Method, system and medium for calculating negative pressure adsorption force of spider hand of roll-to-roll machine

Abstract

The present invention relates to the field of mechanical engineering technology, and in particular to a method, system and medium for calculating the transmission negative pressure adsorption force of a spider hand of a roll-to-roll machine. The method comprises the steps of: obtaining parameter information of the spider hand of the roll-to-roll machine; constructing a quadratic relationship equation between material weight and negative pressure adsorption force according to the parameter information and the transmission motion trajectory of the spider hand of the roll-to-roll machine, and calculating the negative pressure adsorption force required for transmitting the material weight. The present invention can accurately calculate the maximum transmittable weight in the transmission of the spider hand of the roll-to-roll machine, so as to obtain the negative pressure adsorption force required for production, stably transmit materials, and assist production.

Description

Technical Field

[0001] The present invention relates to the field of mechanical engineering, and in particular to a method, system and medium for calculating the transmission negative pressure adsorption force of a spider hand of a rolling and splicing machine. Background Art

[0002] The spider arm in the roll-to-roll unit is a key link in the process of conveying rod-shaped materials. It plays an indispensable role in the rolling process. Whether the spider arm can stably grasp and convey a certain weight of materials will affect the production quality of the entire production line. The spider arm of the roll-to-roll unit is mainly composed of three parts: suction claw, rotating arm and wheel body. The suction claw and the rod-shaped material are in contact through negative pressure, and the rotating arm and wheel body drive the suction claw and the material to move through rotation.

[0003] The entire working process of the spider hand is divided into three parts: material grabbing, material transmission, and material handover. In the material transmission process, the size of the transmission weight is affected by many factors. In the existing technology, the negative pressure adsorption force and other related parameters are mainly set based on the experience of engineers. The debugging process is complicated and lacks theoretical quantitative basis. When the spider hand is working, the accuracy of the negative pressure adsorption parameters is not enough, and the debugging effect of material transmission is poor and the stability is insufficient, which affects product production and increases costs. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] The main purpose of the present invention is to provide a method, system and medium for calculating the negative pressure adsorption force of the spider arm of a winding and splicing machine, aiming to provide a faster and more accurate method for calculating the maximum transmittable weight of the spider arm of a winding and splicing machine, so as to accurately obtain the negative pressure adsorption force required for production, stably transmit materials, and assist production.

[0006] (II) Technical solution

[0007] In order to achieve the above object, the present invention provides a method for calculating the negative pressure adsorption force of a spider hand of a rolling machine, comprising the steps of:

[0008] S1, obtaining parameter information of the spider hand of the rolling and connecting machine group, wherein the parameter information includes transmission parameter information and environmental parameter information; wherein,

[0009] The transmission parameter information includes: the static friction coefficient between the suction claw and the material , Negative pressure port area S , negative pressure difference ΔP , arm length r , wheel radius R , Angle between negative pressure port and horizontal plane θ , Material radius , production speed n And the length of the material beyond the suction clawl ;

[0010] The environmental parameter information is the environmental conditions of the transmission process, including: air density ρ , Drag coefficient in the first direction And the second direction drag coefficient ; Wherein, the first direction is the horizontal direction of the suction claw relative to the wheel body, and the second direction is the vertical direction of the suction claw relative to the wheel body;

[0011] S2, construct the material weight according to the parameter information and its motion trajectory m The quadratic equation with the negative pressure adsorption force F is used to calculate the specific weight of the conveyed material. m The required negative pressure adsorption force includes the following steps:

[0012] S21, according to the arm length r The wheel radius R The trajectory equation of the spider hand motion trajectory of the rolling and joining machine is obtained;

[0013] S22, according to the trajectory equation, obtain the velocity equation and the acceleration equation when the material grabbing position is the starting position, according to the production speed n Calculate gripper acceleration 、 Acceleration of the suction claw in the first direction The acceleration of the gripper in the second direction ;

[0014] S23, according to the negative pressure port area S , negative pressure difference ΔP The negative pressure adsorption force F of the negative pressure port of the suction claw is calculated;

[0015] S24, according to the air density ρ , Material radius , Drag coefficient in the first direction , Drag coefficient in the second direction And the length of the material beyond the suction claw l , calculate the material wind resistance in the first direction F Dx The material wind resistance in the second direction F Dy ;

[0016] S25, according to the material force conditions, the material movement balance relationship is designed and simplified into a simplified motion balance relationship, and the material weight is obtained according to the simplified motion balance relationship m A quadratic relationship equation of one variable:

[0017]

[0018] in, θ Indicates the angle between the negative pressure port and the horizontal plane. Indicates the static friction coefficient between the suction claw and the material;

[0019] S26, according to the following formula:

[0020]

[0021] in, , , The coefficients of the quadratic equation representing the weight m of the material in step S25, g represents the acceleration due to gravity,

[0022] Through the analysis of the minimum stable weight and key drop position during the transmission process, the weight of the material m Solve the quadratic equation to determine the most vulnerable position for spider hand transmission and the maximum weight that can be transmitted ;

[0023] S27, according to the parameter information of the spider hand of the rolling machine group in the actual production conditions, through the material weight m A quadratic equation to calculate the specific weight of the conveyed material m The required negative pressure adsorption force F, where m Less than or equal to .

[0024] Preferably, the step S23 includes: .

[0025] Preferably, the motion trajectory in step S21 is elliptical, and the trajectory equation includes:

[0026] ;in, x, y Indicates that coordinates describe the location of the material.

[0027] Preferably, the speed equation of step S22 includes:

[0028] ;

[0029] in, V Indicates the suction claw closing speed, Indicates the speed of the suction claw in the first direction, Indicates the speed of the suction claw in the second direction. t Indicates the rotation time of the spider hand of the winder group. ω Indicates the angular velocity of the wheel body. Under the condition that the spider hand of the roll-to-roll unit is an eight-claw double track with double material length, the angular velocity ω and production speed nThe relationship is , the first direction includes the horizontal direction of the suction claw relative to the wheel body, and the second direction includes the vertical direction of the suction claw relative to the wheel body;

[0030] The acceleration equation of step S22 includes:

[0031] ;

[0032] Preferably, the step S24 includes: calculating the material wind resistance based on the wind resistance coefficient in the production process:

[0033] .

[0034] Preferably, in step S25, the balance relationship of the material movement includes:

[0035] ,

[0036] in, represents the maximum axial static friction, represents the maximum tangential static friction, Indicates the support force of the suction claw on the material.

[0037] Preferably, the simplified relationship of motion balance includes:

[0038] .

[0039] Preferably, the material is a rod-shaped material.

[0040] The present invention also provides a system for calculating the transmission negative pressure adsorption force of a spider hand of a winding and splicing machine group, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the system implements the steps of the method for calculating the transmission negative pressure adsorption force of the spider hand of a winding and splicing machine group as described in any one of the above items.

[0041] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method for calculating the transmission negative pressure adsorption force of the spider hand of a winding and splicing machine group as described in any one of the above items.

[0042] (III) Beneficial effects

[0043] The present application proposes a method for calculating the negative pressure adsorption force of a spider arm of a winding and splicing machine. According to the transmission working and structural parameters of the spider arm, the corresponding working environment and the force state information during the transmission process, a balance equation of the material in the transmission process is designed to obtain the functional relationship between the production speed, negative pressure difference, static friction coefficient and transmission weight. The functional relationship can be used to calculate the maximum material weight that can be transmitted under certain working conditions and the negative pressure adsorption force and negative pressure difference required to transmit materials of a specific weight and other working conditions, thereby guiding the material transmission of the spider arm of the winding and splicing machine in actual production, facilitating the debugging process, improving the debugging effect, and facilitating production. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A schematic diagram of a flow chart of a method for calculating the negative pressure adsorption force of a spider hand of a rolling machine provided in this embodiment;

[0045] Figure 2 A schematic diagram of the structure of a spider hand of a rolling and splicing machine provided in this embodiment;

[0046] Figure 3 A schematic diagram of the working and conveying process of a spider hand of a rolling and splicing machine provided in this embodiment;

[0047] Figure 4 A schematic diagram of material force analysis provided in this embodiment;

[0048] Figure 5 Schematic diagram of the hardware structure of the transmission negative pressure adsorption force calculation system of the spider arm of the winding and splicing machine provided in this embodiment. DETAILED DESCRIPTION

[0049] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0050] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0051] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0052] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; "connection" can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] like Figure 1 As shown, this embodiment provides a method for calculating the negative pressure adsorption force of the spider hand of a rolling machine, which specifically includes the steps of:

[0054] S1, obtaining parameter information of the spider hand of the rolling and connecting machine group, wherein the parameter information includes transmission parameter information and environmental parameter information.

[0055] like Figure 2 As shown, the spider arm 100 of the winding and splicing machine mainly consists of three parts: a suction claw 10, a rotating arm 20 and a wheel body 30, wherein the suction claw 10 and the rod-shaped material are in contact with each other through negative pressure, and the rotating arm 20 and the wheel body 30 drive the suction claw 10 and the material to move by rotation. The main function of the spider arm 100 of the winding and splicing machine is to transfer the rod-shaped material on the V-shaped guide rail to the receiving wheel after being adsorbed by negative pressure.

[0056] The transmission parameter information includes but is not limited to: the static friction coefficient between the suction claw and the material , Negative pressure port area S , negative pressure difference ΔP , arm length r , wheel radius R , Angle between negative pressure port and horizontal plane θ , Material radius , production speed n And the length of the material beyond the suction claw l .

[0057] The environmental parameter information is the environmental conditions of the transmission process, but is not limited to: air density ρ , Drag coefficient in the first direction And the second direction drag coefficient ; Wherein, the first direction is the horizontal direction of the suction claw relative to the wheel body, and the second direction is the vertical direction of the suction claw relative to the wheel body.

[0058] S2, construct the material weight according to the parameter information and its motion trajectory m The quadratic equation with the negative pressure adsorption force F is used to calculate the specific weight of the conveyed material. m Negative pressure required.

[0059] During the entire working process of this embodiment, the spider hand's motion trajectory is an ellipse. It uses negative pressure to adsorb materials at the lowest point, then moves for a quarter of a cycle while maintaining negative pressure to reach the handover position at the leftmost end of the ellipse, and then disconnects the negative pressure to complete the material handover. The entire working process of the spider hand is divided into three parts: material grabbing, material transfer, and material transfer. This embodiment is mainly aimed at the weight calculation of the material transfer process, that is, the maximum weight that the spider hand can transfer within a quarter of a cycle from the time the spider hand completes material grabbing at the lowest point of the ellipse to before the material transfer. The transmission acceleration of the spider hand of the winding unit is related to the production speed and the position; the static friction coefficient is related to the material and is a fixed value; the wind resistance is related to the production speed and the material size; the negative pressure adsorption force is related to the negative pressure difference and the negative pressure port area. Therefore, when the basic parameters such as the structural size, the static friction coefficient of the material, the negative pressure port area and the angle between the negative pressure port and the horizontal plane, and the material size are determined, by giving the production speed and the negative pressure difference, the only variable calculated is the transfer time. By determining the weight m The transmission time corresponding to the minimum value of is obtained, and the most likely drop position and the maximum weight that can be transmitted during the spider hand material transmission process are obtained, and then the negative pressure adsorption force required to transmit a specific weight of material is derived. In this embodiment, step S2 specifically includes the steps of:

[0060] S21, according to the arm length r The wheel radius R The trajectory equation of the spider hand motion trajectory of the rolling and connecting machine group is obtained.

[0061] S22, according to the trajectory equation, obtain the velocity equation and the acceleration equation when the material grabbing position is the starting position, according to the production speed n Calculate gripper acceleration 、 Acceleration of the suction claw in the first direction The acceleration of the gripper in the second direction .

[0062] S23, according to the negative pressure port area S , negative pressure difference ΔP The negative pressure adsorption force F of the negative pressure port of the suction claw is calculated; the negative pressure adsorption force is the main force in the transmission process, and its magnitude directly affects the weight that can be transmitted. The magnitude of the adsorption force is related to the area of ​​the negative pressure port of the suction claw and the negative pressure difference.

[0063] S24, according to the air density ρ , Material radius , Drag coefficient in the first direction , Drag coefficient in the second direction And the length of the material beyond the suction claw l , calculate the material wind resistance in the first direction FDx The material wind resistance in the second direction F Dy .

[0064] S25, according to the material force conditions, the material movement balance relationship is designed and simplified into a simplified motion balance relationship, and the material weight is obtained according to the simplified motion balance relationship m A quadratic relationship equation of one variable:

[0065]

[0066] Among them, in this embodiment, θ Indicates the angle between the negative pressure port and the horizontal plane. Indicates the static friction coefficient between the suction claw and the material. m Indicates the weight of the material. represents the acceleration in the first direction, and represents the acceleration in the second direction, g represents the acceleration due to gravity, F Dx is the wind resistance in the first direction of the material, F Dy is the wind resistance in the second direction suffered by the material, wherein the first direction represents the horizontal direction relative to the wheel set, and the second direction represents the vertical direction relative to the wheel set.

[0067] S26, according to the following formula:

[0068] ,

[0069] in, , , Used to represent the material weight in step S25 m is the coefficient of the quadratic equation, g represents the acceleration due to gravity.

[0070] Specifically, in this embodiment, the transmission weight m It's about the transmission time t The function of t The value range is between 0 and T / 4, where T represents the motion trajectory period; m Indicates the weight of the material. represents the acceleration in the first direction, and represents the acceleration in the second direction, g represents the acceleration due to gravity, θ Indicates the angle between the negative pressure port and the horizontal plane. Represents the static friction coefficient. F Dx is the wind resistance in the first direction of the material, F Dyis the wind resistance in the second direction suffered by the material, wherein the first direction represents the horizontal direction relative to the wheel set, and the second direction represents the vertical direction relative to the wheel set.

[0071] Through the analysis of the minimum stable weight and key drop position during the transmission process, the weight of the material m Solve the quadratic equation to determine the most vulnerable position for spider hand transmission and the maximum weight that can be transmitted .

[0072] S27, according to the parameter information of the spider hand of the rolling machine group in the actual production conditions, through the material weight m A quadratic equation to calculate the specific weight of the conveyed material m The required negative pressure adsorption force F, where m Less than or equal to .

[0073] Optionally, the step S23 includes: calculating the negative pressure adsorption force F of the negative pressure port of the suction claw according to the negative pressure port area S and the negative pressure difference ΔP during the conveying process: ;Wherein, in this embodiment, ΔP is the negative pressure difference, and S is the negative pressure port area.

[0074] Specifically, the step S25 also includes calculating the maximum static friction By obtaining the static friction coefficient between the material and the suction claw under the corresponding process, a theoretical support is provided for the calculation of the conveying weight of materials of different materials.

[0075]

[0076] in, is the static friction coefficient, is the maximum static friction. is the normal pressure (or normal force). The maximum static friction With positive pressure The maximum static friction force is given by the static friction coefficient and positive pressure Decide.

[0077] As a preferred embodiment of the present invention, the specific weight material of step S27 may include the maximum conveyable weight determined in step S26. Generally speaking, the specific weight of the material in step S27 m The maximum transportable weight should not be exceeded .

[0078] Optionally, the motion trajectory in step S21 is elliptical, and the trajectory equation includes:

[0079]

[0080] in, x, y Indicates that the coordinates describe the location of the material. R represents the wheel radius, r Indicates the arm length, R and r Determines the geometry of the spider's hand, usually R > r .

[0081] Optionally, the velocity equation and acceleration equation of step S22 include:

[0082] ;

[0083] Among them, in this embodiment, V Indicates the suction claw closing speed, Indicates the speed of the suction claw in the first direction, Indicates the speed of the suction claw in the second direction. t Indicates the rotation time of the spider hand of the winder group. R represents the wheel radius, r Indicates the arm length, ω It indicates the angular velocity of the wheel body, which describes the speed of the spider hand rotation. Under the condition that the spider hand of the roll-to-roll machine is an eight-claw double track with double material length, the angular velocity is proportional to the production speed. n The relationship is .

[0084] The acceleration equation of step S22 includes:

[0085] ,

[0086] Among them, in this embodiment, Indicates the acceleration of the suction claw closing. Indicates the acceleration of the suction claw in the first direction, Indicates the acceleration of the gripper in the second direction, t Indicates the rotation time of the spider hand of the winder group. ω Indicates the angular velocity of the wheel body. Under the condition that the spider hand of the roll-to-roll unit is an eight-claw double track with double material length, the angular velocity ω and production speed n The relationship is , r Indicates the arm length, R Indicates the wheel radius.

[0087] Furthermore, in this embodiment, step S24 is also included, including: calculating the material wind resistance based on the wind resistance coefficient in the production process:

[0088]

[0089] in, ρ Indicates the air density; Indicates the material radius; represents the drag coefficient in the first direction, represents the drag coefficient in the second direction; l Indicates that the material exceeds the length of the suction claw. Indicates the speed of the suction claw in the first direction, Indicates the speed of the suction claw in the second direction.

[0090] Furthermore, in step S25, the balance relationship of the material movement includes:

[0091]

[0092] Among them, in this embodiment, m Indicates the quality of the material. Indicates the acceleration of the suction claw in the first direction, It indicates the acceleration of the suction claw in the second direction, F indicates the negative pressure adsorption force, F Dx represents the wind resistance in the first direction, F Dy represents the wind resistance in the second direction, g represents the acceleration due to gravity, represents the maximum axial static friction, Represents the maximum tangential static friction.

[0093] Preferably, in step S25, the simplified motion balance equation includes:

[0094] .

[0095] Among them, in this embodiment, m Indicates the quality of the material. represents the acceleration in the first direction, It indicates the acceleration of the suction claw in the second direction, F indicates the negative pressure adsorption force, F Dx represents the wind resistance in the first direction, F Dy represents the wind resistance in the second direction, g represents the acceleration due to gravity, and F represents the negative pressure adsorption force.

[0096] Preferably, the material is a rod-shaped material, and specifically in this embodiment, it may be, for example, a filter rod or a cigarette rod.

[0097] The following is a specific operation process to illustrate a method for calculating the negative pressure adsorption force of the spider hand of a rolling and splicing machine in this embodiment.

[0098] Step 1. By measuring the three-dimensional model of the spider hand and consulting the technical manual, the basic parameters of the spider hand are obtained, as shown in Table 1 below. The specific parameters include the static friction coefficient between the suction claw and the material, the negative pressure port area, the negative pressure difference, the arm length, the wheel radius, the air density, the negative pressure port angle, the material length and diameter, etc.

[0099] Table 1

[0100]

[0101] Step 2: Get the motion trajectory of the spider hand to transport materials. Based on the structure size of the spider hand, get the trajectory equation of the spider hand:

[0102]

[0103] The coordinates ( x, y ) is the location of the material, R is the wheel radius, r is the arm length.

[0104] Step three, such as Figure 3 and Figure 4 As shown in the figure, according to the principle of spider hand conveying materials, the force conditions of materials in the conveying process are analyzed. The specific relationship of the force conditions of materials is as follows Figure 4 As shown, the acceleration of the suction claw in the first direction , the second direction acceleration of the suction claw ; Negative pressure adsorption force F; Wind resistance in the first direction F Dx , wind resistance in the second direction F Dy ;Material quality m ; Gravitational acceleration g ; The support force of the suction claw on the material ; Maximum static friction , maximum axial static friction , maximum tangential static friction ; Angle between negative pressure port and horizontal plane θ , wherein the first direction is the horizontal direction of the suction claw relative to the wheel body, and the second direction is the vertical direction of the suction claw relative to the wheel body.

[0105] Step 4: Based on the trajectory equation obtained in step 2, the velocity equation and acceleration equation are obtained by calculation when the material grabbing position is the starting position, and the suction claw acceleration is calculated according to the production speed.

[0106] .

[0107] Step 5: Calculate the negative pressure adsorption force F of the negative pressure port of the suction claw based on the negative pressure port area and negative pressure difference in production to meet the needs of conveying materials of different weights.

[0108] .

[0109] Step 6: Determine the drag coefficient and calculate the material wind resistance based on the negative pressure gas conditions and air conditions of the production.

[0110]

[0111] Step 7: Calculate the maximum static friction. By consulting the data, the static friction coefficient between the material and the suction claw under the corresponding process is obtained, which provides theoretical support for the calculation of the transmission weight of materials of different materials.

[0112]

[0113] in, is the static friction coefficient.

[0114] Step 8. Since the spider arm keeps the material and the suction claw stationary during the material conveying process, the equilibrium equation of material motion is obtained according to the force applied to the material:

[0115] .

[0116] Step 9. By sorting out the balance equation obtained in step 8, the relationship between material weight and negative pressure adsorption force, static friction coefficient, acceleration and other parameters is obtained:

[0117] .

[0118] Step 10: Organize the obtained calculation formula into material weight m The quadratic equation of :

[0119]

[0120] Among them, acceleration is related to production speed and position, static friction coefficient is related to material and is a fixed value, wind resistance is related to production speed and material size, negative pressure adsorption force is related to negative pressure difference and negative pressure port area. Therefore, when basic parameters such as structural size, material static friction coefficient, negative pressure port angle and area, material size, etc. are determined, by giving production speed and negative pressure difference, the only variable is the transmission time.

[0121] Step 11: Use the root-finding formula to calculate the weight of the material in step 10. m Solve the quadratic equation of one variable by determining m The transmission time corresponding to the minimum value of is obtained, and the position where the spider hand is most likely to drop materials during transmission and the maximum weight that can be transmitted are obtained.

[0122]

[0123] After calculation, the maximum material weight is obtained The value of is 2653.7317 mg.

[0124] Step 12: extract the weight of the material in step 10 m The negative pressure adsorption force F in the quadratic equation is used as the dependent variable, the material weight is used as the independent variable, and the negative pressure difference required to transport a specific weight of material is calculated. It is used to guide the transmission setting to assist production.

[0125] The present invention also provides a system for calculating the transmission negative pressure adsorption force of a spider hand of a winding and splicing machine group, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the system implements the steps of the method for calculating the transmission negative pressure adsorption force of the spider hand of a winding and splicing machine group as described in any one of the above items.

[0126] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method for calculating the transmission negative pressure adsorption force of the spider hand of a winding and splicing machine group as described in any one of the above items.

[0127] Figure 5 FIG. 1 is a schematic diagram of the hardware structure of a method for calculating the negative pressure adsorption force of a spider hand of a rolling machine provided by an embodiment of the present invention. Figure 5 As shown, the embodiment / computer 6 includes: a processor 60, a memory 61, and a computer program 62 stored in the memory 61 and executable on the processor 60, such as a program for calculating the transmission negative pressure adsorption force of the spider hand of the roto-joining machine. When the processor 60 executes the computer program 62, the steps in the above-mentioned embodiments of the method for calculating the transmission negative pressure adsorption force of the spider hand of the roto-joining machine are implemented. Alternatively, when the processor 60 executes the computer program 62, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0128] Exemplarily, the computer program 62 may be divided into one or more modules / units, which are stored in the memory 61 and executed by the processor 60 to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, and the instruction segments are used to describe the execution process of the computer program 62 in the computer 6.

[0129] The computer 6 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The computer 6 may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will appreciate that Figure 5It is only an example of computer 6 and does not constitute a limitation of computer 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the computer 6 may also include input and output devices, network access devices, buses, etc.

[0130] The processor 60 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.

[0131] The memory 61 may be an internal storage unit of the computer 6, such as a hard disk or memory of the computer 6. The memory 61 may also be an external storage device of the computer 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device. Further, the memory 61 may also include both an internal storage unit of the computer 6 and an external storage device. The memory 61 is used to store the computer program and other programs and data required by the terminal device. The memory 61 may also be used to temporarily store data that has been output or is to be output.

[0132] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0133] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0134] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0135] In the embodiments provided by the present invention, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0136] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0137] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0138] If the integrated module / unit 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 this 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. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, 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. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, 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. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0139] The above are only specific application examples of the present invention and do not constitute any limitation on the protection scope of the present invention. In addition to the above embodiments, the present invention may also have other implementations. Any technical solution formed by equivalent replacement or equivalent transformation falls within the scope of protection claimed by the present invention.

Claims

1. A method for calculating the negative pressure adsorption force of a spider hand of a rolling machine, characterized in that: Includes steps: S1, obtaining parameter information of the spider hand of the rolling and connecting machine group, wherein the parameter information includes transmission parameter information and environmental parameter information; wherein, The transmission parameter information includes: the static friction coefficient between the suction claw and the material , Negative pressure port area S , negative pressure difference Δ P , arm length r , wheel radius R , Angle between negative pressure port and horizontal plane θ , Material radius , production speed n And the length of the material beyond the suction claw l ; The environmental parameter information is the environmental conditions of the transmission process, including: air density ρ , Drag coefficient in the first direction And the second direction drag coefficient ; Wherein, the first direction is the horizontal direction of the suction claw relative to the wheel body, and the second direction is the vertical direction of the suction claw relative to the wheel body; S2, construct the material weight according to the parameter information and its motion trajectory m The quadratic equation with the negative pressure adsorption force F is used to calculate the specific weight of the conveyed material. m The required negative pressure adsorption force includes the following steps: S21, according to the arm length r The wheel radius R The trajectory equation of the spider hand motion trajectory of the rolling and joining machine is obtained; S22, according to the trajectory equation, obtain the velocity equation and the acceleration equation when the material grabbing position is the starting position, according to the production speed n Calculate gripper acceleration 、 Acceleration of the suction claw in the first direction The acceleration of the gripper in the second direction ; S23, according to the negative pressure port area S , negative pressure difference ΔP The negative pressure adsorption force F of the negative pressure port of the suction claw is calculated; S24, according to the air density ρ , Material radius , Drag coefficient in the first direction , Drag coefficient in the second direction And the length of the material beyond the suction claw l , calculate the material wind resistance in the first direction F Dx The material wind resistance in the second direction F Dy ; S25, according to the material force conditions, the material movement balance relationship is designed and simplified into a simplified motion balance relationship, and the material weight is obtained according to the simplified motion balance relationship m A quadratic relationship equation: ， in, θ Indicates the angle between the negative pressure port and the horizontal plane. Indicates the static friction coefficient between the suction claw and the material; S26, according to the following formula: ， in, , , Used to represent the material weight in step S25 m The coefficient of the quadratic equation of one variable, g represents the acceleration due to gravity, Through the analysis of the minimum stable weight and key drop position during the transmission process, the weight of the material m Solve the quadratic equation to determine the most vulnerable position for spider hand transmission and the maximum weight that can be transmitted ; S27, according to the parameter information of the spider hand of the rolling machine group in the actual production conditions, through the material weight m A quadratic equation to calculate the specific weight of the conveyed material m The required negative pressure adsorption force F, where m Less than or equal to .

2. According to the method for calculating the negative pressure adsorption force of the spider hand of the rolling machine group according to claim 1, it is characterized in that: The step S23 comprises: .

3. The method for calculating the negative pressure adsorption force of the spider hand of a rolling and splicing machine according to claim 1 is characterized in that: The motion trajectory in step S21 is elliptical, and the trajectory equation includes: ;in, x, y Indicates that coordinates describe the location of the material.

4. The method for calculating the negative pressure adsorption force of the spider hand of a rolling and splicing machine according to claim 1, characterized in that: The speed equation of step S22 includes: ； in, V Indicates the suction claw closing speed, Indicates the speed of the suction claw in the first direction. Indicates the speed of the suction claw in the second direction. t Indicates the rotation time of the spider hand of the winding and splicing unit. ω Indicates the angular velocity of the wheel body. Under the condition that the spider hand of the roll-to-roll unit is an eight-claw double track with double material length, the angular velocity ω Production speed n The relationship is ; The acceleration equation of step S22 includes: 。 5. The method for calculating the negative pressure adsorption force of the spider hand of a rolling and splicing machine according to claim 1, characterized in that: The step S24 includes: calculating the material wind resistance based on the wind resistance coefficient during the production process: 。 6. The method for calculating the negative pressure adsorption force of the spider hand of a rolling and splicing machine according to claim 1, characterized in that: In step S25, the balance relationship of the material movement includes: ,in, represents the maximum axial static friction, represents the maximum tangential static friction, Indicates the support force of the suction claw on the material.

7. The method for calculating the negative pressure adsorption force of the spider hand of a rolling and splicing machine according to claim 1, characterized in that: In step S25, the simplified motion balance equation includes: 。 8. The method for calculating the negative pressure adsorption force of the spider hand of a rolling and splicing machine according to claim 1, characterized in that: The material is a rod-shaped material.

9. A system for calculating the negative pressure adsorption force of a spider hand of a rolling machine, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method for calculating the transmission negative pressure adsorption force of the spider hand of the winding and splicing machine group as described in any one of claims 1 to 8 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method for calculating the negative pressure adsorption force of the spider hand of the winding and splicing machine as described in any one of claims 1 to 8 are implemented.

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