Multi-axis-point and multi-node numerical control method and device, terminal equipment and storage medium

Abstract

The invention discloses a multi-axis-point and multi-node numerical control method and device, terminal equipment and a storage medium. The method comprises the following steps: acquiring node features corresponding to nodes connected with a controller; generating a control program corresponding to each node according to each node feature; transmitting each control program to the controller, so that the controller analyzes each control program and obtains a control instruction corresponding to each node; wherein each node executes a control task corresponding to the control instruction after receiving the control instruction transmitted by the controller. According to the invention, under the condition of a single controller, through connection of multiple nodes and control program programming, motion control of multi-axis and multi-node execution is realized, and the newly added cost of equipment is reduced. Meanwhile, on the basis of sufficient computing power of the controller, control among the nodes does not need to be transmitted across the controller, signal transmission delay is reduced, and the production efficiency of numerical control equipment is greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of mechanical control, and in particular to a multi-axis and multi-node numerical control method, device, terminal equipment and storage medium. Background Art

[0002] Numerical control (hereinafter referred to as NC) is a numerical control system used for positioning in the automotive industry. Numerical control can be defined as the automation of manufacturing processes using programming languages ​​that use letters, symbols, and symbolic controls. In CNC machine tools, instructions for producing specific workpieces appear in digital form, and the program formed by the instructions changes with the changes in the job. Most existing technologies use a solution that controls all axes in one, that is, one controller controls all axes at the same time to achieve only one target position.

[0003] When there are multiple nodes in the same production line that need to be positioned at the same time, due to the control method, a set of NC control systems can only complete one positioning requirement. When executing multiple positioning requirements, multiple controllers need to run at the same time, and there are delays in data transmission between controllers, which greatly affects the production efficiency of CNC equipment.

[0004] Therefore, there is an urgent need for a CNC control strategy to solve the problem of low production efficiency of CNC equipment. Summary of the invention

[0005] The embodiments of the present invention provide a multi-axis and multi-node numerical control method, device, terminal equipment and storage medium to solve the problem of low production efficiency of numerical control equipment.

[0006] In order to solve the above problems, an embodiment of the present invention provides a multi-axis multi-node numerical control method, comprising:

[0007] Get the node characteristics corresponding to the node that establishes a connection with the controller;

[0008] Generate a control program corresponding to each node according to the characteristics of each node;

[0009] Each of the control programs is transmitted to the controller so that the controller parses each of the control programs and obtains a control instruction corresponding to each node; wherein each node executes a control task corresponding to the control instruction after receiving the control instruction transmitted by the controller.

[0010] As an improvement of the above solution, after receiving the control instruction transmitted by the controller, each node executes the control task corresponding to the control instruction, including:

[0011] In each node, the received control instructions are read by the driver to generate servo drive instructions, and the corresponding motor is selected to run according to the servo drive instructions, so that the current node completes the control task specified by the control program; wherein each motor corresponds to the power source corresponding to the control task of the current node.

[0012] As an improvement of the above solution, the node characteristics include: interface type and transmission data content; the control program corresponding to each node is generated according to each node characteristic, including:

[0013] In each node, based on the interface type, a match is performed with the control program sample in the node control database to obtain a first control program with a matching degree greater than a first matching degree threshold, and based on the transmission data content, a match is performed with the first control program to obtain a second control program with a matching degree greater than a second matching degree threshold, and the second control program is used as the control program of the current node.

[0014] As an improvement of the above solution, before acquiring the node connected to the controller, the method further includes:

[0015] Get the number of nodes connected to the controller;

[0016] Determine the number of control programs to be loaded based on the number of nodes;

[0017] Based on the number of control programs loaded and the maximum space occupied by the control programs, the required running memory is calculated, and the corresponding running memory is called to meet the required running memory.

[0018] Correspondingly, an embodiment of the present invention further provides a multi-axis multi-node numerical control device, comprising: a data acquisition module, a data generation module and a data control module;

[0019] The data acquisition module is used to acquire node characteristics corresponding to the node connected to the controller;

[0020] The data generation module is used to generate a control program corresponding to each node according to the characteristics of each node;

[0021] The data control module is used to transmit each of the control programs to the controller so that the controller can parse each of the control programs and obtain the control instructions corresponding to each node; wherein each node executes the control task corresponding to the control instruction after receiving the control instruction transmitted by the controller.

[0022] As an improvement of the above solution, after receiving the control instruction transmitted by the controller, each node executes the control task corresponding to the control instruction, including:

[0023] In each node, the received control instructions are read by the driver to generate servo drive instructions, and the corresponding motor is selected to run according to the servo drive instructions, so that the current node completes the control task specified by the control program; wherein each motor corresponds to the power source corresponding to the control task of the current node.

[0024] As an improvement of the above solution, the node characteristics include: interface type and transmission data content; the control program corresponding to each node is generated according to each node characteristic, including:

[0025] In each node, based on the interface type, a match is performed with the control program sample in the node control database to obtain a first control program with a matching degree greater than a first matching degree threshold, and based on the transmission data content, a match is performed with the first control program to obtain a second control program with a matching degree greater than a second matching degree threshold, and the second control program is used as the control program of the current node.

[0026] As an improvement of the above solution, before acquiring the node connected to the controller, the method further includes:

[0027] Get the number of nodes connected to the controller;

[0028] Determine the number of control programs to be loaded based on the number of nodes;

[0029] Based on the number of control programs loaded and the maximum space occupied by the control programs, the required running memory is calculated, and the corresponding running memory is called to meet the required running memory.

[0030] Correspondingly, an embodiment of the present invention further provides a computer terminal device, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, it implements a multi-axis and multi-node CNC control method as described in the present invention.

[0031] Correspondingly, an embodiment of the present invention further provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute a multi-axis and multi-node CNC control method as described in the present invention.

[0032] As can be seen from the above, the present invention has the following beneficial effects:

[0033] The present invention provides a multi-axis multi-node CNC control method, which obtains node features corresponding to nodes connected to a controller; generates a control program corresponding to each node according to the features of each node; transmits each of the control programs to the controller so that the controller parses each of the control programs and obtains control instructions corresponding to each node; wherein each node executes a control task corresponding to the control instruction after receiving the control instruction transmitted by the controller. The present invention realizes motion control executed by multiple axes and multiple nodes by connecting multiple nodes and programming control programs in the case of a single controller, thereby reducing the additional cost of the equipment. At the same time, based on the sufficient computing power of the controller, the control between nodes does not need to be transmitted across the controller, which reduces the delay of signal transmission and greatly improves the production efficiency of CNC equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a flow chart of a multi-axis multi-node numerical control method provided by an embodiment of the present invention;

[0035] Figure 2 It is a structural schematic diagram of a multi-axis multi-node numerical control device provided by an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of the structure of a terminal device provided by an embodiment of the present invention;

[0037] Figure 4 It is a structural diagram of a host computer and a slave computer provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] Embodiment 1

[0040] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of a multi-axis multi-node numerical control method provided by an embodiment of the present invention, such as Figure 1 As shown, this embodiment includes steps 101 to 103, and each step is specifically as follows:

[0041] Step 101: Obtain node characteristics corresponding to the node that establishes a connection with the controller.

[0042] In a specific embodiment, the teaching machine can be an embodiment of the multi-axis and multi-node CNC control method of the present invention. Among them, the teaching software serves as the upper computer to realize the control of the lower computer. The lower computer is mainly composed of modules such as motion controller, logic controller, driver, motor, etc. A motion controller can control multiple nodes (nodes are expandable), each node has independent program control operation, and a node has a maximum of 6 motors (the number of axes with the motion controller is 6*the number of nodes). The motor can be independently configured in each node and is not restricted by the hardware connection order. Its characteristic is that the control instruction parser of the motion controller for each node is relatively independent, and the lower computer can be composed of a motion controller and a node, or a motion controller and multiple nodes. For better explanation, see. Figure 4 .

[0043] The executable program files for controlling different nodes are independent, and independent control programs can be written for any node through the teaching software. Through the teaching software programming, the positioning scheme of each node can be realized independently, and multiple nodes can be combined to realize a positioning scheme.

[0044] In this embodiment, before acquiring the node connected to the controller, the method further includes:

[0045] Get the number of nodes connected to the controller;

[0046] Determine the number of control programs to be loaded based on the number of nodes;

[0047] Based on the number of control programs loaded and the maximum space occupied by the control programs, the required running memory is calculated, and the corresponding running memory is called to meet the required running memory.

[0048] In a specific embodiment, the motion controller reads the total number of linked axes after linking with each node, determines the number of nodes and control instruction parsers based on the number of axes, and feeds the data back to the teaching software, which determines the number of main programs based on the data.

[0049] Step 102: Generate a control program corresponding to each node according to the characteristics of each node.

[0050] In this embodiment, the node characteristics include: interface type and transmission data content; the generating of the control program corresponding to each node according to each node characteristic includes:

[0051] In each node, based on the interface type, a match is performed with the control program sample in the node control database to obtain a first control program with a matching degree greater than a first matching degree threshold, and based on the transmission data content, a match is performed with the first control program to obtain a second control program with a matching degree greater than a second matching degree threshold, and the second control program is used as the control program of the current node.

[0052] In a specific embodiment, the user can edit the control program by himself and use the teaching software to write the control program of any node.

[0053] In a specific embodiment, the control program includes: ① logical instructions, such as input and output of digital and analog signals, etc.; ② motion instructions, such as linear interpolation, circular interpolation, PTP and other motion control instructions; ③ control instructions, such as calling subroutine instructions, multi-node collaboration instructions, etc.

[0054] Step 103: Transmit each of the control programs to the controller, so that the controller parses each of the control programs and obtains a control instruction corresponding to each node; wherein each node executes a control task corresponding to the control instruction after receiving the control instruction transmitted by the controller.

[0055] In this embodiment, after receiving the control instruction transmitted by the controller, each node executes the control task corresponding to the control instruction, including:

[0056] In each node, the received control instructions are read by the driver to generate servo drive instructions, and the corresponding motor is selected to run according to the servo drive instructions, so that the current node completes the control task specified by the control program; wherein each motor corresponds to the power source corresponding to the control task of the current node.

[0057] In a specific embodiment, the driver reads the servo drive instruction generated by the motion instruction to control the operation of the motor, thereby achieving different positioning requirements, and the motor corresponding to the motion instruction can be set by the user or arranged in the connection order of the actual hardware.

[0058] It can be understood that this embodiment can easily increase the number of nodes according to the actual number of required axes to adapt to actual use; at the same time, a control system can allow multiple axes to execute one positioning scheme, or multiple axes to execute multiple positioning schemes; in addition, the motor can be arbitrarily configured in any node, without being restricted by the hardware connection order, and has high flexibility.

[0059] See also Figure 2 , Figure 2 It is a structural schematic diagram of a multi-axis multi-node numerical control device provided by an embodiment of the present invention, comprising: a data acquisition module 201, a data generation module 202 and a data control module 203;

[0060] The data acquisition module is used to acquire node characteristics corresponding to the node connected to the controller;

[0061] The data generation module is used to generate a control program corresponding to each node according to the characteristics of each node;

[0062] The data control module is used to transmit each of the control programs to the controller so that the controller can parse each of the control programs and obtain the control instructions corresponding to each node; wherein each node executes the control task corresponding to the control instruction after receiving the control instruction transmitted by the controller.

[0063] As an improvement of the above solution, after receiving the control instruction transmitted by the controller, each node executes the control task corresponding to the control instruction, including:

[0064] In each node, the received control instructions are read by the driver to generate servo drive instructions, and the corresponding motor is selected to run according to the servo drive instructions, so that the current node completes the control task specified by the control program; wherein each motor corresponds to the power source corresponding to the control task of the current node.

[0065] As an improvement of the above solution, the node characteristics include: interface type and transmission data content; the control program corresponding to each node is generated according to each node characteristic, including:

[0066] In each node, based on the interface type, a match is performed with the control program sample in the node control database to obtain a first control program with a matching degree greater than a first matching degree threshold, and based on the transmission data content, a match is performed with the first control program to obtain a second control program with a matching degree greater than a second matching degree threshold, and the second control program is used as the control program of the current node.

[0067] As an improvement of the above solution, before acquiring the node connected to the controller, the method further includes:

[0068] Get the number of nodes connected to the controller;

[0069] Determine the number of control programs to be loaded based on the number of nodes;

[0070] Based on the number of control programs loaded and the maximum space occupied by the control programs, the required running memory is calculated, and the corresponding running memory is called to meet the required running memory.

[0071] This embodiment obtains the node characteristics corresponding to the node that establishes a connection with the controller; generates a control program corresponding to each node according to each node characteristic; transmits each of the control programs to the controller so that the controller parses each of the control programs and obtains the control instructions corresponding to each node; wherein each node executes the control task corresponding to the control instruction after receiving the control instruction transmitted by the controller. The present invention realizes motion control executed by multiple axes and multiple nodes in the case of a single controller by connecting multiple nodes and programming control programs, thereby reducing the additional cost of the equipment. At the same time, based on the sufficient computing power of the controller, the control between nodes does not need to be transmitted across the controller, which reduces the delay of signal transmission and greatly improves the production efficiency of CNC equipment.

[0072] Embodiment 2

[0073] See also Figure 3 , Figure 3 It is a schematic diagram of the structure of a terminal device provided in one embodiment of the present invention.

[0074] A terminal device of this embodiment includes: a processor 301, a memory 302, and a computer program stored in the memory 302 and executable on the processor 301. When the processor 301 executes the computer program, the steps of the multi-axis multi-node numerical control method in the embodiment are implemented, for example: Figure 1 Alternatively, when the processor executes the computer program, the functions of each module in the above-mentioned device embodiments are realized, for example: Figure 2 All modules of the multi-axis and multi-node CNC control device are shown.

[0075] In addition, an embodiment of the present invention further provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the multi-axis and multi-node CNC control method as described in any of the above embodiments.

[0076] Those skilled in the art will understand that the schematic diagram is merely an example of a terminal device and does not constitute a limitation on the terminal device. The terminal device may include more or fewer components than shown in the diagram, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0077] The processor 301 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor 301 is the control center of the terminal device, and uses various interfaces and lines to connect various parts of the entire terminal device.

[0078] The memory 302 can be used to store the computer program and / or module. The processor 301 implements various functions of the terminal device by running or executing the computer program and / or module stored in the memory and calling the data stored in the memory 302. The memory 302 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0079] Wherein, if the module / unit integrated in the terminal device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0080] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0081] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A multi-axis multi-node numerical control method, characterized in that: include: Get the node characteristics corresponding to the node that establishes a connection with the controller; Generate a control program corresponding to each node according to the characteristics of each node; Each of the control programs is transmitted to the controller so that the controller parses each of the control programs and obtains a control instruction corresponding to each node; wherein each node executes a control task corresponding to the control instruction after receiving the control instruction transmitted by the controller.

2. The multi-axis multi-node numerical control method according to claim 1, characterized in that: After receiving the control instruction transmitted by the controller, each node executes the control task corresponding to the control instruction, including: In each node, the received control instructions are read by the driver to generate servo drive instructions, and the corresponding motor is selected to run according to the servo drive instructions, so that the current node completes the control task specified by the control program; wherein each motor corresponds to the power source corresponding to the control task of the current node.

3. The multi-axis multi-node numerical control method according to claim 2, characterized in that: The node characteristics include: interface type and transmission data content; the control program corresponding to each node is generated according to each node characteristic, including: In each node, based on the interface type, a match is performed with the control program sample in the node control database to obtain a first control program with a matching degree greater than a first matching degree threshold, and based on the transmission data content, a match is performed with the first control program to obtain a second control program with a matching degree greater than a second matching degree threshold, and the second control program is used as the control program of the current node.

4. The multi-axis multi-node numerical control method according to claim 3, characterized in that: Before acquiring the node connected to the controller, the method further includes: Get the number of nodes connected to the controller; Determine the number of control programs to be loaded based on the number of nodes; Based on the number of control programs loaded and the maximum space occupied by the control programs, the required running memory is calculated, and the corresponding running memory is called to meet the required running memory.

5. A multi-axis multi-node numerical control device, characterized in that: include: Data acquisition module, data generation module and data control module; The data acquisition module is used to acquire node characteristics corresponding to the node connected to the controller; The data generation module is used to generate a control program corresponding to each node according to the characteristics of each node; The data control module is used to transmit each of the control programs to the controller so that the controller can parse each of the control programs and obtain the control instructions corresponding to each node; wherein each node executes the control task corresponding to the control instruction after receiving the control instruction transmitted by the controller.

6. The multi-axis multi-node numerical control device according to claim 5, characterized in that: After receiving the control instruction transmitted by the controller, each node executes the control task corresponding to the control instruction, including: In each node, the received control instructions are read by the driver to generate servo drive instructions, and the corresponding motor is selected to run according to the servo drive instructions, so that the current node completes the control task specified by the control program; wherein each motor corresponds to the power source corresponding to the control task of the current node.

7. The multi-axis multi-node numerical control device according to claim 6, characterized in that: The node characteristics include: interface type and transmission data content; the control program corresponding to each node is generated according to each node characteristic, including: In each node, based on the interface type, a match is performed with the control program sample in the node control database to obtain a first control program with a matching degree greater than a first matching degree threshold, and based on the transmission data content, a match is performed with the first control program to obtain a second control program with a matching degree greater than a second matching degree threshold, and the second control program is used as the control program of the current node.

8. The multi-axis multi-node numerical control device according to claim 7, characterized in that: Before acquiring the node connected to the controller, the method further includes: Get the number of nodes connected to the controller; Determine the number of control programs to be loaded based on the number of nodes; Based on the number of control programs loaded and the maximum space occupied by the control programs, the required running memory is calculated, and the corresponding running memory is called to meet the required running memory.

9. A computer terminal device, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the processor implements a multi-axis and multi-node CNC control method as described in any one of claims 1 to 4.

10. A computer-readable storage medium, the computer-readable storage medium comprising a stored computer program, wherein: When the computer program is running, the device where the computer-readable storage medium is located is controlled to execute a multi-axis and multi-node numerical control method as described in any one of claims 1 to 4.

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