the coordinate system for each material support shaft, and use it as the basic zero point position of each material support shaft.

[0008] Optionally, the zero-point switch types include zero-point switches and negative limit switches.

[0009] Optionally, determining the activation conditions that match the switch type includes: If the switch type is a zero-point switch, when the user touches the zero-point switch, it is determined that the current start-up conditions matching the zero-point switch are met. If the switch type is a negative limit switch, when the hard limit alarm is detected to be blocked, it is determined that the current start-up conditions matching the negative limit switch are met.

[0010] Optionally, based on the basic zero-point position and torque determination value of each material support shaft, the calibration zero-point position of each material support shaft is determined according to a preset calibration sequence, including: In the tube cutting machine that has already supported the test tube, the current material support shaft is determined in each material support shaft according to the preset calibration sequence, and the basic zero point position of the current material support shaft is determined; The current material support shaft is controlled to move from the base zero point position along the positive axis, and the torque feedback value between the current material support shaft and the test tube is obtained in real time through the servo driver connected to the torque sensor. When the difference between the torque feedback value and the torque judgment value exceeds the preset difference threshold, the current zero point position of the current material support shaft is determined as the calibration zero point position of the current material support shaft.

[0011] Optionally, based on the basic zero-point position and the calibrated zero-point position of each material support shaft, the zero-point offset value of each material support shaft is determined, including: Determine the zero-point distance value of each material support shaft based on its basic zero-point position and calibrated zero-point position; Based on the zero-point distance values ​​of each material support shaft, determine the target material support shaft with the smallest zero-point distance value, and determine the zero-point offset value of the target material support shaft to be 0; Based on the zero-point distance value of the target material support shaft and the zero-point distance values ​​of other material support shafts to be calibrated in the pipe cutting machine, calculate the zero-point offset value of each of the other material support shafts to be calibrated in the pipe cutting machine.

[0012] Optionally, based on the zero-point offset value, each material support shaft is calibrated in the CNC system, including: Obtain the zero-point offset value of each material support axis, identify the zero-point offset parameter option that matches each material support axis in the CNC system, and fill the zero-point offset value of each material support axis into the zero-point offset parameter option that matches each material support axis to achieve calibration of each material support axis in the CNC system.

[0013] Secondly, this disclosure also provides a zero-point calibration device for the material support shaft of a pipe cutting machine, the device comprising: The calibration data determination module is used to determine the multiple material support shafts to be calibrated in the pipe cutting machine, the basic zero point position of each material support shaft, and the torque judgment value; The calibration zero-point position determination module is used to determine the calibration zero-point position of each material support shaft according to the basic zero-point position and torque judgment value of each material support shaft, and in accordance with the preset calibration sequence. The material support shaft calibration module is used to determine the zero-point offset value of each material support shaft based on the basic zero-point position and the calibration zero-point position, and to calibrate each material support shaft in the CNC system based on the zero-point offset value.

[0014] Thirdly, embodiments of this disclosure also provide an electronic device, the electronic device comprising: At least one processor; and A memory that is communicatively connected to at least one processor; wherein, When the memory stores a computer program that can be executed by at least one processor, the computer program is executed by at least one processor to enable at least one processor to perform a zero-point calibration method for a pipe cutter support shaft as described in any embodiment of the present disclosure.

[0015] Fourthly, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a zero-point calibration method for a pipe cutter's material support shaft as described in any embodiment of this disclosure.

[0016] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description.

[0017] Therefore, the present invention has the following beneficial effects: 1. By acquiring the torque feedback value of each material support shaft, the zero-point offset value of each material support shaft is automatically determined, thereby calibrating each material support shaft based on the zero-point offset value, which improves the calibration accuracy.

[0018] 2. This solves the problem of requiring manual debugging and error verification in existing technologies, reducing the time spent on zero-point calibration of the material support shaft of the pipe cutter.

[0019] 3. It can improve the zero-point calibration efficiency of the material support shaft, thereby effectively increasing the working time of the material support shaft during the production process, saving manpower and material costs, and increasing output. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart of a zero-point calibration method for a pipe cutting machine's material support shaft according to Embodiment 1 of the present invention; Figure 2 This is a schematic diagram showing the relationship between the basic zero point position and the calibration zero point position of a pipe cutting machine material support shaft according to Embodiment 1 of the present invention; Figure 3 This is a flowchart of another zero-point calibration method for the material support shaft of a pipe cutter according to Embodiment 2 of the present invention; Figure 4 This is a schematic diagram of the zero-point calibration device for a pipe cutting machine's material support shaft according to Embodiment 3 of the present invention; Figure 5 This is a schematic diagram of the structure of an electronic device provided according to Embodiment 4 of the present invention. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] Example 1 Figure 1 This is a flowchart illustrating a zero-point calibration method for a pipe cutting machine's support shaft according to Embodiment 1 of the present invention. This embodiment is applicable to situations requiring automatic zero-point calibration of the pipe cutting machine's support shaft. This method can be executed by the zero-point calibration device for the pipe cutting machine's support shaft provided in this disclosure. This device can be implemented using software and / or hardware and is generally integrated into a computer device. The method of this disclosure specifically includes: S110: Determine the multiple material support shafts to be calibrated in the pipe cutting machine, the basic zero point position of each material support shaft, and the torque judgment value.

[0025] Optionally, each material support shaft in the pipe cutting machine described in this embodiment of the invention can be controlled by a servo motor.

[0026] Optionally, the pipe cutter is a machine used to cut pipes. The material support shaft on the pipe cutter is used to support the cut pipes. In the embodiments described in this invention, when the pipe cutter is calibrating the zero point of the material support shaft, the pipe cutter should support the test pipe. The test pipe should be a solid pipe that can cross all feeding or unloading ends, or a relatively sturdy pipe that is not prone to sagging.

[0027] Optionally, the base zero point position of each material support shaft can be determined according to the coordinate axis of each material support shaft. The coordinate axis of the material support shaft is positive with the direction pointing to the zenith, and the base zero point position of the material support shaft is located at the lowest point of the coordinate axis of the material support shaft.

[0028] Optionally, the torque determination value can be a value pre-input into the computer-controlled machine tool.

[0029] S120: Based on the basic zero point position and torque judgment value of each material support shaft, determine the calibration zero point position of each material support shaft according to the preset calibration sequence.

[0030] Optionally, the material support shaft can be moved upwards from its basic zero point position according to the preset calibration sequence, starting from the first material support shaft. By reading the torque feedback value of the servo drive, when the torque feedback value exceeds the torque judgment value, the current position is recorded as the calibration zero point position of the current material support shaft. Subsequently, the material support shaft automatically returns to its basic zero point position.

[0031] Figure 2 This is a schematic diagram showing the relationship between the basic zero-point position and the calibration zero-point position of an optional pipe cutter's material support shaft. (Example) Figure 2 As shown, a, b, c, and d are the calibration zero points of the four material support shafts, and the original zero points of material support 1 to material support 4 are the basic zero points of the four material support shafts.

[0032] S130: Determine the zero-point offset value of each material support shaft based on the basic zero-point position and the calibration zero-point position of each material support shaft, and calibrate each material support shaft in the CNC system based on the zero-point offset value.

[0033] Optionally, based on the basic zero-point position and the calibration zero-point position of each material support shaft, the material support shaft with the shortest distance between the basic zero-point position and the calibration zero-point position can be determined, and the zero-point offset value of the material support shaft with the shortest distance can be set to 0. That is, the calibration zero-point position of the material support shaft with the shortest distance can be used as the reference position for the zero-point offset, and the zero-point offset value of the other material support shafts can be determined one by one.

[0034] by Figure 2 For example, if the calibrated zero point position of the shortest material support shaft is a, then the new zero point offset of material support 1 is 0, the new zero point offset of material support 2 is ba, the new zero point offset of material support 3 is ca, and the new zero point offset of material support 4 is da.

[0035] The technical solution of this invention determines the calibration zero-point position of each material support shaft based on the basic zero-point position and torque determination value of each material support shaft in the pipe cutting machine. It then determines the zero-point offset value of each material support shaft based on its calibration zero-point position and the basic zero-point position. This method of zero-point calibration based on the zero-point offset value automatically determines the zero-point offset value of each material support shaft, thereby improving calibration accuracy and solving the problem of manual adjustment and error verification required in existing technologies. It also reduces the time spent on zero-point calibration of the material support shafts in the pipe cutting machine, improves the efficiency of zero-point calibration, and ultimately effectively increases the working time of the material support shafts during production, saving manpower and material costs and increasing output.

[0036] Example 2 Figure 3 This is a flowchart of another zero-point calibration method for the material support shaft of a pipe cutter provided in Embodiment 2 of the present invention.

[0037] S210. Determine the multiple material support shafts to be calibrated in the pipe cutting machine, the base zero point position of each material support shaft, and the torque judgment value.

[0038] The determination of the multiple material support shafts to be calibrated in the pipe cutting machine, the basic zero-point position of each material support shaft, and the torque determination value can specifically include: Determine the type of switch used for the zero point of the pipe cutter, and when it is determined that the starting conditions matching the switch type are met, obtain the point with the smallest coordinate value in the coordinate system for each material support shaft, and use it as the basic zero point position of each material support shaft.

[0039] Optionally, the zero-point switch type may include a zero-point switch and a negative limit switch.

[0040] Optionally, determining the activation conditions that match the switch type may specifically include: If the switch type is a zero-point switch, when the user touches the zero-point switch, it is determined that the current start-up conditions matching the zero-point switch are met. If the switch type is a negative limit switch, when the hard limit alarm is detected to be blocked, it is determined that the current start-up conditions matching the negative limit switch are met.

[0041] S220. In the tube cutting machine that has already supported the test tube, determine the current material support shaft in each material support shaft according to the preset calibration sequence, and determine the basic zero point position of the current material support shaft.

[0042] S230: Control the current material support shaft to move from the base zero point position along the coordinate axis in the positive direction, and obtain the torque feedback value between the current material support shaft and the test tube in real time through the servo driver connected to the torque sensor.

[0043] S240. When the difference between the torque feedback value and the torque judgment value exceeds the preset difference threshold, the current zero point position of the current material support shaft is determined as the calibration zero point position of the current material support shaft.

[0044] S250. Determine the zero-point distance value of each material support shaft based on the basic zero-point position and the calibrated zero-point position of each material support shaft.

[0045] S260. Based on the zero-point distance values ​​of each material support shaft, determine the target material support shaft with the smallest zero-point distance value, and determine the zero-point offset value of the target material support shaft to be 0.

[0046] S270. Based on the zero-point distance value of the target material support shaft and the zero-point distance values ​​of the other material support shafts to be calibrated in the pipe cutter, calculate the zero-point offset value of each of the other material support shafts to be calibrated in the pipe cutter.

[0047] S280. Obtain the zero-point offset value of each material support axis, identify the zero-point offset parameter option that matches each material support axis in the CNC system, and fill the zero-point offset value of each material support axis into the zero-point offset parameter option that matches each material support axis, so as to calibrate each material support axis in the CNC system.

[0048] The technical solution of this invention determines the calibration zero-point position of each material support shaft based on the basic zero-point position and torque determination value of each material support shaft in the pipe cutting machine. It then determines the zero-point offset value of each material support shaft based on its calibration zero-point position and the basic zero-point position. This method of zero-point calibration based on the zero-point offset value automatically determines the zero-point offset value of each material support shaft, thereby improving calibration accuracy and solving the problem of manual adjustment and error verification required in existing technologies. It also reduces the time spent on zero-point calibration of the material support shafts in the pipe cutting machine, improves the efficiency of zero-point calibration, and ultimately effectively increases the working time of the material support shafts during production, saving manpower and material costs and increasing output.

[0049] Example 3 Figure 4 This is a schematic diagram of a zero-point calibration device for a pipe cutting machine's material support shaft, provided in Embodiment 3 of the present invention. This device can be implemented using software and / or hardware, and is generally integrated into the electronic equipment performing the method. For example... Figure 3 As shown, the device includes: a calibration data determination module 310, a calibration zero point position determination module 320, and a material support shaft calibration module 330.

[0050] The calibration data determination module 310 is used to determine the multiple material support shafts to be calibrated in the pipe cutting machine, the basic zero point position of each material support shaft, and the torque determination value; The calibration zero point position determination module 320 is used to determine the calibration zero point position of each material support shaft according to the basic zero point position and torque judgment value of each material support shaft in a preset calibration sequence. The material support shaft calibration module 330 is used to determine the zero-point offset value of each material support shaft based on the basic zero-point position and the calibration zero-point position of each material support shaft, and to calibrate each material support shaft in the CNC system based on the zero-point offset value.

[0051] Optionally, the data determination module 310 can be specifically used to: determine the type of switch used for the zero point of the pipe cutter, and when it is determined that the starting conditions matching the switch type are met, obtain the point with the smallest coordinate value in the coordinate system for each material support shaft as the basic zero point position of each material support shaft.

[0052] Optionally, the zero-point switch types include zero-point switches and negative limit switches.

[0053] Optionally, the data determination module 310 can be further used to: if the switch type is a zero-point switch, when the user touches the zero-point switch, determine that the current start-up conditions matching the zero-point switch are met; If the switch type is a negative limit switch, when the hard limit alarm is detected to be blocked, it is determined that the current start-up conditions matching the negative limit switch are met.

[0054] Optionally, the zero-point position determination module 320 can be specifically used for: In the tube cutting machine that has already supported the test tube, the current material support shaft is determined in each material support shaft according to the preset calibration sequence, and the basic zero point position of the current material support shaft is determined. The current material support shaft is controlled to move from the base zero point position along the positive coordinate axis, and the torque feedback value between the current material support shaft and the test tube is obtained in real time through the servo driver connected to the torque sensor. When the difference between the torque feedback value and the torque judgment value exceeds the preset difference threshold, the current zero point position of the current material support shaft is determined as the calibration zero point position of the current material support shaft.

[0055] Optionally, the material support shaft calibration module 330 can be specifically used to: determine the zero-point distance value of each material support shaft based on the basic zero-point position and the calibration zero-point position of each material support shaft; Based on the zero-point distance values ​​of each material support shaft, determine the target material support shaft with the smallest zero-point distance value, and determine the zero-point offset value of the target material support shaft to be 0; Based on the zero-point distance value of the target material support shaft and the zero-point distance values ​​of other material support shafts to be calibrated in the pipe cutting machine, calculate the zero-point offset value of each of the other material support shafts to be calibrated in the pipe cutting machine.

[0056] Optionally, the material support shaft calibration module 330 can also be specifically used to: obtain the zero-point offset value of each material support shaft, identify the zero-point offset parameter option that matches each material support shaft in the CNC system, and fill the zero-point offset value of each material support shaft into the zero-point offset parameter option that matches each material support shaft, so as to realize the calibration of each material support shaft in the CNC system.

[0057] The technical solution of this invention determines the calibration zero-point position of each material support shaft based on the basic zero-point position and torque determination value of each material support shaft in the pipe cutting machine. It then determines the zero-point offset value of each material support shaft based on its calibration zero-point position and the basic zero-point position. This method of zero-point calibration based on the zero-point offset value automatically determines the zero-point offset value of each material support shaft, thereby improving calibration accuracy and solving the problem of manual adjustment and error verification required in existing technologies. It also reduces the time spent on zero-point calibration of the material support shafts in the pipe cutting machine, improves the efficiency of zero-point calibration, and ultimately effectively increases the working time of the material support shafts during production, saving manpower and material costs and increasing output.

[0058] The zero-point calibration device for the material support shaft of a pipe cutter provided in this embodiment of the invention can execute the zero-point calibration method for the material support shaft of a pipe cutter provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0059] Example 4 Figure 5 This is a schematic diagram of the structure of an electronic device 400 provided in Embodiment 4 of the present invention. The electronic device in this embodiment can be a device corresponding to the backend service platform of an application, or a mobile terminal device with an application client installed. Specifically, the electronic device can include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Figure 4 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0060] like Figure 4 As shown, electronic device 400 may include a processing device (e.g., a central processing unit, a graphics processor, etc.) 401, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 402 or a program loaded from storage device 408 into random access memory (RAM) 403. RAM 403 also stores various programs and data required for the operation of electronic device 400. Processing device 401, ROM 402, and RAM 403 are interconnected via bus 404. Input / output (I / O) interface 405 is also connected to bus 404.

[0061] Typically, the following devices can be connected to I / O interface 405: input devices 406 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 407 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 408 including, for example, magnetic tapes, hard disks, etc.; and communication devices 409. Communication device 409 allows electronic device 400 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 4 An electronic device 400 with various devices is shown; however, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively.

[0062] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication device 409, or installed from storage device 408, or installed from ROM 402. When the computer program is executed by processing device 401, it performs the functions defined in the methods of embodiments of this disclosure.

[0063] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0064] In some implementations, clients and servers can communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and can interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet of Things), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future-developed networks.

[0065] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0066] The aforementioned computer-readable medium carries one or more programs. When the aforementioned one or more programs are executed by the electronic device, the internal processes of the electronic device are executed as follows: determining multiple material support shafts to be calibrated in the pipe cutting machine, the basic zero-point position of each material support shaft, and the torque determination value; determining the calibration zero-point position of each material support shaft according to the basic zero-point position and torque determination value, in a preset calibration order; determining the zero-point offset value of each material support shaft according to the basic zero-point position and calibration zero-point position, and calibrating each material support shaft in the CNC system according to the zero-point offset value.

[0067] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0068] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0069] The units described in the embodiments of this disclosure can be implemented in software or hardware. The names of the units are not, in some cases, intended to limit the specific unit.

[0070] The functions described above in this document can be performed at least in part by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), and so on.

[0071] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0072] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

[0073] Furthermore, while the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. In certain environments, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this disclosure. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

[0074] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

Claims

1. A method for zero-point calibration of the material support shaft of a pipe cutting machine, characterized in that, include: Determine the multiple material support shafts to be calibrated in the pipe cutting machine, the basic zero point position of each material support shaft, and the torque judgment value; Based on the basic zero point position and torque judgment value of each material support shaft, the calibration zero point position of each material support shaft is determined according to the preset calibration sequence. The basic zero point position of each material support shaft is determined according to the coordinate axis of each material support shaft. The coordinate axis of the material support shaft is positive with the direction pointing to the zenith. The basic zero point position of the material support shaft is located at the lowest point of the coordinate axis of the material support shaft. Based on the basic zero point position and the calibration zero point position of each material support shaft, determine the zero point offset value of each material support shaft, and calibrate each material support shaft in the CNC system according to the zero point offset value; This includes determining the multiple material support shafts to be calibrated in the pipe cutting machine, the basic zero-point position of each material support shaft, and the torque determination value, including: Determine the type of switch used for the zero point of the pipe cutting machine, and when it is determined that the starting conditions matching the switch type are met, obtain the point with the smallest coordinate value in the coordinate system for each material support shaft, and use it as the basic zero point position of each material support shaft. Specifically, based on the fundamental zero-point position and torque determination value of each material support shaft, the calibration zero-point position of each material support shaft is determined according to a preset calibration sequence, including: In the tube cutting machine that has already supported the test tube, the current material support shaft is determined in each material support shaft according to the preset calibration sequence, and the basic zero point position of the current material support shaft is determined. The current material support shaft is controlled to move from the base zero point position along the positive coordinate axis, and the torque feedback value between the current material support shaft and the test tube is obtained in real time through the servo driver connected to the torque sensor. When the difference between the torque feedback value and the torque judgment value exceeds the preset difference threshold, the current zero point position of the current material support shaft is determined as the calibration zero point position of the current material support shaft.

2. The zero-point calibration method for the material support shaft of a pipe cutting machine according to claim 1, characterized in that, Zero-point switch types include zero-point switches and negative limit switches.

3. The zero-point calibration method for the material support shaft of a pipe cutting machine according to claim 2, characterized in that, Determining the activation conditions that match the switch type includes: If the switch type is a zero-point switch, when the user touches the zero-point switch, it is determined that the current start-up conditions matching the zero-point switch are met. If the switch type is a negative limit switch, when the hard limit alarm is detected to be blocked, it is determined that the current start-up conditions matching the negative limit switch are met.

4. The zero-point calibration method for the material support shaft of a pipe cutting machine according to claim 1, characterized in that, Based on the basic zero-point position and the calibrated zero-point position of each material support shaft, determine the zero-point offset value of each material support shaft, including: Determine the zero-point distance value of each material support shaft based on its basic zero-point position and calibrated zero-point position; Based on the zero-point distance values ​​of each material support shaft, determine the target material support shaft with the smallest zero-point distance value, and determine the zero-point offset value of the target material support shaft to be 0; Based on the zero-point distance value of the target material support shaft and the zero-point distance values ​​of other material support shafts to be calibrated in the pipe cutting machine, calculate the zero-point offset value of each of the other material support shafts to be calibrated in the pipe cutting machine.

5. The zero-point calibration method for the material support shaft of a pipe cutting machine according to claim 4, characterized in that, Based on the zero-point offset value, each material support shaft is calibrated in the CNC system, including: Obtain the zero-point offset value of each material support axis, identify the zero-point offset parameter option that matches each material support axis in the CNC system, and fill the zero-point offset value of each material support axis into the zero-point offset parameter option that matches each material support axis to achieve calibration of each material support axis in the CNC system.

6. A zero-point calibration device for the material support shaft of a pipe cutting machine, characterized in that, include: The calibration data determination module is used to determine the multiple material support shafts to be calibrated in the pipe cutting machine, the basic zero point position of each material support shaft, and the torque judgment value; The calibration zero-point position determination module is used to determine the calibration zero-point position of each material support shaft according to the basic zero-point position and torque judgment value of each material support shaft, and in accordance with the preset calibration sequence. The basic zero-point position of each material support shaft is determined according to the coordinate axis of each material support shaft. The coordinate axis of the material support shaft is positive with the direction pointing to the zenith. The basic zero-point position of the material support shaft is located at the bottom of the coordinate axis of the material support shaft. The material support shaft calibration module is used to determine the zero-point offset value of each material support shaft based on the basic zero-point position and the calibration zero-point position, and to calibrate each material support shaft in the CNC system based on the zero-point offset value. The calibration data determination module is specifically used to: determine the type of switch used for the zero point of the pipe cutting machine, and when it is determined that the starting conditions matching the switch type are met, obtain the point with the smallest coordinate value in the coordinate system for each material support shaft as the basic zero point position of each material support shaft; The calibration zero-point position determination module is specifically used for: determining the current material support shaft in each material support shaft according to a preset calibration sequence in the tube cutting machine that supports the test tube, and determining the basic zero-point position of the current material support shaft; controlling the current material support shaft to move from the basic zero-point position along the positive direction of the coordinate axis, and obtaining the torque feedback value between the current material support shaft and the test tube in real time through the servo driver connected to the torque sensor; when the difference between the torque feedback value and the torque judgment value is detected to exceed a preset difference threshold, determining the current zero-point position of the current material support shaft as the calibration zero-point position of the current material support shaft.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1-5.

8. A computer storage medium, characterized in that, The computer storage medium stores computer instructions that are used to cause the processor to execute the method described in any one of claims 1-5.

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