Control device, method, electronic device, and storage medium of a rotary cutting apparatus

Abstract

This application discloses a control device, method, electronic device, and storage medium for a veneer cutting equipment, belonging to the technical field of automation control technology. The control device is used to set the current veneer cutting curve, which describes the following relationship between the feeding shaft and the cutting shaft. The control device includes: a first switching module, used to set the current veneer cutting curve according to a first rule after receiving a start command, so that the cutting shaft rotates along a preset direction to the cutting point, and the cutting shaft runs synchronously with the feeding shaft within a synchronization zone; and a second switching module, used to set the current veneer cutting curve according to a second rule when the cutting shaft rotates to the cutting point, so that the cutting shaft rotates cyclically along a preset direction, and the cutting shaft runs synchronously with the feeding shaft within a synchronization zone. This application can improve the working continuity of the veneer cutting equipment and achieve high-efficiency material shearing.

Description

Technical Field

[0001] This application relates to the field of automation control technology, and in particular to a control device, method, electronic device and storage medium for a rotary cutting equipment. Background Technology

[0002] Rotary cutting is a material processing technology that typically uses a rotary cutting machine to cut continuously fed material to a length set by the user. The cutting length is used as the cycle, and the speeds of the cutting shaft and the feeding shaft of the rotary cutting machine remain synchronized during cutting. When not cutting, the cutting shaft can accelerate or decelerate to prepare for the next cutting speed synchronization. Related technologies usually use a fixed rotary cutting curve (e.g., two segments of a quintic curve followed by a straight line) to control the cutting shaft; however, this method leads to frequent stops or reversals of the cutting shaft, resulting in low cutting efficiency.

[0003] Therefore, how to improve the working continuity of rotary cutting equipment and achieve high-efficiency material shearing is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this application is to provide a control device, method, electronic device, and storage medium for a rotary cutting equipment, which can improve the working continuity of the rotary cutting equipment and achieve high-efficiency material shearing.

[0005] To address the aforementioned technical problems, this application provides a control device for a veneer cutting device. The veneer cutting device further includes a feeding shaft and a cutting shaft. The feeding shaft is used to feed material to the cutting shaft, and the cutting shaft is used to cut the material using a cutting blade. The control device is used to set a current veneer cutting curve, which describes the following relationship between the feeding shaft and the cutting shaft. The control device includes:

[0006] The first switching module is used to set the current rotary cutting curve according to the first rule after receiving the start command, so that the cutter shaft rotates to the cutting point in the preset direction, and the cutter shaft runs synchronously with the feeding shaft in the synchronization zone; wherein, the cutting point is the position where the cutter shaft cuts the material, and the midpoint value of the synchronization zone is the rotation angle when the cutter shaft rotates to the cutting point;

[0007] The second switching module is used to set the current rotary cutting curve according to the second rule when the cutter shaft rotates to the cutting point, so that the cutter shaft rotates cyclically in a preset direction and the cutter shaft runs synchronously with the feeding shaft in the synchronization zone.

[0008] Optional, also includes:

[0009] The third switching module is used to set the current rotary cutting curve according to the third rule when a stop command is received, so that the cutter shaft rotates to the origin along the preset direction and stops running, and the cutter shaft runs synchronously with the feeding shaft in the synchronization zone.

[0010] Optionally, the first switching module includes:

[0011] The first parameter determination unit is used to determine the starting length L of the feeding shaft. S And calculate the first appearance parameter L1 of the cutter axis, where, L θ L is the arc length of the cutter axis in the synchronization zone. 刀 The arc length of one revolution of the cutter shaft is given by α, which is the first adjustment coefficient.

[0012] Start the curve setting unit, used if L S If L ≤ L1, then the first curve is set as the current rotary cutting curve to accelerate the rotation of the cutter axis to the synchronization zone; it is also used if L S If the value is greater than L1, then the second curve is set as the current rotary cutting curve, so that the cutter shaft is stationary for a first preset time and then accelerates to rotate to the synchronization zone.

[0013] Optionally, the feeding shaft is used to travel a first feeding distance L during the period when the cutter shaft is stationary for a first preset time. st ;in,

[0014] Optionally, the second switching module includes:

[0015] The second parameter determination unit is used to determine the preset cutting length L of the material. C And calculate the second appearance parameter L2 of the cutter axis, where L2 = (L 刀 -L θ ) / β+L θ L θ L is the arc length of the cutter axis in the synchronization zone. 刀 β is the arc length of one revolution of the cutter shaft, and β is the second adjustment coefficient;

[0016] The first loop curve setting unit is used if L C If L ≤ L2, then the third curve is set as the current rotary cutting curve, so that the cutter axis rotates synchronously relative to the feed axis out of the synchronization zone, accelerates to the origin, and decelerates from the origin to the synchronization zone; it is also used if L CIf >L2, then the fourth curve is set as the current rotary cutting curve, so that the cutter shaft rotates synchronously relative to the feed shaft out of the synchronization zone and then decelerates to rotate to the origin, and after remaining stationary at the origin for a second preset time, it accelerates to rotate to the synchronization zone.

[0017] Optionally, the second switching module includes:

[0018] The second loop curve setting unit is used if L C =L 刀 Then, the fifth curve is set as the current rotary cutting curve to keep the cutter axis and the feed axis running synchronously; where L C L is the preset cutting length of the material. 刀 This is the arc length of one revolution of the cutter axis.

[0019] Optional, also includes:

[0020] The phase correction module is used to determine the phase increment of the feeding shaft in the current shearing cycle; it is also used to calculate the actual phase compensation value of the feeding shaft using a detection device, and to perform acceleration / deceleration planning on the actual phase compensation value to obtain the target phase compensation amount for each interpolation cycle; it is also used to add the phase increment and the target phase compensation amount to obtain the actual phase of the feeding shaft; and it is also used to calculate the current position of the cutter shaft based on the actual phase of the feeding shaft and the current rotary cutting curve, and to perform phase correction operation using the current position of the cutter shaft.

[0021] This application also provides a control method for a veneer cutting device, applied to the control device of the veneer cutting device. The veneer cutting device further includes a feeding shaft and a cutting shaft. The feeding shaft is used to feed material to the cutting shaft, and the cutting shaft is used to cut the material using a cutting blade. The control device is used to set a current veneer cutting curve, and the veneer cutting curve is used to describe the following relationship between the feeding shaft and the cutting shaft. The control method includes:

[0022] Upon receiving the start command, the current rotary cutting curve is set according to the first rule so that the cutter shaft rotates to the cutting point along the preset direction, and the cutter shaft runs synchronously with the feeding shaft within the synchronization zone; wherein, the cutting point is the position where the cutter shaft cuts the material, and the midpoint value of the synchronization zone is the rotation angle when the cutter shaft rotates to the cutting point;

[0023] When the cutter shaft rotates to the cutting point, the current rotary cutting curve is set according to the second rule so that the cutter shaft rotates cyclically in a preset direction, and the cutter shaft runs synchronously with the feeding shaft in the synchronization zone.

[0024] This application also provides a storage medium storing a computer program thereon, which, when executed, implements the steps of the control method for the above-described rotary cutting device.

[0025] This application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the control method for the above-described rotary cutting device.

[0026] This application provides a control device for a rotary cutting device, which further includes a feeding shaft and a cutting shaft. The feeding shaft is used to feed material to the cutting shaft, and the cutting shaft is used to cut the material using a cutting blade. The control device is used to set a current rotary cutting curve, which describes the following relationship between the feeding shaft and the cutting shaft. The control device includes: a first switching module, used to set the current rotary cutting curve according to a first rule after receiving a start command, so that the cutting shaft rotates along a preset direction to a cutting point, and the cutting shaft runs synchronously with the feeding shaft within a synchronization zone; wherein, the cutting point is the position where the cutting shaft cuts the material, and the midpoint value of the synchronization zone is the rotation angle when the cutting shaft rotates to the cutting point; and a second switching module, used to set the current rotary cutting curve according to a second rule when the cutting shaft rotates to the cutting point, so that the cutting shaft rotates cyclically along a preset direction, and the cutting shaft runs synchronously with the feeding shaft within the synchronization zone.

[0027] The control device for the veneer cutting equipment provided in this application includes a first switching module and a second switching module to set the current veneer cutting curve under specific conditions. The veneer cutting curve describes the following relationship between the feeding shaft and the cutting shaft. By setting the veneer cutting curve, the following relationship of the cutting shaft relative to the feeding shaft can be changed, thereby achieving control of the cutting shaft. Upon receiving a start command, the first switching module sets the current veneer cutting curve so that the veneer cutting shaft rotates along a preset direction to the cutting point. When the cutting shaft rotates to the cutting point, the second switching module resets the current veneer cutting curve so that the cutting shaft cyclically rotates along the preset direction. Through this scheme, the corresponding veneer cutting curve can be used to control the operation of the cutting shaft at different stages, and the cutting shaft of the veneer cutting equipment can always rotate in the same direction during rotation, thereby avoiding reverse rotation of the cutting shaft. Therefore, this application can improve the working continuity of the veneer cutting equipment and achieve high-efficiency material shearing. This application also provides a control device for the veneer cutting equipment, a storage medium, and an electronic device, which have the above-mentioned beneficial effects, and will not be elaborated further here. Attached Figure Description

[0028] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the structure of a rotary cutting device provided in an embodiment of this application;

[0030] Figure 2 This is a schematic diagram of the structure of a cutting shaft provided in an embodiment of this application;

[0031] Figure 3 This is a schematic diagram of a conventional rotary shear curve in related technologies;

[0032] Figure 4 A flowchart illustrating a rotary cutting process control method provided in an embodiment of this application;

[0033] Figure 5 This is a schematic diagram of the first curve provided in an embodiment of this application;

[0034] Figure 6 This is a schematic diagram of the second curve provided in an embodiment of this application;

[0035] Figure 7 This is a schematic diagram of the third curve provided in the embodiments of this application;

[0036] Figure 8 A method provided in the embodiments of this application if L C >(L 刀 -L θ ) / β+L θ Furthermore, no rotary shear curve was set for the static region;

[0037] Figure 9 This is a schematic diagram of the fourth curve provided in the embodiments of this application;

[0038] Figure 10 This is a schematic diagram of the fifth curve provided in the embodiments of this application;

[0039] Figure 11 This is a schematic diagram of the sixth curve provided in the embodiments of this application;

[0040] Figure 12 This is a flowchart of a phase correction method provided in an embodiment of this application. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0042] Please see below. Figure 1 , Figure 1 This is a schematic diagram of a rotary cutting device provided in an embodiment of this application. The rotary cutting device includes a detection device, a feeding shaft, a cutting shaft, and a control device. The feeding shaft transports material in the feeding direction. A cutting blade is mounted on the cutting shaft. The position (lowest point) where the cutting blade contacts the material (also known as the feed material) is the cutting point (i.e., the shearing point). The point on the cutting shaft 180° away from the cutting point is the origin. The figure also shows the rotation direction, the start position of the synchronization zone, the end position of the synchronization zone, and the set shearing length.

[0043] Please see below. Figure 2 , Figure 2 This is a schematic diagram of a cutting shaft provided in an embodiment of this application. The cutting shaft includes a tangent point, an origin, a synchronization zone start point, and a synchronization zone end point. The synchronization zone is the area between the synchronization zone start point and the synchronization zone end point, specifically the range of angles θ from the synchronization zone start point to the synchronization zone end point. The tangent point is the midpoint of the arc corresponding to the synchronization zone. The angle between the tangent point and the synchronization zone start point is θ / 2, and the angle between the tangent point and the synchronization zone end point is θ / 2. The linear velocity of the cutting blade within the synchronization zone is the same as the feeding speed of the feeding shaft, and the material is cut at the tangent point.

[0044] The rotary cutting device provided in this application includes a control device, a feeding shaft, and a cutting shaft. The feeding shaft is used to feed material to the cutting shaft, and the cutting shaft is used to cut the material using a cutting blade. The control device is used to set a current rotary cutting curve, which describes the following relationship between the feeding shaft and the cutting shaft. The control device can use a first switching module and a second switching module to set the current rotary cutting curve at different working stages.

[0045] The first switching module is used to set the current rotary cutting curve according to the first rule after receiving the start command; after controlling the cutter shaft to move according to the rotary cutting curve, it can make the cutter shaft rotate to the cutting point in a preset direction, and it can also make the cutter shaft run synchronously with the feeding shaft in the synchronization zone.

[0046] The first rule is as follows: A rotary cutting curve is generated that makes the movement state of the cutter shaft meet the first and second conditions. The first condition is that the cutter shaft rotates to the cutting point along a preset direction, and the second condition is that the cutter shaft runs synchronously with the feeding shaft within the synchronization zone. Synchronous operation means that the linear velocities of the cutter shaft and the feeding shaft are the same, that is, the cutting speed of the cutter shaft is the same as the feeding speed of the feeding shaft. The cutting point is the position where the cutter shaft cuts the material, and the midpoint of the synchronization zone is the rotation angle of the cutter shaft when it rotates from the origin to the cutting point. After receiving a start command, the cutter shaft enters a rotating state from a stationary state at the origin, and when it rotates to the starting point of the synchronization zone, the cutting speed is the same as the feeding speed of the feeding shaft.

[0047] The second switching module is used to set the current rotary cutting curve according to the second rule when the cutter shaft rotates to the cutting point; after controlling the cutter shaft to move according to the rotary cutting curve, the cutter shaft can be made to rotate cyclically in a preset direction, and the cutter shaft can also be made to run synchronously with the feeding shaft in the synchronization zone.

[0048] The second rule is as follows: A rotary cutting curve is generated that ensures the cutter shaft's motion meets the second and third conditions. The second condition is that the cutter shaft operates synchronously with the feeding shaft within the synchronization zone; the third condition is that the cutter shaft rotates cyclically along a preset direction. This cyclic rotation refers to: in the first cycle, the cutter shaft rotates 360° from the cutting point along the preset direction; in the second cycle, the cutter shaft rotates 360° from the cutting point along the preset direction; and so on, until a stop command is received. The rotary cutting curve generated according to the second rule ensures that the cutter shaft (i.e., the cutter) moves synchronously with the feeding shaft within the synchronization zone. Specifically, when rotating to the beginning of the synchronization zone, the cutter's speed is the same as the feeding speed of the feeding shaft; after rotating to the end of the synchronization zone, the cutter's speed and the feeding speed of the feeding shaft may differ.

[0049] The control device for the veneer cutting equipment provided in this embodiment includes a first switching module and a second switching module to set the current veneer cutting curve under specific conditions. The veneer cutting curve describes the following relationship between the feeding shaft and the cutting shaft. By setting the veneer cutting curve, the following relationship of the cutting shaft relative to the feeding shaft can be changed, thereby realizing the control of the cutting shaft. After receiving the start command, the first switching module sets the current veneer cutting curve so that the veneer cutting shaft rotates along a preset direction to the cutting point; when the cutting shaft rotates to the cutting point, the second switching module resets the current veneer cutting curve so that the cutting shaft rotates cyclically along the preset direction. Through the above scheme, the corresponding veneer cutting curve can be used to control the operation of the cutting shaft at different stages, and the cutting shaft of the veneer cutting equipment can always rotate in the same direction during the rotation process, thereby avoiding the situation of the cutting shaft reversing. Therefore, this embodiment can improve the working continuity of the veneer cutting equipment and achieve high-efficiency material shearing.

[0050] As for Figure 1 In a further description of the corresponding embodiment, the control device may also include a third switching module, which is used to set the current rotary cutting curve according to a third rule when a stop command is received, so that the cutter shaft rotates to the origin along a preset direction and stops running, and the cutter shaft runs synchronously with the feeding shaft in the synchronization zone.

[0051] The third rule mentioned above is: generating a rotary cutting curve that makes the movement state of the cutter shaft meet the second and fourth conditions; the second condition is that the cutter shaft runs synchronously with the feeding shaft within the synchronization zone; the fourth condition is that the cutter shaft rotates to the origin along a preset direction and stops running. After controlling the cutter shaft to move according to the rotary cutting curve, the cutter shaft can be made to rotate to the origin along the preset direction and stop running. If the cutter shaft passes through the synchronization zone during the rotation to the origin, then the cutter shaft runs synchronously with the feeding shaft within the synchronization zone.

[0052] As for Figure 1 In a further description of the corresponding embodiment, to ensure that the length of material transported by the feeding shaft meets the requirements when the cutter shaft first reaches the cutting point, this embodiment can preset the starting length L of the feeding shaft. S , will start length L S The first appearance parameter L1 of the cutter axis is compared, and the corresponding rotary cutting curve is selected based on the comparison result.

[0053] Specifically, the aforementioned first switching module includes:

[0054] The first parameter determination unit is used to determine the starting length L of the feeding shaft. S And calculate the first appearance parameter L1 of the cutter axis, where, L θ L is the arc length of the cutter axis in the synchronization zone. 刀 The arc length of one revolution of the cutter shaft is given by α, which is the first adjustment coefficient.

[0055] Start the curve setting unit, used if L S If L ≤ L1, then the first curve is set as the current rotary cutting curve to accelerate the rotation of the cutter axis to the synchronization zone; it is also used if L S If the value is greater than L1, then the second curve is set as the current rotary cutting curve, so that the cutter shaft is stationary for a first preset time and then accelerates to rotate to the synchronization zone.

[0056] In this embodiment, the operating speed of the cutter shaft is described with reference to the operating speed of the feeding shaft. Synchronous operation means that the linear speed of the cutter on the cutter shaft is the same as the feeding speed of the feeding shaft. Accelerated rotation means that the rate of change of the linear speed of the cutter is higher than the rate of change of the feeding speed of the feeding shaft. Decelerated rotation means that the rate of change of the linear speed of the cutter is lower than the rate of change of the feeding speed of the feeding shaft. The cutter shaft is stationary means that the cutter shaft does not rotate.

[0057] Both the first and second curves mentioned above are rotary cutting curves that conform to the first rule. If the first curve is set as the current rotary cutting curve, the cutter of the cutting shaft can accelerate from the origin to the starting point of the synchronization zone, and the linear velocity of the cutting shaft when it moves to the starting point of the synchronization zone is the same as that of the feeding shaft. The cutter of the cutting shaft moves synchronously from the starting point of the synchronization zone to the cutting point with the feeding shaft. If the second curve is set as the current rotary cutting curve, the cutter of the cutting shaft first remains stationary for a first preset time, and then accelerates from the origin to the starting point of the synchronization zone. The linear velocity of the cutting shaft when it moves to the starting point of the synchronization zone is the same as that of the feeding shaft, and the cutter of the cutting shaft moves synchronously from the starting point of the synchronization zone to the cutting point with the feeding shaft.

[0058] Accordingly, if the second curve is set to the current rotary cutting curve, the feeding axis is used to travel a first feeding distance L during the first preset time period when the cutter axis is stationary. st ;in,

[0059] As for Figure 1 In a further description of the corresponding embodiment, to ensure that the length of the material cut by the cutter shaft meets the requirements, this embodiment can determine a preset cutting length L. C , cut the preset length L C The second appearance parameter L2 of the cutter axis is compared, and the corresponding rotary cutting curve is selected based on the comparison result.

[0060] Specifically, the aforementioned second switching module includes:

[0061] The second parameter determination unit is used to determine the preset cutting length L of the material. C And calculate the second appearance parameter L2 of the cutter axis, where L2 = (L 刀 -L θ ) / β+L θ L θ L is the arc length of the cutter axis in the synchronization zone. 刀 β is the arc length of one revolution of the cutter shaft, and β is the second adjustment coefficient;

[0062] The first loop curve setting unit is used if L C If L ≤ L2, then the third curve is set as the current rotary cutting curve, so that the cutter axis rotates synchronously relative to the feed axis out of the synchronization zone, accelerates to the origin, and decelerates from the origin to the synchronization zone; it is also used if L C If >L2, then the fourth curve is set as the current rotary cutting curve, so that the cutter shaft rotates synchronously relative to the feed shaft out of the synchronization zone and then decelerates to rotate to the origin, and after remaining stationary at the origin for a second preset time, it accelerates to rotate to the synchronization zone.

[0063] The third and fourth curves mentioned above are both rotary cutting curves that conform to the second rule. If the third curve is set as the current rotary cutting curve, the cutter of the cutter shaft can rotate synchronously from the cutting point relative to the feeding shaft to the end point of the synchronization zone, then accelerate relative to the feeding shaft from the end point of the synchronization zone to the origin, then decelerate relative to the feeding shaft from the origin to the start point of the synchronization zone, and finally rotate synchronously relative to the feeding shaft from the start point of the synchronization zone to the cutting point, and enter the next cycle. If the fourth curve is set as the current rotary cutting curve, the cutter of the cutter shaft can rotate synchronously from the cutting point relative to the feeding shaft to the end point of the synchronization zone, then decelerate relative to the feeding shaft from the end point of the synchronization zone to the origin, and make the speed of the cutter shaft 0 at the origin. After the cutter shaft remains stationary for a second preset time, the cutter shaft accelerates relative to the feeding shaft from the origin to the start point of the synchronization zone, and finally rotates synchronously relative to the feeding shaft from the start point of the synchronization zone to the cutting point, and enters the next cycle.

[0064] Correspondingly, if the fourth curve is set as the current rotary cutting curve, the feeding axis is used to run a second feeding distance L during the second preset time period when the cutter axis is stationary. ct ; among which, L ct =L c -(L 刀 -L θ ) / β-L θ .

[0065] As for Figure 1 In a further description of the corresponding embodiment, to ensure that the length of the material cut by the cutter shaft meets the requirements, this embodiment can determine the preset cutting length L of the material. C The arc length L of one revolution of the cutter axis 刀 , will L C With L 刀 The comparison is performed, and the shear curve is set based on the comparison result. Specifically, the second switching module mentioned above includes: a second loop curve setting unit, used to... C =L 刀 Then, the fifth curve is set as the current rotary cutting curve so that the cutter axis and the feeding axis keep running synchronously.

[0066] The fifth curves mentioned above are all rotary cutting curves that conform to the second rule. If the fifth curve is set as the current rotary cutting curve, the cutter of the cutter shaft can rotate synchronously with respect to the feeding shaft, that is, the cutting linear velocity of the cutter shaft and the feeding speed of the feeding shaft are always consistent.

[0067] As for Figure 1 In a further description of the corresponding embodiment, the control device also includes a phase correction module, used to determine the phase increment ΔL of the feeding shaft in the current shearing cycle; and to calculate the actual phase compensation value L of the feeding shaft using a detection device.α The target phase compensation amount L for each interpolation cycle is obtained by performing acceleration / deceleration planning on the actual phase compensation value. α0 It is also used to add the phase increment and the target phase compensation amount to obtain the actual phase X of the feed shaft. t It is also used to calculate the current position of the cutting shaft based on the actual phase of the feeding shaft and the current rotary cutting curve, and to perform phase correction operation using the current position of the cutting shaft. A color mark signal exists on the material. After the detection device detects the color mark signal, it sends a detection signal to the control device. In this embodiment, the time interval Δt1 between two adjacent detection signals can be calculated, and the time interval Δt2 between two adjacent passes of the cutting shaft through the cutting point can also be determined. The actual phase compensation value is determined based on Δt1-Δt2. The phase compensation value is used to correct phase shifts in signal transmission or processing. The phase increment determines the phase change of the signal during frequency synthesis and is a parameter for achieving precise frequency and phase control. In this embodiment, the current position of the feeding shaft can be subtracted from the starting position of the feeding shaft in the current cam cycle to obtain the phase increment ΔL of the current shearing cycle of the feeding shaft. In this embodiment, the actual distance traveled by the cutting shaft from the cutting point to the origin, minus the theoretically required distance traveled by the feeding shaft, can be used to obtain the actual phase compensation value L. α

[0068] The process described in the above embodiments is illustrated below through examples in practical applications.

[0069] The rotary cutting equipment operates on a user-specified cutting length as its working cycle. During cutting (i.e., in the synchronization zone), the cutting speed and the feed material speed remain synchronized. When not cutting (i.e., not in the synchronization zone), the cutting shaft can accelerate or decelerate to prepare for the next synchronization with the feed material speed in the synchronization zone.

[0070] Existing rotary cutting equipment typically sets the origin at the point where the cutter faces directly upwards and the tangent point at the point where the cutter faces directly downwards. The control method usually employs a rotary cutting curve consisting of two quintic curves and one straight line. Please refer to [link to relevant documentation]. Figure 3 , Figure 3 This is a schematic diagram of a conventional rotary cutting curve in related technologies. The conventional rotary cutting curve shows the correspondence between the position of the driven shaft, the speed of the driven shaft, and the acceleration of the driven shaft and the position of the main shaft, respectively. The driven shaft is the cutting shaft, and the main shaft is the feeding shaft.

[0071] The aforementioned technologies require the rotary shearing curve to reach zero speed at the origin and to accelerate to synchronous speed in each shearing cycle. This method results in low shearing efficiency, and frequent starts and stops cause mechanical wear.

[0072] During the periodic synchronous operation of the feeding shaft and the cutting shaft, phase deviations occur due to factors such as material slippage, mechanical transmission errors, and mechanical response lag, necessitating phase correction. Related technologies, to achieve phase correction, require adding a virtual axis as an intermediate axis between the cutting shaft and the material feeding shaft. Adjusting the position of the virtual axis achieves phase correction, but this approach increases the control complexity of the rotary cutting equipment.

[0073] To address the technical problems existing in the aforementioned related technologies, this application provides a rotary cutting process control scheme that can realize high-speed rotary cutting process control, and can also realize high-precision and simple phase correction of the feeding shaft and cutting shaft of the rotary cutting equipment.

[0074] This embodiment provides a rotary cutting process control system, including a feeding shaft for feeding material, a cutting shaft, a control device, and a detection device located upstream of the packaging material; the control device includes a dynamic switching unit for the rotary cutting curve to achieve high-speed, high-precision shearing of the fed material.

[0075] The aforementioned feed shaft is used to control the continuous operation of the feeding material, and the aforementioned cutter shaft is used to follow the feed shaft periodically according to the positional relationship between the feed shaft and the cutter shaft determined by the rotary cutting curve. The detection device is used to detect the color mark signals on the feeding material, and sends a detection signal to the control device after each color mark signal is detected, so as to use the detection signal for phase correction.

[0076] During the operation of the cutter shaft following the feed shaft, the dynamic switching unit of the rotary cutting curve realizes the dynamic switching process of the rotary cutting curve, and the rotary cutting curve defines the following relationship between the feed shaft and the cutter shaft.

[0077] The dynamic shearing curve switching unit defines the operating state of the cutter shaft as start state, cycle state, and stop state, each with its corresponding rotary cutting curve. In the start state, the cutter shaft moves from the origin directly above the cutter to the cutting point directly below the cutter. The origin is the starting point of the cutter shaft's operation, and the cutting point is the point where the fed material is cut. The rotary cutting curve set in the start state conforms to a first rule, such as the first curve or the second curve. In the cycle state, the cutter shaft rotates 360 degrees from the current cutting point and returns to the current cutting point. In this state, the cutter shaft follows the feeding shaft in a periodic high-speed cycle. A 360-degree rotation of the cutter shaft constitutes one shearing cycle, and the distance traveled by the feeding shaft is the cutting length of the fed material. The rotary cutting curve determined in the cycle state conforms to a second rule, such as the third curve or the fourth curve. In the stop state, the cutter shaft moves from the current cutting point to the origin and stops. The rotary cutting curve determined in the stop state conforms to a third rule. After the cutter shaft returns to its original position, it enters the start state. The cutter shaft runs to the cutting point and automatically enters the cycle state to run periodically. When the user needs to stop, the cutter shaft switches from the cycle state to the stop state at the cutting point and stops running.

[0078] The feeding shaft controls the continuous feeding of material, and the cutting shaft rotates periodically 360 degrees following the positional relationship between the feeding shaft and the cutting shaft, as determined by the rotary cutting curve. For example... Figure 2 As shown, the point directly upwards on the cutter axis is defined as the origin, which is the current position where the cutter axis initially operates. The point directly downwards on the cutter axis is the tangent point, which is the position where the feed material is sheared. θ is defined as the synchronization zone angle, in which the cutter axis maintains synchronized operation with the feed axis (i.e., the same linear velocity).

[0079] During the operation of the cutter shaft following the feed shaft, the dynamic switching unit for the rotary cutting curve realizes the dynamic switching process of the rotary cutting curve, and the rotary cutting curve defines the following relationship between the feed shaft and the cutter shaft. The detection device sends a detection signal to the control device every time a color mark signal is detected on a piece of feed material.

[0080] Please see Figure 4 , Figure 4 The flowchart illustrates a rotary cutting process control method provided in this application embodiment. This rotary cutting process control method can be applied to a dynamic shear curve switching unit, which defines the operating state of the cutter shaft as a start state, a cycle state, and a stop state. The rotary cutting process control method includes the following steps:

[0081] S401: In the start-up state, the cutter axis moves from the origin to the cutting point.

[0082] In the start-up state, the cutter shaft moves from the origin to the cutting point, maintaining synchronization with the feeding shaft. In this start-up state, the distance the feeding shaft travels corresponding to the cutter shaft rotating 180 degrees to the cutting point is defined as the start-up length L. s .

[0083] like The spin-cut curve of the starting phase is as follows: Figure 5 As shown, Figure 5 The first curve diagram provided in this application embodiment shows that after the cutter shaft accelerates directly to the starting point of the synchronization zone, it enters the synchronization zone and maintains operation with the feeding shaft (within the synchronization zone, the cutter shaft and the feeding shaft maintain synchronous operation). The first curve shows the correspondence between the slave shaft position, slave shaft speed, slave shaft acceleration, and slave shaft jerk and the main shaft position, where the slave shaft is the cutter shaft and the main shaft is the feeding shaft. Figure 5 The document also shows the positions for entering the synchronization zone and entering the tangent point.

[0084] like Then, in the swirling curve during startup, there exists a static region, such as... Figure 6 As shown, Figure 6 This is a schematic diagram of the second curve provided in an embodiment of this application, showing the distance traveled by the feed shaft within the stationary zone where the cutter shaft is stationary. The second curve shows the correspondence between the slave shaft position, slave shaft speed, slave shaft acceleration, and slave shaft jerk and the main shaft position, where the slave shaft is the cutter shaft and the main shaft is the feed shaft. Figure 6 The diagram also shows the positions of the origin, the stationary zone, the synchronization zone, and the tangent point. Setting a stationary zone prevents the cutter shaft from reversing. Within the stationary zone, the cutter shaft remains stationary, while the feed shaft travels a distance L. st .

[0085] Among them, L θ L is the arc length of the cutter shaft in the synchronization zone. 刀 Where α is the arc length of the cutter axis, and α is an adjustment coefficient (e.g., a value of 1).

[0086] S402: In the cycle state, the cutter axis rotates 360 degrees periodically from the current cutting point.

[0087] In cyclic mode, the cutter shaft rotates 360 degrees from the current cutting point and returns to the current cutting point. In this state, the cutter shaft follows the feed shaft in a periodic high-speed cycle. A 360-degree rotation of the cutter shaft constitutes one shearing cycle, and the corresponding distance traveled by the feed shaft is the cutting length L of the fed material. C L C The length is a human-defined specification and depends on the material being cut by the user.

[0088] If L C ≤(L 刀 -Lθ ) / β+L θ The cyclic tangent curve is as follows: Figure 7 As shown, Figure 7 The third curve diagram provided in this application embodiment shows that the cutter shaft exits the synchronization zone from the current cutting point and accelerates to the starting point of the next synchronization zone. During the entire cycle, the cutter shaft does not decelerate to 0. The third curve shows the correspondence between the slave shaft position, slave shaft speed, slave shaft acceleration, and slave shaft jerk and the main shaft position, where the slave shaft is the cutter shaft and the main shaft is the feeding shaft. Figure 7 The document also shows the locations of exiting the synchronization zone, entering the synchronization zone, and the tangent point.

[0089] Please see Figure 8 , Figure 8 A method provided in the embodiments of this application if L C >(L 刀 -L θ ) / β+L θ Furthermore, no static zone rotary cutting curve is set. The rotary cutting curve shows the correspondence between the slave shaft position, slave shaft speed, and slave shaft acceleration and the main shaft position, respectively. The slave shaft is the cutter shaft, and the main shaft is the feeding shaft.

[0090] If L C >(L 刀 -L θ ) / β+L θ To prevent the cutter axis from reversing, a stationary zone is set in the acceleration phase curve, and the rotary cutting curve in the circulation phase is as follows: Figure 9 As shown, Figure 9 This is a schematic diagram of the fourth curve provided in an embodiment of this application. The distance traveled by the feed shaft from exiting the synchronization zone to entering the stationary zone is L. dx =1.25(L) 刀 -L θ The distance traveled by the cutter axis is L. dy =(L 刀 -L θ ) / 2. The distance the feed shaft travels from exiting the stationary zone to entering the synchronization zone is L. ax =(L 刀 -L θ ) / α, the distance traveled by the cutter axis is L dy =(L 刀 -L θ ) / 2. L dx The distance the feed axis travels when the cutter axis decelerates from its current speed to 0; L dy The distance the cutter axis travels from the point where it exits the synchronization zone to the origin; the cutter axis will enter the stationary zone and stop at the origin; L axThe distance the feed shaft travels when the cutter shaft accelerates from its current speed to the synchronous speed without reversing.

[0091] The fourth curve shows the correspondence between the slave shaft position, slave shaft speed, slave shaft acceleration, and slave shaft jerk and the main shaft position, respectively. The slave shaft is the cutter shaft, and the main shaft is the feed shaft. Figure 9 The diagram also shows the positions for exiting the synchronization zone, the stationary zone, entering the synchronization zone, and the cutting point. Reversal refers to the cutter shaft rotating in the opposite direction, because the distance traveled by the cutter shaft through acceleration and deceleration corresponds to the distance L traveled by the feed shaft. C If the speed is too high, the cutter shaft will inevitably reverse first, and then accelerate and decelerate to the synchronous speed if it runs directly. This is a phenomenon that must be avoided during the periodic operation of the cutter shaft.

[0092] Where β is the adjustment coefficient, for example, it can be 2.

[0093] If L C =L 刀 The cyclic tangent curve is as follows: Figure 10 As shown, the rotary cutting curve remains synchronized with the feeding shaft throughout the entire cycle. Figure 10 The fifth curve diagram provided in the embodiment of this application shows the correspondence between the slave shaft position and slave shaft speed and the main shaft position, respectively. The slave shaft is the cutter shaft and the main shaft is the feeding shaft. Figure 10 The document also shows the locations of the tangent point, exit from the synchronization zone, and entry into the synchronization zone. Figure 8 The intermediate cutting axis runs synchronously with the spindle speed at a 1:1 ratio.

[0094] S403: In the stopped state, the cutter axis returns from the current cutting point to the origin.

[0095] In the stopped state, the cutter axis moves from the current cutting point to the origin and then stops. The rotary cutting curve during this stopped phase is as follows: Figure 11 As shown, after the cutter axis exits the synchronization zone, it decelerates to 0 at the origin position. Figure 11 The sixth curve diagram provided in the embodiment of this application shows the correspondence between the slave shaft position, slave shaft speed, slave shaft acceleration and slave shaft jerk and the main shaft position, respectively. The slave shaft is the cutter shaft and the main shaft is the feeding shaft. Figure 11 The text also shows the locations of the tangent point, the exit synchronization zone, and the origin.

[0096] The shear curve dynamic switching unit controls the cutter shaft to enter the start state after returning to its original position. The cutter shaft runs to the cutting point and automatically enters the cycle state for periodic operation. When the user needs to stop, the cutter shaft is controlled to switch from the cycle state to the stop state at the cutting point and stop running.

[0097] This application also provides a phase correction scheme for the feeding shaft and the cutting shaft in a rotary cutting process. Please refer to [link to relevant documentation]. Figure 12 , Figure 12 A flowchart of a phase correction method provided in this application embodiment specifically includes the following steps:

[0098] S1201: Calculate the phase increment of the feed shaft during the current interpolation cycle in the current shearing cycle.

[0099] S1202: If the phase correction function is triggered, the compensation amount of each interpolation cycle phase is calculated according to the set phase deviation through T-type or S-type acceleration and deceleration planning.

[0100] S1203: Based on the sum of the phase increment of the feed axis and the phase deviation compensation, the current position of the cutter axis after phase correction between the feed axis and the cutter axis in each interpolation cycle can be calculated.

[0101] The phase correction scheme can be applied to calculate the current position of the cutter axis in each shearing cycle. In this embodiment, the phase can be calculated as the increment ΔL of the feed axis position in the current shearing cycle compared to the previous shearing cycle. If the user triggers the phase correction function, the phase compensation value L calculated by the detection device will be used. α After T-shaped or S-shaped acceleration / deceleration planning, the compensation value L for each interpolation cycle can be calculated. α0 Therefore, the actual phase X of the feed axis and cutter axis after compensation in the current interpolation cycle is... t =ΔL+L α0 According to the actual phase X t The position of the cutter axis in the current interpolation cycle can be calculated using the rotary cutting curve, thereby achieving the phase correction function of the feeding axis and the cutter axis.

[0102] This embodiment establishes a direct positional synchronization between the feed shaft and the cutter shaft via a rotary cutting curve, ensuring their synchronized positions. Each time the detection device detects a color mark on the feed material, it calculates the phase deviation based on the corresponding feed shaft and cutter shaft positions and adjusts the actual phase between them in real time. This approach does not alter the original trajectory of either the feed shaft or the cutter shaft, thus achieving phase correction and precise shearing of the feed material. The dynamic rotary cutting curve switching unit proposed in this embodiment enables the cutter shaft to operate periodically at high speed without stopping, thereby achieving high-speed cutting of the feed material.

[0103] This application provides a control method for a veneer cutting device, applied to the control unit of the veneer cutting device. The veneer cutting device further includes a feeding shaft and a cutting shaft. The feeding shaft is used to feed material to the cutting shaft, and the cutting shaft is used to cut the material using a cutting blade. The control unit is used to set a current veneer cutting curve, which describes the following relationship between the feeding shaft and the cutting shaft. The control method includes:

[0104] Upon receiving the start command, the current rotary cutting curve is set according to the first rule so that the cutter shaft rotates to the cutting point along the preset direction, and the cutter shaft runs synchronously with the feeding shaft within the synchronization zone; wherein, the cutting point is the position where the cutter shaft cuts the material, and the midpoint value of the synchronization zone is the rotation angle when the cutter shaft rotates to the cutting point;

[0105] When the cutter shaft rotates to the cutting point, the current rotary cutting curve is set according to the second rule so that the cutter shaft rotates cyclically in a preset direction, and the cutter shaft runs synchronously with the feeding shaft in the synchronization zone.

[0106] This embodiment applies to the control device of a veneer laminating equipment, which can set the current veneer laminating curve under specific conditions. The veneer laminating curve describes the following relationship between the feeding shaft and the cutting shaft. By setting the veneer laminating curve, the following relationship of the cutting shaft relative to the feeding shaft can be changed, thereby realizing the control of the cutting shaft. After receiving a start command, the current veneer laminating curve is set so that the veneer laminating shaft rotates along a preset direction to the cutting point; when the cutting shaft rotates to the cutting point, the current veneer laminating curve is reset so that the cutting shaft cyclically rotates along the preset direction. Through the above scheme, the corresponding veneer laminating curve can be used to control the operation of the cutting shaft at different stages, and it can also ensure that the cutting shaft of the veneer laminating equipment always rotates in the same direction during the rotation process, thereby avoiding the situation of the cutting shaft reversing. Therefore, this embodiment can improve the working continuity of the veneer laminating equipment and achieve high-efficiency material shearing.

[0107] Furthermore, it also includes:

[0108] Upon receiving a stop command, the current rotary cutting curve is set according to the third rule so that the cutter shaft rotates to the origin along the preset direction and stops running, and the cutter shaft runs synchronously with the feeding shaft in the synchronization zone.

[0109] Furthermore, setting the current swirling curve according to the first rule includes:

[0110] The first parameter determination unit is used to determine the starting length L of the feeding shaft. S And calculate the first appearance parameter L1 of the cutter axis, where, L θL is the arc length of the cutter axis in the synchronization zone. 刀 The arc length of one revolution of the cutter shaft is given by α, which is the first adjustment coefficient.

[0111] Start the curve setting unit, used if L S If L ≤ L1, then the first curve is set as the current rotary cutting curve to accelerate the rotation of the cutter axis to the synchronization zone; it is also used if L S If the value is greater than L1, then the second curve is set as the current rotary cutting curve, so that the cutter shaft is stationary for a first preset time and then accelerates to rotate to the synchronization zone.

[0112] Furthermore, it also includes:

[0113] The feeding shaft is controlled to travel a first feeding distance L during the first preset time period when the cutting shaft is stationary. st ;in,

[0114] Furthermore, setting the current swirling curve according to the second rule includes:

[0115] Determine the preset cutting length L of the material C And calculate the second appearance parameter L2 of the cutter axis, where L2 = (L 刀 -L θ ) / β+L θ L θ L is the arc length of the cutter axis in the synchronization zone. 刀 β is the arc length of one revolution of the cutter shaft, and β is the second adjustment coefficient;

[0116] If L C If L ≤ L2, then the third curve is set as the current rotary cutting curve, so that the cutter axis rotates synchronously relative to the feed axis out of the synchronization zone, accelerates to the origin, and decelerates from the origin to the synchronization zone; it is also used if L C If >L2, then the fourth curve is set as the current rotary cutting curve, so that the cutter shaft rotates synchronously relative to the feed shaft out of the synchronization zone and then decelerates to rotate to the origin, and after remaining stationary at the origin for a second preset time, it accelerates to rotate to the synchronization zone.

[0117] Furthermore, setting the current swirling curve according to the second rule includes:

[0118] If L C =L 刀 Then, the fifth curve is set as the current rotary cutting curve to keep the cutter axis and the feed axis running synchronously; where L C L is the preset cutting length of the material. 刀 This is the arc length of one revolution of the cutter axis.

[0119] Furthermore, it also includes:

[0120] The method is used to determine the phase increment of the feeding shaft in the current shearing cycle; to calculate the actual phase compensation value of the feeding shaft using a detection device, and to perform acceleration / deceleration planning on the actual phase compensation value to obtain the target phase compensation amount for each interpolation cycle; to add the phase increment and the target phase compensation amount to obtain the actual phase of the feeding shaft; and to calculate the current position of the cutter shaft based on the actual phase of the feeding shaft and the current rotary cutting curve, and to perform a phase correction operation using the current position of the cutter shaft.

[0121] Since the embodiments of the method section correspond to the embodiments of the spindle section, the embodiments of the apparatus section are described in the method section and will not be repeated here.

[0122] This application also provides a storage medium on which a computer program is stored, which, when executed, can perform the steps provided in the above embodiments. The storage medium may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0123] This application also provides an electronic device that may include a memory and a processor. The memory stores a computer program, and when the processor calls the computer program in the memory, it can implement the steps provided in the above embodiments. Of course, the electronic device may also include various network interfaces, power supplies, and other components.

[0124] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0125] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A control device for a rotary cutting machine, characterized in that, The rotary cutting device further includes a feeding shaft and a cutting shaft. The feeding shaft is used to feed material to the cutting shaft, and the cutting shaft is used to cut the material using a cutting blade. The control device is used to set the current rotary cutting curve, which describes the following relationship between the feeding shaft and the cutting shaft. The control device includes: The first switching module is used to set the current rotary cutting curve according to the first rule after receiving the start command, so that the cutter shaft rotates to the cutting point in the preset direction, and the cutter shaft runs synchronously with the feeding shaft in the synchronization zone; wherein, the cutting point is the position where the cutter shaft cuts the material, and the midpoint value of the synchronization zone is the rotation angle when the cutter shaft rotates to the cutting point; The second switching module is used to set the current rotary cutting curve according to the second rule when the cutter shaft rotates to the cutting point, so that the cutter shaft rotates cyclically in a preset direction and the cutter shaft runs synchronously with the feeding shaft in the synchronization zone; The first switching module includes: The first parameter determination unit is used to determine the starting length L of the feeding shaft. S And calculate the first appearance parameter L1 of the cutter axis, where, , The arc length of the cutter axis's rotation in the synchronization zone. The arc length of one revolution of the cutter shaft. This is the first adjustment coefficient; Start the curve setting unit, used if L S If L ≤ L1, then the first curve is set as the current rotary cutting curve to accelerate the rotation of the cutter axis to the synchronization zone; it is also used if L S If the value is greater than L1, then the second curve is set as the current rotary cutting curve so that the cutter shaft is stationary for a first preset time and then accelerates to rotate to the synchronization zone. The feeding shaft is used to move a first feeding distance L during the period when the cutter shaft is stationary for a first preset time. st ;in, ; The second switching module includes: The second parameter determination unit is used to determine the preset cutting length L of the material. C And calculate the second appearance parameter L2 of the cutter axis, where, , The arc length of the cutter axis's rotation in the synchronization zone. The arc length of one revolution of the cutter shaft. This is the second adjustment coefficient; The first loop curve setting unit is used if L C If L ≤ L2, then the third curve is set as the current rotary cutting curve, so that the cutter axis rotates synchronously relative to the feed axis out of the synchronization zone, accelerates to the origin, and decelerates from the origin to the synchronization zone; it is also used if L C If >L2, then the fourth curve is set as the current rotary cutting curve, so that the cutter shaft rotates synchronously relative to the feed shaft out of the synchronization zone and then decelerates to rotate to the origin, and after remaining stationary at the origin for a second preset time, it accelerates to rotate to the synchronization zone.

2. The control device for the rotary cutting equipment according to claim 1, characterized in that, Also includes: The third switching module is used to set the current rotary cutting curve according to the third rule when a stop command is received, so that the cutter shaft rotates to the origin along the preset direction and stops running, and the cutter shaft runs synchronously with the feeding shaft in the synchronization zone.

3. The control device for the rotary cutting equipment according to claim 1, characterized in that, The second switching module includes: The second loop curve setting unit is used if L C = Then, the fifth curve is set as the current rotary cutting curve to keep the cutter axis and the feed axis running synchronously; where L C The preset cutting length of the material. This is the arc length of one revolution of the cutter axis.

4. The control device for the rotary cutting equipment according to claim 1, characterized in that, Also includes: A phase correction module is used to determine the phase increment of the feed shaft in the current shearing cycle; It is also used to calculate the actual phase compensation value of the feeding shaft using a detection device, and to perform acceleration and deceleration planning on the actual phase compensation value to obtain the target phase compensation amount for each interpolation cycle; It is also used to add the phase increment and the target phase compensation amount to obtain the actual phase of the feeding shaft; It is also used to calculate the current position of the cutter axis based on the actual phase of the feed axis and the current rotary cutting curve, and to perform a phase correction operation using the current position of the cutter axis.

5. A control method for a rotary cutting device applied to the control apparatus described in any one of claims 1 to 4, characterized in that, The control method includes: Upon receiving the start command, the current rotary cutting curve is set according to the first rule so that the cutter shaft rotates to the cutting point along the preset direction, and the cutter shaft runs synchronously with the feeding shaft within the synchronization zone; wherein, the cutting point is the position where the cutter shaft cuts the material, and the midpoint value of the synchronization zone is the rotation angle when the cutter shaft rotates to the cutting point; When the cutter shaft rotates to the cutting point, the current rotary cutting curve is set according to the second rule so that the cutter shaft rotates cyclically in a preset direction, and the cutter shaft runs synchronously with the feeding shaft in the synchronization zone.

6. An electronic device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and the processor invokes the computer program in the memory to implement the steps of the control method for the rotary cutting device as described in claim 5.

7. A storage medium, characterized in that, The storage medium stores computer-executable instructions, which, when loaded and executed by a processor, implement the steps of the control method for the rotary cutting device as described in claim 5.

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