Method and system for controlling turn-to-turn slot jumping of numerical control winding machine

Abstract

The invention relates to the technical field of intelligent control, and discloses a turn-to-turn slot jumping control method and system for a numerical control winding machine, and the system comprises the steps: collecting the data of a to-be-turned wire through a collection unit, and determining the rotating speed of a main shaft motor according to the data of the to-be-turned wire; the judgment unit acquires image data at the winding mold based on the image acquisition device to obtain the flatness of the wire harness, and judges whether the winding pre-tightening force is adjusted or not; the processing unit identifies the first slot position and the second slot position according to the image data, determines the center distance, and determines the moving distance of the to-be-wrapped wire controlled by the stepping motor according to the center distance; the processing unit collects second image data at the winding mold after the envelope jumps out of the groove and judges whether wire harness crossing exists or not according to the second image data; and adjusting the moving distance according to the crossed wire harness when the wire harness is judged to be crossed. Through cooperative work of the multifunctional modules, more accurate wire harness positioning and winding quality control are achieved, the requirement for manual intervention is reduced, and the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a method and system for controlling turn-to-turn skipping of a numerically controlled winding machine. Background Art

[0002] In modern manufacturing, CNC loose wire winding machines are widely used in the production process of various motors. In the motor manufacturing process, the stator coil must first be wound on a dedicated winding device. As the product's requirements for winding accuracy and efficiency continue to increase, automatic winding machines are gradually being promoted.

[0003] However, the current use of automatic winding machines faces many challenges, especially when dealing with the winding of multiple wire harnesses, which is prone to problems such as wire harness crossing and loose winding. These problems not only affect the density and mechanical properties of the coil, but may also lead to reduced production efficiency and material waste. If the wire harness fails to jump, it needs to be manually handled by personnel, and there is a lack of automatic feedback adjustment mechanism, which is not conducive to operator safety and reduces production efficiency.

[0004] Therefore, it is necessary to design a CNC winding machine turn-to-turn skipping control method and system to solve the problems existing in the current technology. Summary of the invention

[0005] In view of this, the present invention proposes a method and system for controlling turn-to-turn slot jumping of a numerically controlled winding machine, aiming to solve the problem that current automatic winding machines lack a feedback adjustment mechanism and still require manual processing when abnormal slot jumping occurs.

[0006] In one aspect, the present invention provides a turn-to-turn skipping control system for a numerically controlled winding machine, comprising:

[0007] A collection unit is configured to collect data of the wires to be wrapped, wherein the data includes a single wire bundle diameter, a wire bundle diameter, and a number of wire bundles, and determine a spindle motor speed according to the data of the wires to be wrapped;

[0008] A judgment unit is configured to collect image data of the winding mold based on the image acquisition device, obtain the wire harness flatness according to the image data, and judge whether to adjust the winding preload according to the wire harness flatness;

[0009] a processing unit configured to identify the center of the wire slot where the current wrapped wire is located according to the image data, mark the wire slot as a first slot, identify the center of the next slot, and mark the next slot as a second slot, determine the center distance according to the center of the first slot and the center of the second slot, and determine the moving distance of the wrapped wire to be turned by the stepper motor controlled according to the center distance;

[0010] The processing unit is also configured to collect second image data at the winding mold after the wire jumps and determine whether there is a wire harness crossing based on the second image data; when it is determined that there is a wire harness crossing, the processing unit controls the spindle motor to retract and adjusts the moving distance according to the crossed wire harness.

[0011] Furthermore, when the acquisition unit determines the spindle motor speed according to the waiting-to-be-turned wire wrapping data, it includes:

[0012]

[0013] Wherein, V represents the spindle motor speed, K represents the adjustment coefficient, K takes values ​​of [60, 100], D1 represents the diameter of a single wire bundle, D2 represents the diameter of the wire to be wrapped, N represents the number of wire bundles, and C represents a non-zero constant, taking values ​​of [1, 5].

[0014] Further, when the judging unit judges whether to adjust the winding pre-tightening force according to the flatness of the wiring harness, it includes:

[0015] The judging unit compares the wire harness flatness with a flatness threshold, and judges whether to adjust the winding preload force according to the comparison result;

[0016] When the flatness of the wire harness is less than or equal to a flatness threshold, the judging unit determines not to adjust the winding pre-tightening force;

[0017] When the wire harness flatness is greater than a flatness threshold, the determination unit determines to adjust the winding pre-tightening force.

[0018] Further, when it is determined that the winding preload force is to be adjusted, it includes:

[0019] The judgment unit obtains a flatness difference according to the wire harness flatness and a flatness threshold, wherein the flatness difference is the difference between the wire harness flatness and the flatness threshold, and determines a preload adjustment coefficient according to the flatness difference to adjust the winding preload, wherein the preload adjustment coefficient is proportional to the flatness difference.

[0020] Furthermore, when the processing unit determines the moving distance of the wrapped wire to be turned by the stepper motor according to the center distance, it includes:

[0021]

[0022] Wherein, L represents the moving distance, K1 represents the distance adjustment coefficient, K1 takes values ​​of [2, 5], D1 represents the diameter of a single wire bundle, D2 represents the diameter of the wire to be wrapped, N represents the number of wire bundles, K2 represents a fixed value, and K2 takes values ​​of [1, 10].

[0023] Furthermore, when the processing unit determines whether there is a wiring harness crossing according to the second image data, it includes:

[0024] The processing unit identifies whether there is a single wire bundle in the wire to be wrapped located in the first slot according to the second image data;

[0025] When there is a single wire harness in the first slot, the processing unit determines that there is a wire harness crossing;

[0026] When all the single wire bundles in the wire to be wrapped are located in the second slots, the processing unit determines that there is no wire bundle crossing.

[0027] Further, when it is determined that there is a crossing of the wire beams, the processing unit adjusts the moving distance according to the crossed wire beams, including:

[0028] The processing unit collects the number of cross-wire bundles, and determines a similar set in the historical slot-hopping adjustment data according to the number of cross-wire bundles and the diameter of the wire to be turned, wherein the historical slot-hopping adjustment data includes the number of historical cross-wire bundles, the diameter of the wire to be turned, and the final moving distance in history;

[0029] The processing unit calculates the similarity between the current data and the historical data according to the number of the cross wire bundles and the diameter of the wire to be turned, and determines the similar set according to the similarity;

[0030] When the similarity between the current data and the historical data is less than or equal to 0.8, the historical data is eliminated;

[0031] When the similarity between the current data and the historical data is greater than 0.8, the processing unit classifies the historical data into the similar set.

[0032] Furthermore, when the processing unit adjusts the moving distance according to the cross beam, it also includes:

[0033] The processing unit obtains all historical final moving distances in the similar set according to the similar set, and compares each historical final moving distance with the moving distance respectively;

[0034] The data whose historical final moving distance is greater than the moving distance are included in the first set;

[0035] Listing data whose historical final moving distance is smaller than the moving distance into the second set;

[0036] The processing unit adjusts the moving distance according to the first set and / or the second set.

[0037] Further, when the processing unit adjusts the moving distance according to the first set and / or the second set, it includes:

[0038] When the historical final moving distances in the similar set are all greater than or equal to the moving distance, the processing unit adjusts the moving distance according to the first set;

[0039]

[0040] When the historical final moving distances in the similar set are all less than or equal to the moving distance, the processing unit adjusts the moving distance according to the second set;

[0041]

[0042] When data in the similar set with a historical final moving distance greater than or less than the moving distance both exist, the processing unit adjusts the moving distance according to the first set and the second set;

[0043]

[0044] Among them, Lz represents the adjusted final moving distance, m is the number of historical final moving distances in the first set, Li is the i-th historical final moving distance in the first set, L0 is the moving distance, n is the number of historical final moving distances in the second set, and Lj is the j-th historical final moving distance in the second set.

[0045] Compared with the prior art, the beneficial effect of the present invention is that more accurate wiring harness positioning and winding quality control are achieved through the collaborative work of multiple functional modules. The data to be wound is collected and analyzed, and the spindle motor speed is dynamically adjusted according to the diameter, quantity and other parameters of the wiring harness to ensure that the winding speed matches the winding requirements. The image acquisition device monitors the state of the winding mold in real time, and automatically adjusts the pre-tightening force of the winding by judging the flatness of the wiring harness to avoid the occurrence of loose wiring harness problems. The processing unit can accurately identify the position of the wire slot and dynamically calculate the moving distance of the stepper motor to ensure accurate alignment during the turn-to-turn slot jumping process. If the wire harness crosses, it will automatically retract and readjust, reducing the need for manual intervention and improving production efficiency. At the same time, it reduces material waste and the risk of quality problems, which helps to improve the mechanical properties of the coil and the overall quality of the finished product.

[0046] On the other hand, the present application also provides a method for controlling turn-to-turn slot skipping of a numerically controlled winding machine, which is applied to the above-mentioned turn-to-turn slot skipping control system of the numerically controlled winding machine, comprising:

[0047] Collecting data of the wires to be wrapped, the data including the diameter of a single wire bundle, the diameter of the wires to be wrapped, and the number of wire bundles, and determining the spindle motor speed according to the data;

[0048] Based on the image acquisition device, image data of the winding mold is collected, the flatness of the wire harness is obtained according to the image data, and whether the winding preload force is adjusted according to the flatness of the wire harness;

[0049] Identify the center of the wire slot where the current wrapped wire is located according to the image data, mark the wire slot as a first slot, identify the center of the next slot, and mark the next slot as a second slot, determine the center distance according to the center of the first slot and the center of the second slot, and determine the moving distance of the wrapped wire to be turned by the stepper motor according to the center distance;

[0050] After the wire wrap jumps, the second image data at the winding mold is collected and whether there is a wire harness crossing is determined based on the second image data; when it is determined that there is a wire harness crossing, the spindle motor is controlled to retract and the moving distance is adjusted according to the crossed wire harness.

[0051] It can be understood that the above-mentioned CNC winding machine turn-to-turn skipping control method and system have the same beneficial effects, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0053] Figure 1 A functional block diagram of a turn-to-turn skipping control system for a numerically controlled winding machine provided by an embodiment of the present invention;

[0054] Figure 2 The present invention provides a flowchart of a method for controlling turn-to-turn slot skipping of a numerically controlled winding machine according to an embodiment of the present invention. DETAILED DESCRIPTION

[0055] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described 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. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0056] In modern manufacturing, CNC loose wire winding machines are widely used in the production process of various motors. In the motor manufacturing process, the stator coil must first be wound on a dedicated winding device. As the product's requirements for winding accuracy and efficiency continue to increase, automatic winding machines are gradually being promoted. The winding machine mainly includes: a DC motor and a spindle. The DC motor drives the spindle and the winding die installed on the spindle to rotate, and the wire is wound on the winding die through an operating sleeve. The photoelectric disk and electrical control part installed on the spindle are used to count the number of winding turns and automatically stop after winding. During the winding process, since there are several winding slots on the winding die, it is necessary to jump to the next slot for winding after winding one slot. In the automatic slot-jumping system of the winding machine, the stepper motor rotates forward and reverse at a certain beat, driving the lead screw to make the wire rack fixed with the nut do the corresponding left and right translation movement to meet the uniform arrangement of the wire in the slot. When one slot is wound, the stepper motor rotates at an increased speed, driving the wire rack to increase the displacement and jump to the next winding slot position for winding. However, the current use of automatic winding machines faces many challenges, especially when dealing with the winding of multiple wire harnesses, which is prone to problems such as wire harness crossing and loose winding. These problems not only affect the density and mechanical properties of the coil, but may also lead to reduced production efficiency and material waste. If the wire harness fails to jump, it needs to be manually handled by personnel, and there is a lack of automatic feedback adjustment mechanism, which is not conducive to operator safety and reduces production efficiency.

[0057] Therefore, it is necessary to design a CNC winding machine turn-to-turn skipping control method and system to solve the problems existing in the current technology.

[0058] In some embodiments of the present application, see Figure 1 As shown, a turn-to-turn skipping control system for a CNC winding machine comprises:

[0059] The acquisition unit is configured to acquire data of the wires to be wrapped, the data including the diameter of a single wire bundle, the diameter of the wires to be wrapped, and the number of wire bundles, and determine the spindle motor speed according to the data of the wires to be wrapped.

[0060] The judgment unit is configured to collect image data at the winding mold based on the image acquisition device, obtain the wire harness flatness according to the image data, and judge whether to adjust the winding preload according to the wire harness flatness.

[0061] The processing unit is configured to identify the center of the wire slot where the current wrapped wire is located according to the image data, mark the wire slot as the first slot, identify the center of the next slot, and mark the next slot as the second slot, determine the center distance according to the center of the first slot and the center of the second slot, and determine the moving distance of the wrapped wire to be turned by the stepper motor controlled according to the center distance.

[0062] The processing unit is further configured to collect second image data at the winding mold after the wire jumps and determine whether there is a wire harness crossing according to the second image data. When it is determined that there is a wire harness crossing, the processing unit controls the spindle motor to retract and adjusts the moving distance according to the crossed wire harness.

[0063] Specifically, the acquisition unit is responsible for obtaining relevant data to be wound, including the diameter of a single wire harness, the diameter of the wire to be wrapped, and the number of wire harnesses. It is used to calculate the optimal speed of the spindle motor to meet the winding requirements of different wire harnesses, thereby ensuring the efficiency and consistency of the winding. The judgment unit obtains the image data of the winding mold through the image acquisition device and analyzes the flatness of the wire harness. By judging the flatness, the preload force of the winding can be adjusted in real time to avoid looseness, thereby improving the density of the coil. The processing unit uses the image data to identify the position of the current winding slot and dynamically marks it as the first slot. At the same time, the center of the next slot is identified and marked as the second slot, and the center distance between the two is calculated to determine the moving distance of the stepper motor to achieve precise slot jumping control. In addition, when the slot jumping fails, the processing unit can collect the second image data to determine whether the wire harness is crossed, and then control the spindle motor to retract and adjust the moving distance to ensure the smooth progress of subsequent winding.

[0064] It is understandable that the winding accuracy and efficiency are improved through automated data collection and real-time feedback adjustment mechanisms. Not only does it reduce the need for manual intervention, it also effectively reduces the risk of wire harness crossing and looseness, thereby improving the mechanical properties of the product, optimizing the production process, and reducing material waste.

[0065] In some embodiments of the present application, when the acquisition unit determines the spindle motor speed according to the waiting-to-be-turned envelope data, it includes:

[0066]

[0067] Wherein, V represents the spindle motor speed, K represents the adjustment coefficient, K takes values ​​of [60, 100], D1 represents the diameter of a single wire bundle, D2 represents the diameter of the wire to be wrapped, N represents the number of wire bundles, and C represents a non-zero constant, taking values ​​of [1, 5].

[0068] It is understandable that the speed calculation makes the wire harness processing in the winding process more efficient and stable. It improves the winding quality, reduces the problems of wire harness crossing and loose winding caused by speed mismatch, and enhances the adaptability of the system, which can flexibly cope with wire harnesses of different specifications. It not only improves production efficiency, but also reduces equipment wear and energy consumption to a certain extent.

[0069] In some embodiments of the present application, when the judgment unit judges whether to adjust the winding preload according to the wire harness flatness, it includes: the judgment unit compares the wire harness flatness with the flatness threshold, and judges whether to adjust the winding preload according to the comparison result.

[0070] Specifically, when the wire harness flatness is less than or equal to the flatness threshold, the judgment unit determines not to adjust the winding preload force. When the wire harness flatness is greater than the flatness threshold, the judgment unit determines to adjust the winding preload force.

[0071] In some embodiments of the present application, when it is determined that the winding preload force should be adjusted, it includes: a judgment unit obtains a flatness difference based on the wire harness flatness and a flatness threshold, the flatness difference is the difference between the wire harness flatness and the flatness threshold, and a preload adjustment coefficient is determined based on the flatness difference to adjust the winding preload force, and the preload adjustment coefficient is proportional to the flatness difference.

[0072] It is understandable that the judgment unit compares the collected wire harness flatness with the preset flatness threshold. When the wire harness flatness is less than or equal to the threshold, it indicates that the wire harness is in good condition and there is no need to adjust the winding preload; when the wire harness flatness is greater than the threshold, it indicates that the wire harness may be loose or irregular, and the judgment unit adjusts the winding preload accordingly. Specifically, the adjustment of the preload is based on the difference between the wire harness flatness and the threshold (flatness difference), which is used to calculate the preload adjustment coefficient, thereby achieving precise dynamic adjustment. The preload adjustment coefficient is greater than 1. By accurately monitoring and dynamically adjusting the preload, the quality and consistency of the winding are effectively improved. It can adapt to the state changes of different wire harnesses, adjust the preload in real time to cope with irregular or loose wire harnesses, and reduce production defects caused by wire harness problems. In addition, the intelligent adjustment mechanism not only improves production efficiency, but also reduces the need for manual intervention, and enhances the automation and safety of the entire winding process.

[0073] In some embodiments of the present application, when the processing unit determines the moving distance of the stepper motor to control the wrapped wire to be turned according to the center distance, it includes:

[0074]

[0075] Wherein, L represents the moving distance, K1 represents the distance adjustment coefficient, K1 takes values ​​of [2, 5], D1 represents the diameter of a single wire bundle, D2 represents the diameter of the wire to be wrapped, N represents the number of wire bundles, K2 represents a fixed value, and K2 takes values ​​of [1, 10].

[0076] It is understandable that by dynamically calculating the moving distance, the winding process is made more accurate when jumping the slot, reducing the risk of misalignment and wire bundle crossing, improving the neatness and density of the wire arrangement, optimizing the mechanical properties of the coil, improving production efficiency, and reducing material waste.

[0077] In some embodiments of the present application, when the processing unit determines whether there is a wire bundle crossing based on the second image data, it includes: the processing unit identifies whether there is a single wire bundle in the wire to be wound in the first slot based on the second image data.

[0078] Specifically, when there is a single wire bundle in the first slot, the processing unit determines that there is a wire bundle crossing. When all the single wire bundles in the wire to be wrapped are in the second slot, the processing unit determines that there is no wire bundle crossing.

[0079] In some embodiments of the present application, when it is determined that there is a wire harness crossing, and the processing unit adjusts the moving distance according to the crossed wire harness, it includes: the processing unit collects the number of crossed wire harnesses, and determines a similar set in the historical slot-hopping adjustment data according to the number of crossed wire harnesses and the diameter of the wire to be turned, and the historical slot-hopping adjustment data includes the number of historical crossed wire harnesses, the diameter of the wire to be turned, and the historical final moving distance. The processing unit calculates the similarity between the current data and the historical data according to the number of crossed wire harnesses and the diameter of the wire to be turned, and determines the similar set according to the similarity.

[0080] Specifically, when the similarity between the current data and the historical data is less than or equal to 0.8, the historical data is removed. When the similarity between the current data and the historical data is greater than 0.8, the processing unit classifies the historical data into a similar set.

[0081] In some embodiments of the present application, when the processing unit adjusts the moving distance according to the cross beam, it also includes: the processing unit obtains all historical final moving distances in the similar set according to the similar set, and compares each historical final moving distance with the moving distance respectively.

[0082] Specifically, data whose final historical moving distance is greater than the moving distance are included in the first set. Data whose final historical moving distance is less than the moving distance are included in the second set. The processing unit adjusts the moving distance according to the first set and / or the second set.

[0083] In some embodiments of the present application, when the processing unit adjusts the moving distance according to the first set and / or the second set, it includes: when the historical final moving distances in the similar sets are greater than or equal to the moving distance, the processing unit adjusts the moving distance according to the first set.

[0084]

[0085] When the historical final moving distances in the similar set are all less than or equal to the moving distance, the processing unit adjusts the moving distance according to the second set.

[0086]

[0087] When data in the similar set with a final historical moving distance greater than or less than the moving distance both exist, the processing unit adjusts the moving distance according to the first set and the second set.

[0088]

[0089] Among them, Lz represents the adjusted final moving distance, m is the number of historical final moving distances in the first set, Li is the i-th historical final moving distance in the first set, L0 is the moving distance, n is the number of historical final moving distances in the second set, and Lj is the j-th historical final moving distance in the second set.

[0090] It is understandable that the processing unit detects the distribution of the wire bundle to be wound through the second image data. When a wire bundle is found to be still in the previous winding slot (first slot), it is determined that there is an intersection; and when all the wire bundles are located in the target slot (second slot), it is determined that there is no intersection. Through the combination of historical data and real-time analysis, a highly flexible, data-driven adjustment mechanism is provided for the winding slot-hopping process. It can not only effectively reduce production problems caused by intersections, improve the accuracy and stability of slot-hopping, but also avoid the limitations brought by a single standard. The automatic adjustment mechanism reduces manual intervention, improves production efficiency, and makes the system more intelligent and adaptable, providing a more reliable solution for the winding manufacturing process.

[0091] In the above-mentioned embodiment, a variety of functional modules work together to achieve more accurate harness positioning and winding quality control. Collect and analyze the data to be wound, and dynamically adjust the spindle motor speed according to the diameter, quantity and other parameters of the harness to ensure that the winding speed matches the winding requirements. The image acquisition device monitors the state of the winding mold in real time, and automatically adjusts the preload force of the winding by judging the flatness of the harness to avoid the occurrence of loose harness problems. The processing unit can accurately identify the position of the wire slot and dynamically calculate the moving distance of the stepper motor to ensure accurate alignment during the turn-to-turn slot jumping process. If the harness crosses, it will automatically retract and readjust, reducing the need for manual intervention and improving production efficiency. At the same time, it reduces material waste and the risk of quality problems, which helps to improve the mechanical properties of the coil and the overall quality of the finished product.

[0092] In another preferred embodiment based on the above embodiment, refer to Figure 2 As shown, this embodiment provides a turn-to-turn slot skipping control method for a numerically controlled winding machine, which is applied to the above-mentioned turn-to-turn slot skipping control system of the numerically controlled winding machine, comprising:

[0093] S100: collecting data of the wires to be wrapped, the data including the diameter of a single wire bundle, the diameter of the wires to be wrapped and the number of wire bundles, and determining the spindle motor speed according to the data;

[0094] S200: collecting image data of the winding mold based on an image acquisition device, obtaining the wire harness flatness according to the image data, and determining whether to adjust the winding preload according to the wire harness flatness;

[0095] S300: identifying the center of the wire slot where the current wrapped wire is located according to the image data, marking the wire slot as a first slot, identifying the center of the next slot, and marking the next slot as a second slot, determining the center distance according to the center of the first slot and the center of the second slot, and determining the moving distance of the wrapped wire to be turned by the stepper motor according to the center distance;

[0096] S400: After the wire wrap jumps, the second image data at the winding mold is collected and whether there is a wire bundle crossing is determined according to the second image data; when it is determined that there is a wire bundle crossing, the spindle motor is controlled to retract and the moving distance is adjusted according to the crossed wire bundle.

[0097] It is understandable that more accurate harness positioning and winding quality control are achieved through the collaborative work of multiple functional modules. The data to be wound is collected and analyzed, and the spindle motor speed is dynamically adjusted according to the diameter, quantity and other parameters of the harness to ensure that the winding speed matches the winding requirements. The image acquisition device monitors the state of the winding mold in real time, and automatically adjusts the preload force of the winding by judging the flatness of the harness to avoid the occurrence of loose harness problems. The processing unit can accurately identify the position of the wire slot and dynamically calculate the moving distance of the stepper motor to ensure accurate alignment during the turn-to-turn slot jumping process. If the harness crosses, it will automatically retract and readjust, reducing the need for manual intervention and improving production efficiency. At the same time, it reduces material waste and the risk of quality problems, which helps to improve the mechanical properties of the coil and the overall quality of the finished product.

[0098] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0099] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0100] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0101] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0102] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A turn-to-turn skipping control system for a CNC winding machine, characterized in that: include: A collection unit is configured to collect data of the wires to be wrapped, wherein the data includes a single wire bundle diameter, a wire bundle diameter, and a number of wire bundles, and determine a spindle motor speed according to the data of the wires to be wrapped; A judgment unit is configured to collect image data of the winding mold based on the image acquisition device, obtain the wire harness flatness according to the image data, and judge whether to adjust the winding preload according to the wire harness flatness; a processing unit configured to identify the center of the wire slot where the current wrapped wire is located according to the image data, mark the wire slot as a first slot, identify the center of the next slot, and mark the next slot as a second slot, determine the center distance according to the center of the first slot and the center of the second slot, and determine the moving distance of the wrapped wire to be turned by the stepper motor controlled according to the center distance; The processing unit is also configured to collect second image data at the winding mold after the wire jumps and determine whether there is a wire harness crossing based on the second image data; when it is determined that there is a wire harness crossing, the processing unit controls the spindle motor to retract and adjusts the moving distance according to the crossed wire harness.

2. The turn-to-turn skipping control system of a CNC winding machine according to claim 1, characterized in that: When the acquisition unit determines the spindle motor speed according to the waiting-to-be-turned wire wrapping data, it includes: Wherein, V represents the spindle motor speed, K represents the adjustment coefficient, K takes values ​​of [60, 100], D1 represents the diameter of a single wire bundle, D2 represents the diameter of the wire to be wrapped, N represents the number of wire bundles, and C represents a non-zero constant, taking values ​​of [1, 5].

3. The turn-to-turn skipping control system of a CNC winding machine according to claim 1, characterized in that: When the judging unit judges whether to adjust the winding pre-tightening force according to the flatness of the wiring harness, it includes: The judging unit compares the wire harness flatness with a flatness threshold, and judges whether to adjust the winding preload force according to the comparison result; When the flatness of the wire harness is less than or equal to a flatness threshold, the judging unit determines not to adjust the winding pre-tightening force; When the wire harness flatness is greater than a flatness threshold, the determination unit determines to adjust the winding pre-tightening force.

4. The turn-to-turn skipping control system of a numerically controlled winding machine according to claim 3, characterized in that: When it is determined that the winding preload force is to be adjusted, the method includes: The judgment unit obtains a flatness difference according to the wire harness flatness and a flatness threshold, wherein the flatness difference is the difference between the wire harness flatness and the flatness threshold, and determines a preload adjustment coefficient according to the flatness difference to adjust the winding preload, wherein the preload adjustment coefficient is proportional to the flatness difference.

5. The turn-to-turn skipping control system of a CNC winding machine according to claim 1, characterized in that: When the processing unit determines the moving distance of the stepper motor to control the wrapped wire to be turned according to the center distance, it includes: Wherein, L represents the moving distance, K1 represents the distance adjustment coefficient, K1 takes values ​​of [2, 5], D1 represents the diameter of a single wire bundle, D2 represents the diameter of the wire to be wrapped, N represents the number of wire bundles, K2 represents a fixed value, and K2 takes values ​​of [1, 10].

6. The turn-to-turn skipping control system of a numerically controlled winding machine according to claim 1, characterized in that: When the processing unit determines whether there is a wiring harness crossing according to the second image data, it includes: The processing unit identifies whether there is a single wire bundle in the wire to be wrapped located in the first slot according to the second image data; When there is a single wire harness in the first slot, the processing unit determines that there is a wire harness crossing; When all the single wire bundles in the wire to be wrapped are located in the second slots, the processing unit determines that there is no wire bundle crossing.

7. The turn-to-turn skipping control system of a numerically controlled winding machine according to claim 6, characterized in that: When it is determined that there is a wire beam crossing, the processing unit adjusts the moving distance according to the crossed wire beams, including: The processing unit collects the number of cross-wire bundles, and determines a similar set in the historical slot-hopping adjustment data according to the number of cross-wire bundles and the diameter of the wire to be turned, wherein the historical slot-hopping adjustment data includes the number of historical cross-wire bundles, the diameter of the wire to be turned, and the final moving distance in history; The processing unit calculates the similarity between the current data and the historical data according to the number of the cross wire bundles and the diameter of the wire to be turned, and determines the similar set according to the similarity; When the similarity between the current data and the historical data is less than or equal to 0.8, the historical data is eliminated; When the similarity between the current data and the historical data is greater than 0.8, the processing unit classifies the historical data into the similar set.

8. The turn-to-turn skipping control system of a numerically controlled winding machine according to claim 7, characterized in that: When the processing unit adjusts the moving distance according to the cross beam, it also includes: The processing unit obtains all historical final moving distances in the similar set according to the similar set, and compares each historical final moving distance with the moving distance respectively; The data whose historical final moving distance is greater than the moving distance are included in the first set; Listing data whose historical final moving distance is smaller than the moving distance into the second set; The processing unit adjusts the moving distance according to the first set and / or the second set.

9. The turn-to-turn skipping control system of a numerically controlled winding machine according to claim 8, characterized in that: When the processing unit adjusts the moving distance according to the first set and / or the second set, it includes: When the historical final moving distances in the similar set are all greater than or equal to the moving distance, the processing unit adjusts the moving distance according to the first set; When the historical final moving distances in the similar set are all less than or equal to the moving distance, the processing unit adjusts the moving distance according to the second set; When data in the similar set with a historical final moving distance greater than or less than the moving distance both exist, the processing unit adjusts the moving distance according to the first set and the second set; Among them, Lz represents the adjusted final moving distance, m is the number of historical final moving distances in the first set, Li is the i-th historical final moving distance in the first set, L0 is the moving distance, n is the number of historical final moving distances in the second set, and Lj is the j-th historical final moving distance in the second set.

10. A method for controlling turn-to-turn slot skipping of a numerically controlled winding machine, applied to the turn-to-turn slot skipping control system of a numerically controlled winding machine as claimed in any one of claims 1 to 9, characterized in that: include: Collecting data of the wires to be wrapped, the data including the diameter of a single wire bundle, the diameter of the wires to be wrapped, and the number of wire bundles, and determining the spindle motor speed according to the data; Based on the image acquisition device, image data of the winding mold is collected, the flatness of the wire harness is obtained according to the image data, and whether the winding preload force is adjusted according to the flatness of the wire harness; Identify the center of the wire slot where the current wrapped wire is located according to the image data, mark the wire slot as a first slot, identify the center of the next slot, and mark the next slot as a second slot, determine the center distance according to the center of the first slot and the center of the second slot, and determine the moving distance of the wrapped wire to be turned by the stepper motor according to the center distance; After the wire wrap jumps, second image data of the winding die is collected and whether there is a wire bundle crossing is determined according to the second image data; When it is determined that there is a wire beam crossing, the spindle motor is controlled to retract, and the moving distance is adjusted according to the crossed wire beam.

Images