Control method and system based on electric feeding drill equipment

Abstract

The invention provides a control method and system based on electric feeding drill equipment, and relates to the field of data processing.The method comprises the steps that according to selected materials and machining requirements, the corresponding rotating speed and the corresponding feeding amount are input; in the processing interface, sequentially clicking a power-on button and an automatic button to enable the power-on button and the automatic button to be powered on and automatically enter a to-be-processed state; the PLC performs data transmission with an upper computer through an Ethernet communication interface; the displacement and zero returning button is clicked, the PLC sends an instruction to the servo driver, and the servo driver controls the motor to move the cutter to the initial position; the start button is clicked, the PLC analyzes data from the upper computer, and pulse and direction signals are output and sent to the servo driver through the transistor; and the servo driver controls the movement of the motor according to the number and the frequency of the received pulses, so that the position and the speed of the cutter are controlled, and hole machining is started. According to the invention, high-efficiency and high-quality drilling processing is realized.

Description

Technical Field

[0001] The invention relates to the technical field of data processing, and in particular to a control method and system based on electric feed drilling equipment. Background Art

[0002] With the rapid development of modern manufacturing, hole making is widely used in many fields such as aviation, automobile, electronics, etc. However, traditional hole making methods, such as manually operated air drills or pneumatic automatic feed drills (ADU), can no longer meet the needs of modern industrial production for high-efficiency and high-quality hole making.

[0003] In terms of manually operated pneumatic drills, although the equipment is simple and low-cost, the labor intensity is high, the hole-making efficiency is low, and the hole-making quality is easily affected by human factors and is unstable. In addition, pneumatic drills are usually only suitable for drilling small holes, and it is difficult to meet the needs of drilling large holes or complex materials.

[0004] Although the pneumatic automatic feed drill (ADU) has improved the hole-making efficiency and quality to a certain extent, its speed and feed rate are fixed and cannot be adjusted in real time according to the processing material and hole diameter. This is particularly obvious when processing laminated materials. Since the hardness and thickness of each layer of material may be different, the fixed speed and feed rate often lead to a decrease in hole-making quality, or even damage to the tool, increasing processing costs. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a control method and system based on electric feed drilling equipment, which realizes high-efficiency and high-quality hole making processing by precisely controlling the movement of the motor and the position and speed of the tool. Through the automation and intelligent control of the electric feed drilling equipment, not only the labor intensity of the workers is reduced, but also the hole making efficiency and processing quality are significantly improved.

[0006] In order to solve the above technical problems, the technical solution of the present invention is as follows: In a first aspect, a control method based on an electric feed drilling device comprises: Clamp the laminated materials, pads and drilling templates, select the workstation and laminated structure in the upper computer interface, and input relevant processing parameters as needed; According to the selected material and processing requirements, enter the corresponding speed and feed rate; In the processing interface, click the power on and auto buttons in sequence to power on and automatically enter the processing state; PLC communicates with the host computer via the Ethernet communication interface. When the displacement and return to zero buttons are clicked, PLC sends instructions to the servo driver, which controls the motor to move the tool to the initial position. Click the start button, the PLC analyzes the data from the host computer and sends pulse and direction signals to the servo drive through transistor output; The servo drive controls the movement of the motor according to the number and frequency of pulses received to achieve control of the tool position and speed and start hole making.

[0007] Furthermore, the PLC transmits data with the host computer through the Ethernet communication interface, including: Configure the Ethernet communication interface between the PLC and the host computer, and set the communication parameters on the host computer and PLC, including the IP address and port number; According to the network bandwidth and data transmission requirements, set the key parameters of the token bucket algorithm, including the token generation rate and bucket capacity; The host computer maintains a token bucket, adds tokens to the bucket at a set rate, and checks whether there are enough tokens in the bucket before sending data each time; the host computer establishes a TCP connection with the PLC; Before sending data, the host computer checks the number of tokens in the token bucket. If the sending conditions are met, the host computer sends the data packet to the PLC. After sending, the host computer updates the status of the token bucket algorithm. After receiving the data, the PLC processes it and prepares to receive the next data packet; The host computer continuously monitors the status of the token bucket algorithm and the network status. If the network is congested or the data transmission delay increases, the host computer dynamically adjusts the parameters of the token bucket algorithm. If an error or packet loss occurs during data transmission, the host computer decides whether to retransmit based on the status of the token bucket algorithm. After data transmission is completed, the host computer and PLC close the communication connection normally.

[0008] Further, the PLC sends instructions to the servo driver, and the servo driver controls the motor to move the tool to the initial position, including: Confirm the communication protocol between PLC and servo drive and configure the corresponding communication parameters; Calculate the moving path based on the workspace, obstacle positions, and the current and target initial positions of the tool; The PLC generates an instruction to move to the initial position based on the moving path. The instruction includes speed, acceleration, direction and target position. The PLC sends the generated instructions to the servo drive through the configured communication protocol. The instructions contain all the information required for the tool to move from the current position to the initial position. After receiving the instruction from the PLC, the servo driver parses the instruction and controls the movement of the motor according to the parameters in the instruction; The motor starts to move according to the control signal of the servo driver, driving the tool to move to the initial position along the predetermined path; during the movement, the servo driver continuously monitors the status and position of the motor; The servo driver feeds back the real-time status of the motor to the PLC; the PLC determines whether the tool has reached the initial position based on the feedback information; When the tool reaches the initial position, the servo driver sends a signal to the PLC to confirm that the task is completed; after receiving the confirmation signal, the PLC ends the moving task.

[0009] Furthermore, the moving path is calculated according to the working space, the obstacle position, the current position of the tool and the target initial position, including: Determine the extent of the workspace, which is the three-dimensional area in which the tool can move; identify the location and shape of all obstacles, which are areas that the tool needs to avoid during movement; Divide the workspace into a grid, where each grid cell represents a feasible movement area; Set the starting point and target point, taking the current position of the tool as the starting point; taking the initial target position as the target point; Define a heuristic function for estimating the cost from any node to the target node; Initialize the open list and the closed list. The open list contains the nodes to be explored, initially including the starting node; the closed list contains the nodes that have been explored; Select the corresponding node from the open list; if the node is the target node, the path has been found; for the current node, check all its adjacent nodes; for each adjacent node, if it is not passable, ignore it; if the adjacent node is already in the closed list, ignore it; if the adjacent node is not in the open list, calculate its cost and heuristic cost, and add it to the open list; if the adjacent node is already in the open list, check whether there is a corresponding cost to reach the adjacent node through the current node, if so, update its cost and parent node to the current node; starting from the target node, trace back along the parent node of each node to the starting node, where tracing back along the parent node of each node to the starting node is the movement path of the tool.

[0010] Furthermore, the calculation formula of the heuristic function is: ; in, Is a node To the target The original Euclidean distance of ; is the peak value of the Gaussian function; is the standard deviation of the Gaussian function; It is a slave node To the target node the estimated cost of , and Is a node The coordinates of , and Is the target node The coordinates of is an exponential parameter; is a weighting coefficient; is a positive number; Represents the base of natural logarithms.

[0011] Furthermore, the PLC parses the data from the host computer and sends pulse and direction signals to the servo drive through transistor outputs, including: Create an initial population in the PLC, which represents a set of solutions; each individual in the population is an encoded solution that can be mapped to the pulse and direction signals output by the PLC; Define a fitness function to evaluate the performance of each individual; select the corresponding individual to enter the next generation according to the fitness function; randomly select two individuals and generate new individuals through crossover operation; perform random mutation on individuals, and repeat fitness evaluation, selection and genetic operation until the termination condition is met to obtain the corresponding solution; Convert the corresponding solution into the corresponding pulse and direction signal; configure an interface in the PLC to receive the data from the host computer and generate the corresponding output signal according to the pulse and direction signal.

[0012] Furthermore, the calculation formula of the fitness function is: ; in, is the positioning error, which represents the absolute difference between the actual position reached by the servo drive and the desired position; The weight coefficient representing the error change rate; represents the weight coefficient; It indicates the time required from the PLC sending pulse and direction signal to the servo drive reaching the desired position; Represents the weight coefficient of response time; Indicates the maximum value of actual output; Indicates the output value when a steady state is reached; Indicates at time and time The time difference between two samples; and Respectively indicate at time and time positioning error.

[0013] Furthermore, the servo driver controls the movement of the motor according to the number and frequency of the received pulses to achieve the control of the tool position and speed, and starts the hole making process, including: The servo drive receives the pulse signal from the PLC through its interface. The pulse signal includes the number of pulses and the pulse frequency. The control circuit of the servo drive decodes the received pulse signal to extract the position command and speed command. The servo drive will adjust the number and frequency of pulses actually acting on the motor according to the set electronic gear ratio; the processed signal is transmitted to the drive circuit, which converts the signal into voltage and current for the motor to work; the motor moves according to the received drive signal, and its rotation angle and speed correspond to the number and frequency of the input pulses.

[0014] When the motor moves to the predetermined position according to the pulse signal and reaches the required speed, the hole making process begins; the tool is driven by the motor to cut along the preset trajectory to complete the hole making task.

[0015] In a second aspect, a control system based on an electric feed drilling device comprises: The processing module is used to clamp the laminated materials, pads and drilling templates. In the upper computer interface, select the workstation and laminated structure, and input the relevant processing parameters as needed; according to the selected material and processing requirements, input the corresponding speed and feed rate; in the processing interface, click the power on and automatic buttons in sequence to power on and automatically enter the processing state; PLC transmits data with the upper computer through the Ethernet communication interface; click the displacement and return to zero buttons, the PLC will send instructions to the servo driver, and the servo driver controls the motor to move the tool to the initial position; The parsing module is used to click the start button, the PLC parses the data from the host computer, and sends the pulse and direction signal to the servo drive through the transistor output; The control module is used for the servo driver to control the movement of the motor according to the number and frequency of pulses received, so as to control the position and speed of the tool and start the hole making process.

[0016] According to a third aspect, a computing device includes: one or more processors; The storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method described.

[0017] In a fourth aspect, a computer-readable storage medium stores a program, and when the program is executed by a processor, the method described is implemented.

[0018] The above solution of the present invention includes at least the following beneficial effects: Through automated and intelligent control processes, this method significantly reduces manual intervention, thereby improving hole-making processing efficiency. The electric feed drill can quickly adjust the speed and feed rate according to the input parameters, making the processing process faster and more accurate.

[0019] Since this method can accurately control the movement of the motor and the position and speed of the tool, it can ensure the consistency and accuracy of hole making. Especially for laminated materials, by adjusting the processing parameters in real time, problems such as inconsistent hole diameters and rough hole walls can be effectively avoided, thereby greatly improving the hole making quality.

[0020] Traditional hole-making methods often require workers to perform a lot of manual operations, while the control method of the present invention greatly reduces the labor intensity of workers through automated processes. Workers only need to perform simple parameter settings and operations on the host computer interface to complete complex hole-making tasks. The method allows users to input the corresponding speed and feed rate according to the selected material and processing requirements, which makes the processing process more flexible and adaptable to the processing requirements of different materials and hole diameters.

[0021] By precisely controlling the processing parameters, this method can effectively reduce tool wear and extend tool life, thereby reducing processing costs. At the same time, due to the improved hole-making efficiency and quality, time and material costs are further saved. The automated processing process reduces the error rate of manual operation, thereby reducing the risk of accidents caused by improper operation and improving production safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a flow chart of a control method based on electric feed drilling equipment provided by an embodiment of the present invention.

[0023] Figure 2 It is a schematic diagram of a control system based on an electric feed drilling device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in a form and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0025] like Figure 1 As shown, an embodiment of the present invention provides a control method based on an electric feed drilling device, the method comprising the following steps: Clamp the laminated materials, pads and drilling templates, select the workstation and laminated structure in the upper computer interface, and input relevant processing parameters as needed; According to the selected material and processing requirements, enter the corresponding speed and feed rate; In the processing interface, click the power on and auto buttons in sequence to power on and automatically enter the processing state; PLC communicates with the host computer via the Ethernet communication interface. When the displacement and return to zero buttons are clicked, PLC sends instructions to the servo driver, which controls the motor to move the tool to the initial position. Click the start button, the PLC analyzes the data from the host computer and sends pulse and direction signals to the servo drive through transistor output; The servo drive controls the movement of the motor according to the number and frequency of pulses received to achieve control of the tool position and speed and start hole making.

[0026] In an embodiment of the present invention, by integrating PLC (programmable logic controller) and servo driver, the method realizes full automatic control of electric feed drilling equipment. The user only needs to perform simple parameter settings and operations through the upper computer interface, and the equipment can automatically complete the hole making process, which greatly improves the production efficiency. The servo driver accurately controls the movement of the motor according to the number and frequency of pulses received, thereby realizing accurate control of the tool position and speed. This precise control method ensures the accuracy and consistency of the hole making process and meets the needs of high-precision hole making. The method allows the user to input the corresponding speed and feed rate according to the selected material and processing requirements, making the processing process more flexible and adaptable to the processing requirements of different materials and apertures. This flexibility makes the method have a wide range of application prospects in industrial production. Traditional hole making requires workers to perform a lot of manual operations, while the control method of the present invention reduces manual intervention and reduces the labor intensity of workers through automation and intelligent technology. This not only improves production efficiency, but also improves the working environment. Due to the realization of automated control and precise processing control, the method can significantly improve the production efficiency and product quality of hole making. The control system based on PLC and servo driver has good scalability and maintainability. When the processing process needs to be upgraded or modified, it can be achieved by modifying the PLC program or adjusting the parameters of the servo drive, which is convenient and quick.

[0027] When applied specifically, the following steps are specifically included: First, the operator needs to correctly place the laminated materials, backing plates and drilling templates to be processed on the fixture or workbench. Use appropriate fixtures or clamping devices to ensure that these materials are firmly fixed to prevent movement or misalignment during the processing. The purpose of clamping is to maintain stability and accuracy during the processing and ensure that the location and size of the holes meet the requirements.

[0028] Select the workstation and stacking structure in the host computer interface, including: The operator then turns to the host computer (usually a computer or dedicated control device) and opens the corresponding control software or interface. In this interface, the correct station is selected, that is, which electric feed drill equipment will perform the next processing task. At the same time, the relevant information of the stacking structure is selected or entered, such as the number of layers of stacking materials, the type and thickness of each layer, etc. This information is crucial for the setting of subsequent processing parameters.

[0029] Enter relevant processing parameters as needed, including: After selecting the workstation and stacking structure, the operator needs to input a series of related processing parameters according to the specific processing requirements. These parameters include the diameter and depth of the hole, the processing sequence (such as which layer to drill first and which layer to drill later), and other factors that affect the processing quality and efficiency. The purpose of entering these parameters is to enable the electric feed drill to perform precise processing according to the predetermined plan and meet the design requirements of the product.

[0030] According to the selected material and processing requirements, enter the corresponding speed and feed rate, including: Speed ​​and feed rate are very critical parameters in hole making. Different materials and hole diameters may require different speed and feed rate combinations to achieve the best processing effect. The operator enters or selects the corresponding speed and feed rate values ​​in the host computer interface according to the properties of the selected material (such as hardness, toughness, etc.) and processing requirements (such as hole size, processing accuracy, etc.). These values ​​will be received by the control system of the electric feed drill equipment and used for real-time adjustment and control in the subsequent processing process.

[0031] In the processing interface, click the power on and auto buttons in sequence to power on and automatically enter the processing state, including: The operator will find the "Power On" button in the processing interface and click it to power on the electric feed drill. After powering on, the device will go through a series of self-check procedures to ensure that all components and systems are in normal working condition. Then, the operator will click the "Auto" button to automatically enter the waiting state. In this state, the device is ready to receive further instructions and start the hole-making processing task.

[0032] In the embodiment of the present invention, the PLC performs data transmission with the host computer through the Ethernet communication interface, including: Configure the Ethernet communication interface of the PLC and the host computer, and set the communication parameters on the host computer and the PLC, including the IP address and port number. Specifically, ensure that the PLC and the host computer are connected to the same Ethernet network, which is usually achieved through Ethernet cables and switches; on the host computer, open the network configuration interface and assign a unique IP address and subnet mask to the Ethernet interface of the host computer; on the PLC, set the IP address and subnet mask of the PLC's Ethernet communication module through its programming software or configuration tool to ensure that the PLC and the host computer are in the same subnet; use the ping command or other network test tools to ensure that the host computer can successfully communicate with the PLC's IP address.

[0033] According to the network bandwidth and data transmission requirements, set the key parameters of the token bucket algorithm, including the token generation rate and bucket capacity, including: on the host computer, specify a port number for the application communicating with the PLC, which will be used to establish a TCP connection; on the PLC, if necessary, also configure the corresponding port number to listen for connection requests from the host computer; ensure that both the host computer and the PLC support the same communication protocol, such as Modbus TCP, EtherNet / IP, or a custom TCP / IP protocol; after completing the settings, save the configuration and restart the relevant services or applications of the host computer and PLC to ensure that the new communication parameters take effect; evaluate the bandwidth capacity of the current network to understand the maximum data transmission rate that the network can support. Based on the network bandwidth evaluation results and data transmission requirements, calculate the appropriate token generation rate to ensure that data transmission does not exceed the network capacity. Determine the capacity of the token bucket according to the burstiness and stability requirements of data transmission. The bucket capacity determines how much data can be cached during peak data transmission. In the application of the host computer, configure the calculated token generation rate and bucket capacity into the token bucket algorithm module.

[0034] The host computer maintains a token bucket, adds tokens to the bucket at a set rate, and checks whether there are enough tokens in the bucket before sending data each time; the host computer establishes a TCP connection with the PLC, specifically including: when the host computer starts, initialize the token bucket and set the initial number of tokens in the bucket to the bucket capacity; according to the set token generation rate, the host computer regularly adds tokens to the token bucket, which is achieved through a timer or a dedicated thread; the host computer uses the configured IP address and port number to try to establish a TCP connection with the PLC. After listening to the connection request, the PLC accepts the request and establishes a connection; Before sending data, the host computer checks the number of tokens in the token bucket. If the conditions for sending are met, the host computer sends the data packet to the PLC. After sending, the host computer updates the status of the token bucket algorithm, including: before sending data, the host computer checks whether the number of tokens in the token bucket is sufficient to support the amount of data to be sent; if the number of tokens is sufficient, the host computer sends the data packet to the PLC. The size of the data packet sent is usually related to the number of tokens; after sending data, the host computer reduces the number of tokens in the token bucket according to the amount of data sent and updates the status of the token bucket.

[0035] After receiving the data, the PLC processes it and prepares to receive the next data packet, including: the PLC listens to the data from the host computer on the TCP connection. When the data arrives, the PLC receives the data packet and stores it in the memory; the PLC processes the received data according to the predefined logic or program, such as executing control instructions, updating internal variables, or triggering other operations; after processing the current data packet, the PLC continues to listen to the TCP connection and prepares to receive the next data packet sent by the host computer.

[0036] The host computer continuously monitors the status of the token bucket algorithm and the network status. If the network is congested or the data transmission delay increases, the host computer dynamically adjusts the parameters of the token bucket algorithm; if an error or packet loss occurs during the data transmission process, the host computer decides whether to retransmit according to the status of the token bucket algorithm. After the data transmission is completed, the host computer and the PLC normally close the communication connection, which includes: the host computer continuously monitors the network congestion, data transmission delay and other related indicators; if network congestion or data transmission delay increases, the host computer dynamically adjusts the parameters of the token bucket algorithm, such as reducing the token generation rate or increasing the capacity of the bucket to adapt to the current network conditions; if an error or packet loss occurs during the data transmission process, the host computer decides whether to retransmit the data packet according to the status of the token bucket algorithm and the error type; when all data has been successfully transmitted and confirmed to be correct, the data transmission task between the host computer and the PLC is considered completed; the host computer sends a request to close the TCP connection to the PLC, and the PLC confirms the connection closure after receiving the request. This is usually achieved through the four-wave process of the TCP protocol; after closing the connection, the host computer and the PLC release communication-related resources, such as memory, threads, and network interfaces.

[0037] In the embodiment of the present invention, the application of the token bucket algorithm enables the host computer to accurately control the rate of data transmission. This control mechanism effectively prevents network congestion caused by data burst or excessive transmission, thereby ensuring the stability and reliability of data transmission. By reasonably setting the token generation rate and the capacity of the bucket, the network bandwidth resources can be maximized and bandwidth waste can be avoided. This dynamic adjustment capability enables the system to maintain efficient data transmission when network conditions change. Since the token bucket algorithm can predict and control the data transmission rate, the waiting time and queuing delay of the data packet during the transmission process can be reduced, thereby improving the data transmission performance in application scenarios with high real-time requirements. When errors or packet loss occur during data transmission, the host computer can intelligently decide whether to retransmit according to the state of the token bucket algorithm. This mechanism effectively improves the fault tolerance of data transmission and enhances the stability and robustness of the entire communication system. The host computer continuously monitors the network status and dynamically adjusts the parameters of the token bucket algorithm to cope with network congestion or increased data transmission delay. This adaptability enables the system to flexibly respond to various complex network environment changes. By establishing a TCP connection between the host computer and the PLC and using the token bucket algorithm for data transmission control, the security of communication can be enhanced to a certain extent. TCP connections provide sequential delivery of data packets and an error detection mechanism, while the token bucket algorithm prevents malicious or unintentional data flood attacks.

[0038] In an embodiment of the present invention, the PLC sends instructions to the servo driver, and the servo driver controls the motor to move the tool to the initial position, including: Confirm the communication protocol between the PLC and the servo drive and configure the corresponding communication parameters, including: Select a suitable communication protocol according to the models of the PLC and servo drive and the supported communication standards (such as Modbus, CANopen, EtherCAT, etc.). In the programming environment of the PLC, set the parameters of the communication port (such as serial port, Ethernet port, etc.), including baud rate, data bit, stop bit, check bit, etc., to ensure consistency with the servo drive. Set the parameters related to the PLC communication through the configuration tool or interface of the servo drive to ensure that the communication between the two can be established normally.

[0039] The moving path is calculated based on the workspace, obstacle position, current position of the tool and target initial position, specifically including: obtaining the size, shape of the workspace and the position and size of obstacles through sensors or preset data; obtaining the current position of the tool through an encoder or position sensor, and setting the initial position to which the tool needs to move as the target position; using a path planning algorithm to calculate the optimal or feasible path from the current position to the target position to avoid collision with obstacles.

[0040] The PLC generates instructions for moving to the initial position based on the moving path. The instructions include speed, acceleration, direction and target position. Specifically, the instructions include: defining the data format of the moving instructions according to the selected communication protocol and the requirements of the servo driver, including the instruction header, data segment and check code; determining the moving speed, acceleration, direction and target position based on the calculated moving path, and filling these data into the instruction format; encapsulating the filled instruction data, adding necessary identification and check information to ensure the integrity and correctness of the instructions during transmission.

[0041] The PLC sends the generated instructions to the servo drive through the configured communication protocol. The instructions contain all the information required for the tool to move from the current position to the initial position. Specifically, the PLC establishes a stable communication connection with the servo drive through the configured communication port and parameters; the packaged movement instructions are sent to the servo drive through the communication connection to ensure that the instructions can arrive accurately; After receiving the instruction from the PLC, the servo driver parses the instruction and controls the movement of the motor according to the parameters in the instruction, which includes: after receiving the instruction sent by the PLC, the servo driver unpacks and parses it to extract key information such as the moving speed, acceleration, direction and target position; according to the parsed instruction parameters, the servo driver executes the corresponding motion control algorithm to generate the current or voltage signal required to control the motor; the servo driver outputs the generated control signal to the motor, driving the motor to start moving at the specified speed, acceleration and direction.

[0042] The motor starts to move according to the control signal of the servo driver, driving the tool to move to the initial position along a predetermined path; during the movement, the servo driver continuously monitors the status and position of the motor, specifically including: the motor rotates according to the control signal of the servo driver, driving the tool to move to the initial position along a predetermined path through a mechanical transmission mechanism; during the movement, the servo driver continuously monitors the motor's speed, current, temperature and other status information, as well as the actual position of the tool, to ensure safety and stability during the movement.

[0043] The servo driver feeds back the real-time status of the motor to the PLC; the PLC determines whether the tool has reached the initial position based on the feedback information, specifically: the servo driver feeds back the monitored motor status and tool position information to the PLC in real time so that the PLC can perform subsequent processing; after receiving the feedback information, the PLC compares it with the preset target initial position to determine whether the tool has reached or is close to the initial position.

[0044] When the tool reaches the initial position, the servo driver sends a signal to the PLC to confirm that the task is complete; after receiving the confirmation signal, the PLC ends the moving task, which includes: when the PLC determines that the tool has reached the initial position, it will send a confirmation request to the servo driver to confirm whether the task is completed; after receiving the confirmation request, the servo driver will check the status and position information of the motor. If everything is normal and the tool has indeed reached the initial position, it will send a confirmation signal to the PLC. After receiving the confirmation signal, the PLC will end the moving task and release related resources.

[0045] In an embodiment of the present invention, through the precise calculation and instruction sending of the PLC and the precise control of the servo drive, it can be ensured that the tool can move to the predetermined initial position accurately and without error. Since the PLC has powerful programming capabilities, it can easily adjust parameters such as the moving path, speed and acceleration according to different working scenarios and requirements. This flexibility enables the system to quickly adapt to changes in the production line or the introduction of new products. The servo drive continuously monitors the state and position of the motor and feeds this information back to the PLC in real time. This enables the operator or control system to understand the current position and state of the tool at any time, so as to make timely adjustments or interventions (if necessary). During the movement process, if an abnormal situation occurs (such as motor failure, path obstacle, etc.), the PLC and servo drive can respond quickly and take necessary protective measures (such as emergency stop) to ensure the safety of the operator and equipment. At the same time, such a system usually has high anti-interference ability and stability, and can operate stably for a long time in a harsh industrial environment. The automated tool positioning process greatly reduces the need for manual intervention, thereby improving production efficiency. In addition, due to the rapid response and precise control of the PLC and servo drive, the entire movement process is also faster and smoother. PLC and servo drive-based systems usually have a modular design, which makes troubleshooting, maintenance and system expansion relatively simple and convenient.

[0046] In an embodiment of the present invention, the moving path is calculated according to the working space, the obstacle position, the current position of the tool and the target initial position, including: Determine the scope of the workspace, which is the three-dimensional area in which the tool can move; identify the location and shape of all obstacles, which are areas that the tool needs to avoid during movement, including: using 3D modeling software or sensor data to determine the three-dimensional dimensions of the workspace, such as length, width, and height; ensuring that this range is large enough to accommodate all possible movements of the tool and taking into account the physical limitations of the machine or equipment; determine the exact location and shape of obstacles (such as machine parts, fixtures, etc.) through 3D scanning, CAD models or manual measurements, and clearly mark these obstacles in the 3D model of the workspace so that they can be avoided during path planning.

[0047] The workspace is divided into a grid, where each grid unit represents a feasible movement area; the starting point and the target point are set, and the current position of the tool is used as the starting point; the target initial position is used as the target point, specifically including: dividing the workspace into a three-dimensional grid according to the required path planning accuracy; each grid unit represents a small feasible movement area, whose size depends on the movement accuracy of the tool and the distribution of obstacles; using a sensor or positioning system to determine the current precise position of the tool and set it as the starting point; determining the target initial position and setting it as the target point, which can be a position input by the user or determined by some algorithm.

[0048] Define a heuristic function for estimating the cost from any node to the target node; Initialize the open list and closed list. The open list contains the nodes to be explored, initially including the starting node; the closed list contains the nodes that have been explored. Specifically, it includes: creating an open list to store the grid nodes to be explored. Initially, this list only contains the starting node; creating a closed list to store the grid nodes that have been explored. Initially, this list is empty.

[0049] Select the corresponding node from the open list; if the node is the target node, the path has been found; for the current node, check all its adjacent nodes; for each adjacent node, if it is not passable, ignore it; if the adjacent node is already in the closed list, ignore it; if the adjacent node is not in the open list, calculate its cost and heuristic cost, and add it to the open list; if the adjacent node is already in the open list, check whether there is a corresponding cost to reach the adjacent node through the current node, if so, update its cost and parent node to the current node; starting from the target node, trace back to the starting node along the parent node of each node, where the tool movement path is traced back to the starting node along the parent node of each node, including: Based on the heuristic function and the explored cost, select a node from the open list to explore. This is usually achieved by selecting the node with the minimum total cost (the sum of the explored cost and the heuristic cost); for the currently selected node, check all its neighboring grid nodes (usually six directions: up, down, left, right, front and back, and in three-dimensional space, also up and down). For each neighboring node, do the following: If the node is not traversable (for example, it is part of an obstacle), ignore it; if the node is already in the closed list, ignore it; if the node is not in the open list, calculate the cost from the starting point to the node and the heuristic cost from the node to the target node, and add it to the open list; if the node is already in the open list, check whether there is a smaller total cost to reach the node through the current node. If so, update its cost and set its parent node to the current node.

[0050] Find and retrace the path: When the target node is added to the open list and selected as the current node, it means that a path from the starting point to the target point has been found; starting from the target node and tracing back to the starting node along the parent node of each node, this constitutes the tool movement path.

[0051] In an embodiment of the present invention, by dividing the workspace into grids and using a heuristic function to estimate the cost from any node to the target node, this method can efficiently find a feasible path from the starting point to the target point. In the path planning process, the position and shape of the obstacles are clearly identified and considered to ensure that the generated moving path will not collide with the obstacles. This enhances the safety and reliability of the system and avoids potential damage or accidents. The method can dynamically generate adaptive moving paths according to different workspaces, obstacle distributions, and the positions of the starting point and the target point. This flexibility enables the system to easily cope with various complex and changing environments. By reasonably using open lists and closed lists to manage the nodes to be explored and the explored nodes, the method avoids unnecessary repeated calculations and explorations, thereby optimizing computing resources and time consumption. Since the method considers the cost and heuristic cost of the nodes in the path planning process, the generated moving path is usually smoother and more practical, reducing the jitter and pause of the tool during the movement process, and improving the processing efficiency and quality. The method is based on grid division and heuristic search, and the algorithm structure is clear and easy to understand and implement. At the same time, due to the modular design of the algorithm, maintenance and expansion become relatively simple.

[0052] In the embodiment of the present invention, the calculation formula of the heuristic function is: ; in, Is a node To the target The original Euclidean distance of ; is the peak value of the Gaussian function; is the standard deviation of the Gaussian function; It is a slave node To the target node the estimated cost of , and Is a node The coordinates of , and is the target node The coordinates of is an exponential parameter; is a weighting coefficient; is a positive number; Represents the base of natural logarithms.

[0053] In the embodiment of the present invention, by introducing the Gaussian function and the weighted term, the function can more accurately reflect the actual cost from the node to the target node. Especially in the presence of obstacles or complex terrain, this heuristic function can better guide the search algorithm to find the optimal or near-optimal path. By adjusting the parameters (peak value of Gaussian function), c (parameter related to node coordinates), (weighting factor) and (a positive number), the function can adapt to different working environments and path planning requirements. This flexibility enables the algorithm to perform well in a variety of scenarios. Since the heuristic function can more accurately estimate the cost from any node to the target node, the search algorithm can find the potential optimal path faster, reducing unnecessary node exploration and calculation time, thereby improving the efficiency of path planning. The heuristic function helps the search algorithm avoid falling into the local optimal solution, especially when there are multiple local optimal paths. By comprehensively considering the distance, obstacle distribution and other environmental factors, the function can guide the algorithm to jump out of the local optimum and find a more globally optimal path. Since the function takes into account a variety of factors, including the straight-line distance from the node to the target, the impact of obstacles, etc., it is highly robust to uncertainty and noise in the working environment.

[0054] In an embodiment of the present invention, the PLC parses data from the host computer and sends pulse and direction signals to the servo driver through transistor output, including: Create an initial population in the PLC, which represents a set of solutions; each individual in the population is an encoded solution that can be mapped to the pulse and direction signals output by the PLC, including: determining the number of individuals in the population, which is usually based on the complexity of the problem and the size of the required search space; determining how to encode the solution into individuals. For example, binary encoding, real number encoding, etc. can be used, depending on the nature of the problem; allocating space in the PLC's memory to store the population, and using random values ​​or predetermined heuristics to initialize the encoding of each individual.

[0055] Define a fitness function to evaluate the performance of each individual; select the corresponding individual to enter the next generation through roulette according to the fitness function; randomly select two individuals and generate new individuals through crossover operation; perform random mutation on individuals, repeat fitness evaluation, selection and genetic operation until the termination condition is met to obtain the corresponding solution, which includes: using the fitness function to evaluate the fitness of each individual in the current population and make selections based on these values; randomly select two parent individuals and determine the crossover point. The selection of the crossover point can be based on the specific nature of the problem or determined randomly; exchange the genes (or coding parts) of the two parent individuals after the crossover point to generate new offspring individuals; set a mutation probability to determine whether each gene will mutate; for each individual, randomly change the values ​​of some of its genes according to its mutation probability. This helps to introduce new genetic mutations and increase the diversity of the population; combine fitness evaluation, selection and genetic operations (crossover and mutation) into an iterative cycle; set a termination condition, such as reaching the maximum number of iterations, fitness reaching a preset threshold or population evolution stagnation, etc., and repeat the above steps until the termination condition is met.

[0056] Convert the corresponding solution into the corresponding pulse and direction signal; configure an interface in the PLC to receive data from the host computer and generate corresponding output signals according to the pulse and direction signals, including: converting the optimal solution (encoded individual) found by the genetic algorithm into a pulse and direction signal format that the PLC can understand; ensuring that the decoded signal matches the physical interface of the PLC output, for example, the pulse frequency corresponds to the motor speed, and the direction signal corresponds to the forward and reverse rotation of the motor; determining the communication protocol between the PLC and the host computer, such as Modbus, Profibus, Ethernet / IP, etc.; configuring the corresponding communication interface in the PLC and setting the necessary parameters, such as baud rate, data bit, stop bit, etc.; monitoring and receiving data from the host computer, which may include motion instructions, parameter settings, etc.; mapping the decoded pulse and direction signals to the output module of the PLC, which usually involves configuring the digital output channel of the PLC; generating actual pulse and direction signals according to the mapping relationship, and sending them to the servo drive through the output interface of the PLC.

[0057] In an embodiment of the present invention, a better control strategy can be found by creating and optimizing a solution set (i.e., a population) in a PLC through a genetic algorithm. This strategy can make the movement of the servo drive more accurate and efficient, thereby improving the performance of the entire system. Since the genetic algorithm has an adaptive search capability, the PLC system can dynamically adjust the output pulse and direction signals according to the actual situation to adapt to different working environments and task requirements. This adaptability makes the system more flexible and can better cope with complex and changeable working scenarios. Through the optimization process of the genetic algorithm, control parameters that make the system more stable can be found. These parameters can reduce the vibration and error of the servo drive, thereby improving the stability and reliability of the entire mechanical system. The optimized control strategy can reduce unnecessary energy consumption, for example, by reducing the acceleration and deceleration time of the servo drive, or reducing its power when idle. The genetic algorithm can quickly converge to a better solution, so that the PLC system can respond to the instructions of the host computer more quickly.

[0058] In the embodiment of the present invention, the calculation formula of the fitness function is: ; in, is the positioning error, which represents the absolute difference between the actual position reached by the servo drive and the desired position; The weight coefficient representing the error change rate; represents the weight coefficient; It indicates the time required from the PLC sending the pulse and direction signal to the servo drive reaching the desired position; Represents the weight coefficient of response time; Indicates the maximum value of actual output; Indicates the output value when a steady state is reached; Indicates at time and time The time difference between two samples; and Respectively indicate at time and time In an embodiment of the present invention, the servo driver controls the movement of the motor according to the number and frequency of pulses received to achieve the control of the tool position and speed, and starts the hole making process, including: The servo drive receives the pulse signal from the PLC through its interface. The pulse signal includes the number of pulses and the pulse frequency. The control circuit of the servo drive decodes the received pulse signal to extract the position command and speed command. The servo drive will adjust the number and frequency of pulses actually acting on the motor according to the set electronic gear ratio; the processed signal is transmitted to the drive circuit, which converts the signal into voltage and current for the motor to work; the motor moves according to the received drive signal, and its rotation angle and speed correspond to the number and frequency of the input pulses.

[0059] When the motor moves to the predetermined position according to the pulse signal and reaches the required speed, the hole making process begins; the tool is driven by the motor to cut along the preset trajectory to complete the hole making task.

[0060] In an embodiment of the present invention, high-precision control of the motor position and speed can be achieved through the accurate decoding and processing of the pulse signal by the servo driver. This control accuracy ensures that the tool can accurately reach the predetermined position and cut at the required speed, thereby improving the accuracy and quality of the hole-making process. The number and frequency of the pulse signal are easy to adjust, so that the servo driver can flexibly control the movement of the motor according to different processing requirements. By adjusting the pulse signal, different motion trajectories and speed curves can be easily achieved to meet various complex hole-making processing requirements. The drive circuit of the servo driver can efficiently convert the processed signal into the voltage and current of the motor to ensure that the motor operates in the best state. This high-efficiency drive reduces energy loss, improves the overall efficiency of the system, and helps to reduce operating costs. The precise control of the servo driver reduces the vibration and impact of the motor, thereby improving the stability and reliability of the system. Stable motor movement helps to extend the service life of the tool and equipment and reduce maintenance costs. The rapid response of the servo driver to the pulse signal enables the motor to quickly reach the predetermined position and speed, reducing waiting time and improving production efficiency.

[0061] When applied specifically, the following steps are specifically included: EDU is equipped with dual servo motors, which are connected to the Z-axis screw through a reduction mechanism. The function of the reduction mechanism is to reduce the speed of the motor output and increase the torque to meet the needs of hole making.

[0062] The programmable logic controller (PLC) plays a central role in this step. The PLC is responsible for accurately interpreting the mutual logical relationship of the dual servo motors. This means that the PLC needs to understand and control how the two motors work together to ensure that they maintain precise synchronization or a specific difference in speed and feed, depending on the processing requirements.

[0063] The PLC performs precise logic control on the speed and feed of the dual servo motors based on the analyzed logical relationship. This includes adjusting the speed and position of each motor to ensure that the optimal speed and feed rate can be automatically matched for different material layers during the stacking hole making process.

[0064] Under the control of PLC, EDU can identify the type of material currently being processed and adjust the working state of the dual servo motors according to preset parameters or real-time feedback. This automatic matching function ensures that no matter what material is processed, it can be processed at the optimal speed and feed rate, thus ensuring the quality and efficiency of hole making.

[0065] Through the precise control of the above steps, EDU can complete the hole-making task with high quality. The coordinated work of the dual servo motors ensures the stability and precision of the processing, while the logic control of the PLC provides flexibility and reliability, making the entire hole-making process efficient and accurate.

[0066] like Figure 2 As shown, an embodiment of the present invention further provides a control system based on an electric feed drilling device, comprising: The processing module is used to clamp the laminated materials, pads and drilling templates. In the upper computer interface, select the workstation and laminated structure, and input the relevant processing parameters as needed; according to the selected material and processing requirements, input the corresponding speed and feed rate; in the processing interface, click the power on and automatic buttons in sequence to power on and automatically enter the processing state; PLC transmits data with the upper computer through the Ethernet communication interface; click the displacement and return to zero buttons, the PLC will send instructions to the servo driver, and the servo driver controls the motor to move the tool to the initial position; The parsing module is used to click the start button, the PLC parses the data from the host computer, and sends the pulse and direction signal to the servo drive through the transistor output; The control module is used for the servo driver to control the movement of the motor according to the number and frequency of pulses received, so as to control the position and speed of the tool and start the hole making process.

[0067] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A control method based on electric feed drilling equipment, characterized in that: The method comprises: Clamp the laminated materials, pads and drilling templates, select the workstation and laminated structure in the upper computer interface, and input relevant processing parameters as needed; According to the selected material and processing requirements, enter the corresponding speed and feed rate; In the processing interface, click the power on and auto buttons in sequence to power on and automatically enter the processing state; PLC communicates with the host computer via the Ethernet communication interface. When the displacement and return to zero buttons are clicked, PLC sends instructions to the servo driver, which controls the motor to move the tool to the initial position. Click the start button, the PLC analyzes the data from the host computer and sends pulse and direction signals to the servo drive through transistor output; The servo drive controls the movement of the motor according to the number and frequency of pulses received to achieve control of the tool position and speed and start hole making.

2. The control method based on the electric feed drilling equipment according to claim 1 is characterized in that: PLC transmits data with the host computer through the Ethernet communication interface, including: Configure the Ethernet communication interface between the PLC and the host computer, and set the communication parameters on the host computer and PLC, including the IP address and port number; According to the network bandwidth and data transmission requirements, set the key parameters of the token bucket algorithm, including the token generation rate and bucket capacity; The host computer maintains a token bucket, adds tokens to the bucket at a set rate, and checks whether there are enough tokens in the bucket before sending data each time; the host computer establishes a TCP connection with the PLC; Before sending data, the host computer checks the number of tokens in the token bucket. If the sending conditions are met, the host computer sends the data packet to the PLC. After sending, the host computer updates the status of the token bucket algorithm. After receiving the data, the PLC processes it and prepares to receive the next data packet; The host computer continuously monitors the status of the token bucket algorithm and the network status. If the network is congested or the data transmission delay increases, the host computer dynamically adjusts the parameters of the token bucket algorithm. If an error or packet loss occurs during data transmission, the host computer decides whether to retransmit based on the status of the token bucket algorithm. After data transmission is completed, the host computer and PLC close the communication connection normally.

3. The control method based on the electric feed drilling equipment according to claim 2 is characterized in that: The PLC sends instructions to the servo drive, which controls the motor to move the tool to the initial position, including: Confirm the communication protocol between PLC and servo drive and configure the corresponding communication parameters; Calculate the moving path based on the workspace, obstacle positions, and the current and target initial positions of the tool; The PLC generates an instruction to move to the initial position based on the moving path. The instruction includes speed, acceleration, direction and target position. The PLC sends the generated instructions to the servo drive through the configured communication protocol. The instructions contain all the information required for the tool to move from the current position to the initial position. After receiving the instruction from the PLC, the servo driver parses the instruction and controls the movement of the motor according to the parameters in the instruction; The motor starts to move according to the control signal of the servo driver, driving the tool to move to the initial position along the predetermined path; during the movement, the servo driver continuously monitors the status and position of the motor; The servo drive feeds back the real-time status of the motor to the PLC; the PLC determines whether the tool has reached the initial position based on the feedback information; When the tool reaches the initial position, the servo driver sends a signal to the PLC to confirm that the task is completed; after receiving the confirmation signal, the PLC ends the moving task.

4. The control method based on the electric feed drilling equipment according to claim 3 is characterized in that: Calculate the moving path based on the workspace, obstacle positions, and the current and target initial positions of the tool, including: Determine the extent of the workspace, which is the three-dimensional area in which the tool can move; identify the location and shape of all obstacles, which are areas that the tool needs to avoid during movement; Divide the workspace into a grid, where each grid cell represents a feasible movement area; Set the starting point and target point, taking the current position of the tool as the starting point; taking the initial target position as the target point; Define a heuristic function for estimating the cost from any node to the target node; Initialize the open list and the closed list. The open list contains the nodes to be explored, initially including the starting node; the closed list contains the nodes that have been explored; Select the corresponding node from the open list; if the node is the target node, the path has been found; for the current node, check all its adjacent nodes; for each adjacent node, if it is not passable, ignore it; if the adjacent node is already in the closed list, ignore it; if the adjacent node is not in the open list, calculate its cost and heuristic cost, and add it to the open list; if the adjacent node is already in the open list, check whether there is a corresponding cost to reach the adjacent node through the current node, if so, update its cost and parent node to the current node; starting from the target node, trace back along the parent node of each node to the starting node, where tracing back along the parent node of each node to the starting node is the movement path of the tool.

5. The control method based on the electric feed drilling equipment according to claim 4 is characterized in that: The calculation formula of the heuristic function is: ； in, Is a node To the target The original Euclidean distance of ; is the peak value of the Gaussian function; is the standard deviation of the Gaussian function; It is a slave node To the target node the estimated cost of , and Is a node The coordinates of , and is the target node The coordinates of is an exponential parameter; is a weighting coefficient; is a positive number; Represents the base of natural logarithms.

6. The control method based on the electric feed drilling equipment according to claim 5, characterized in that: The PLC parses the data from the host computer and sends pulse and direction signals to the servo drive through transistor outputs, including: Create an initial population in the PLC, which represents a set of solutions; each individual in the population is an encoded solution that can be mapped to the pulse and direction signals output by the PLC; Define a fitness function to evaluate the performance of each individual; select the corresponding individual to enter the next generation according to the fitness function; randomly select two individuals and generate new individuals through crossover operation; perform random mutation on individuals, and repeat fitness evaluation, selection and genetic operation until the termination condition is met to obtain the corresponding solution; Convert the corresponding solution into the corresponding pulse and direction signal; configure an interface in the PLC to receive the data from the host computer and generate the corresponding output signal according to the pulse and direction signal.

7. The control method based on the electric feed drilling equipment according to claim 6, characterized in that: The calculation formula of the fitness function is: ； in, is the positioning error, which represents the absolute difference between the actual position reached by the servo drive and the desired position; The weight coefficient representing the error change rate; represents the weight coefficient; It indicates the time required from the PLC sending the pulse and direction signal to the servo drive reaching the desired position; Represents the weight coefficient of response time; Indicates the maximum value of actual output; Indicates the output value when a steady state is reached; Indicates at time and time The time difference between two samples; and Respectively indicate at time and time positioning error.

8. The control method based on the electric feed drilling equipment according to claim 7, characterized in that: The servo drive controls the movement of the motor according to the number and frequency of pulses received to achieve tool position and speed control and start hole making, including: The servo drive receives the pulse signal from the PLC through its interface. The pulse signal includes the number of pulses and the pulse frequency. The control circuit of the servo drive decodes the received pulse signal to extract the position command and speed command. The servo drive adjusts the number and frequency of pulses actually acting on the motor according to the set electronic gear ratio; the processed signal is transmitted to the drive circuit, which converts the signal into voltage and current for the motor to operate; the motor moves according to the received drive signal, and its rotation angle and speed correspond to the number and frequency of input pulses; When the motor moves to the predetermined position according to the pulse signal and reaches the required speed, the hole making process begins; the tool is driven by the motor to cut along the preset trajectory to complete the hole making task.

9. A control system based on electric feed drilling equipment, characterized in that: The system implements the method according to any one of claims 1 to 8, comprising: The processing module is used to clamp the laminated materials, pads and drilling templates. In the upper computer interface, select the workstation and laminated structure, and input the relevant processing parameters as needed; according to the selected material and processing requirements, input the corresponding speed and feed rate; in the processing interface, click the power on and automatic buttons in sequence to power on and automatically enter the processing state; PLC transmits data with the upper computer through the Ethernet communication interface; click the displacement and return to zero buttons, the PLC will send instructions to the servo driver, and the servo driver controls the motor to move the tool to the initial position; The parsing module is used to click the start button, the PLC parses the data from the host computer, and sends the pulse and direction signal to the servo drive through the transistor output; The control module is used for the servo driver to control the movement of the motor according to the number and frequency of pulses received, so as to control the position and speed of the tool and start the hole making process.

10. A computing device, characterized in that include: one or more processors; A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the method as claimed in any one of claims 1 to 8.

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