Synchronous control method, system and device and readable storage medium

Abstract

The invention discloses a synchronization control method, system and device and a readable storage medium. The method comprises the steps of determining a main shaft synchronization position, a slave shaft synchronization position and a target distance of movement of a main shaft during accelerated movement of a slave shaft; responding to the condition that the real-time position of the main shaft meets the synchronous triggering condition, and planning a current cam curve for the slave shaft based on the main shaft synchronous position, the slave shaft synchronous position and the target distance; and controlling the slave shaft to move according to the current cam curve. According to the invention, dependence on a fixed scanning period can be reduced, lagging is avoided, a cam table and a cam curve do not need to be additionally established in advance, time is saved, meanwhile, manual errors can be reduced, and the rubberizing precision can be improved in rubberizing control.

Description

Technical Field

[0001] The present invention relates to the field of electronic cams, and in particular to a synchronous control method, system, device and readable storage medium. Background Art

[0002] At present, the glue control of lithium battery making machines mainly uses electronic cam instructions (such as MC_CamIn) to achieve synchronous movement of the master and slave axes. This control method requires the pre-design of the cam table and the accurate calculation of the key points and parameters of the cam curve, which is labor-intensive and prone to errors. In addition, the triggering of the MC_CamIn instruction depends on the scanning cycle of the system. In actual operation, the instability or delay of the scanning cycle may cause the synchronous action of the slave axis to lag behind the master axis, thereby affecting the glue sticking accuracy.

[0003] Therefore, how to provide a solution to the above technical problems is a problem that those skilled in the art need to solve at present. Summary of the invention

[0004] The purpose of the present invention is to provide a synchronous control method, system, device and readable storage medium, which can reduce the dependence on a fixed scanning cycle, avoid lag, and do not require additional pre-establishment of cam tables and cam curves. While saving time, it can also reduce human errors and improve glue sticking accuracy in glue sticking control.

[0005] In order to solve the above technical problems, the present invention provides a synchronization control method, comprising:

[0006] Determine the master axis synchronization position, the slave axis synchronization position, and the target distance of the master axis during the slave axis acceleration movement;

[0007] In response to the main shaft real-time position of the main shaft satisfying the synchronization trigger condition, planning a current cam curve for the slave shaft based on the main shaft synchronization position, the slave shaft synchronization position and the target distance;

[0008] The movement of the slave axis is controlled according to the current cam curve.

[0009] Optionally, in response to the real-time position of the main shaft satisfying the synchronization trigger condition, planning a current cam curve for the slave shaft based on the main shaft synchronization position, the slave shaft synchronization position and the target distance includes:

[0010] In response to the real-time position of the main axis satisfying the synchronization trigger condition, triggering the motion control function block so that the motion control function block plans a current cam curve for the slave axis according to its own interface parameters;

[0011] Among them, the interface parameters include the main axis synchronization position connected to the first interface of the motion control function block, the slave axis synchronization position connected to the second interface of the motion control function block, and the target distance connected to the third interface of the motion control function block.

[0012] Optionally, planning a current cam curve for the slave axis based on the master axis synchronization position, the slave axis synchronization position and the target distance includes:

[0013] Determine the current curve type corresponding to the process information of the current product to be processed;

[0014] A current cam curve is planned for the slave axis based on the current curve type, the master axis synchronous position, the slave axis synchronous position and the target distance.

[0015] Optionally, determining the master axis synchronization position, the slave axis synchronization position, and the target distance of the master axis during the slave axis acceleration movement includes:

[0016] The main axis synchronous position, the slave axis synchronous position and the target distance of the main axis movement during the slave axis acceleration motion corresponding to the process information of the current product to be processed are determined.

[0017] Optionally, determining the main axis synchronization position, the slave axis synchronization position, and the target distance of the main axis movement during the slave axis acceleration movement corresponding to the process information of the current product to be processed includes:

[0018] Acquire a first position parameter, a second position parameter, and a distance parameter input by a user based on process information of the current product to be processed;

[0019] determining a spindle synchronous position based on the first position parameter;

[0020] determining a slave axis synchronization position based on the second position parameter;

[0021] The target distance is determined based on the distance parameter.

[0022] Optionally, the process of controlling the movement of the slave axis according to the current cam curve includes:

[0023] Control the slave axis according to the current cam curve, accelerate the slave axis from the waiting position to the slave axis synchronization position, and move the slave axis from the slave axis synchronization position to the synchronization end position at a constant speed;

[0024] Wherein, when the slave shaft reaches the slave shaft synchronization position, the master shaft reaches the master shaft synchronization position.

[0025] Optionally, after controlling the movement of the slave axis according to the current cam curve, the method further includes:

[0026] In response to the slave axis reaching the synchronous end position, the slave axis is controlled to enter discrete motion from synchronous motion; the synchronous end position is the end point of the current cam curve.

[0027] In order to solve the above technical problems, the present invention also provides a synchronous control system, comprising:

[0028] A first determination module is used to determine the main axis synchronization position, the slave axis synchronization position, and the target distance of the main axis movement during the slave axis acceleration movement;

[0029] A trajectory planning module, for planning a current cam curve for the slave axis based on the main axis synchronous position, the slave axis synchronous position and the target distance in response to the main axis real-time position of the main axis satisfying the synchronization trigger condition;

[0030] The slave axis control module is used to control the movement of the slave axis according to the current cam curve.

[0031] In order to solve the above technical problems, the present invention further provides an electronic device, comprising:

[0032] Memory for storing computer programs;

[0033] A processor is used to implement the steps of any of the above-mentioned synchronization control methods when executing the computer program.

[0034] In order to solve the above technical problems, the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned synchronization control methods are implemented.

[0035] The present invention provides a synchronous control method. When the real-time position of the main shaft meets the synchronous triggering condition, the current cam curve can be dynamically planned for the slave shaft according to the predetermined main shaft synchronous position, the slave shaft synchronous position, and the target distance of the main shaft movement during the acceleration of the slave shaft, thereby reducing the dependence on the fixed scanning cycle, thereby avoiding hysteresis, and no additional cam table and cam curve need to be pre-established. While saving time, it can also reduce manual errors, thereby improving the glue sticking accuracy in the glue sticking control. The present invention also provides a synchronous control system, an electronic device, and a computer-readable storage medium, which have the same beneficial effects as the above-mentioned synchronous control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 A flowchart of the steps of a synchronous control method provided by the present invention;

[0038] Figure 2 A schematic diagram of a glue sticking control system provided by the present invention;

[0039] Figure 3 It is a schematic diagram of cam planning in the related technology;

[0040] Figure 4 A schematic diagram of a cam curve provided by the present invention;

[0041] Figure 5 Another cam curve schematic diagram provided by the present invention;

[0042] Figure 6 A schematic diagram of the design of an interactive interface provided by the present invention;

[0043] Figure 7 A structural schematic diagram of a synchronous control system provided by the present invention;

[0044] Figure 8 A schematic diagram of the structure of an electronic device provided by the present invention;

[0045] Fig. 9 This is a schematic diagram of the structure of a computer-readable storage medium provided by the present invention. DETAILED DESCRIPTION

[0046] The core of the present invention is to provide a synchronous control method, system, device and readable storage medium, which can reduce the dependence on fixed scanning cycles, avoid lags, and do not require additional pre-establishment of cam tables and cam curves. While saving time, it can also reduce human errors and improve glue sticking accuracy in glue sticking control.

[0047] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0048] First, please refer to Figure 1 The present invention provides a synchronous control method, comprising:

[0049] S101: Determine the main axis synchronization position, the slave axis synchronization position, and the target distance of the main axis during the slave axis acceleration movement;

[0050] The synchronous control method provided in this embodiment is applied to an electronic cam system, which includes a main axis, a slave axis and a control unit. The main axis is the reference axis in the electronic cam system, and its motion law (such as speed and acceleration) determines the motion of the slave axis. When the synchronous control method is applied to the glue sticking control of a lithium battery film making machine, the main axis can be a traction axis and the slave axis can be a glue sticking axis. Figure 2 As shown, the main function of this mechanical structure is to stick the film adsorbed on the rubber roller (gluing shaft) on the material belt passing under the rubber roller, and the film is required to be stuck at the designated place required by the process. During the gluing process, the linear speed of the rubber roller rotation and the forward speed of the material belt are kept consistent, that is, synchronous control. Figure 2 In the figure, the origin S1 of the glue sticking axis is the glue sucking position of the glue roller servo, the waiting position S2 of the glue sticking axis is the glue rolling avoidance position, the synchronization point S3 of the glue sticking axis (that is, the slave axis synchronization position) is the glue rolling synchronization position, and the arc length that the glue sticking axis moves from S3 to S4 is the glue rolling synchronization length, also called the synchronization distance.

[0051] Reference Figure 2 As shown, the spindle synchronization position M3 refers to the absolute position of the spindle when it enters the synchronization point, and the slave synchronization position S3 refers to the absolute position of the slave when it enters the synchronization point. Both the spindle synchronization position and the slave synchronization position can be determined by the user according to the processing requirements, or they can be automatically calculated by the system. When the slave is in the waiting position S2, the speed is 0, and the spindle is always moving at a constant speed. In order to ensure that the slave can synchronize with the spindle at point S3, the slave needs to accelerate from the waiting position S2 to the synchronization point S3. The spindle synchronization position and / or the slave synchronization position and / or the target distance can be fixed values ​​or dynamically adjusted, and can be set according to the actual project needs.

[0052] The main axis synchronization position M3 represents the position of the main axis entering the synchronization point, providing a time reference for the synchronous movement of the slave axis. The slave axis synchronization position S3 represents the position of the synchronization point that the slave axis needs to reach, providing a spatial reference for the movement target of the slave axis. The target distance D of the main axis movement during the acceleration movement of the slave axis represents the distance moved by the main axis during the acceleration of the slave axis, providing a calculation basis for the acceleration time of the slave axis. That is, the above three parameters provide clear boundary conditions for the dynamic planning of the cam curve, which is convenient for the subsequent solution of the cam curve.

[0053] In this embodiment, the main shaft synchronization position, the slave shaft synchronization position, and the target distance of the main shaft movement during the slave shaft acceleration movement can be determined when the acquisition signal is received, so as to dynamically adjust the parameters according to the real-time processing requirements. If there are changes in the working conditions such as spindle speed changes and processing path adjustments during the processing, the parameters can be re-determined after receiving a new acquisition signal to adapt to the new processing conditions. The main shaft synchronization position, the slave shaft synchronization position, and the target distance of the main shaft movement during the slave shaft acceleration movement can also be determined periodically, so as to continuously optimize the movement trajectory of the slave shaft, which is suitable for long-term operation and possible changes in processing conditions. In the glue control system, the most suitable method can be selected according to specific production needs and process requirements to improve the performance and glue quality of the glue system.

[0054] S102: In response to the real-time position of the main shaft satisfying the synchronization trigger condition, a current cam curve is planned for the slave shaft based on the main shaft synchronization position, the slave shaft synchronization position and the target distance;

[0055] In this embodiment, the synchronization trigger condition is used to ensure that the slave axis starts to move when the spindle reaches a specific position, thereby achieving accurate time synchronization, which can specifically include the spindle's real-time position reaching a position point on the spindle. When the spindle moves to the left, the position point is located to the right of the start synchronization point on the spindle. Figure 2 As shown, the material belt moves to the left under the pulling action of the traction shaft (spindle), and the edge of the parking area (special part not coated with material) on the waiting belt is detected at point M1 of the belt, and it is determined that the synchronous trigger condition is met. At this time, the tape is ready on the adhesive roller, and the adhesive roller is stationary at the waiting position S2. As an optional embodiment, Figure 2 As shown in the figure, a probe is set above point M1 of the material strip. When the spindle reaches the position detected by the probe, the probe will generate a signal (such as a high level or low level change). After the PLC (Programmable Logic Controller) system detects this signal, it triggers the synchronous trigger condition. By setting the synchronous trigger condition, the error in the gluing process can be reduced and the accuracy and quality of gluing can be improved.

[0056] like Figure 3As shown, the cam planning in the PLC system requires the establishment of an electronic cam file in advance, and the key point information of the cam table is edited and modified in the cam file. After the cam file is established, the motion trajectory of the slave axis is planned. Then, after using a series of cam-related instructions such as MC_CamIn in the program, the slave axis can work according to the specified process. Once the cam file is established, the motion trajectory of the slave axis is fixed and cannot be dynamically adjusted according to real-time data. Specifically, when the material belt reaches point M1 in the parking area, the probe signal is triggered, and the material belt continues to move forward. When the program determines that the distance of continued advancement is greater than a certain distance, the electronic cam coupling instruction MC_CamIn is triggered. On the one hand, this method requires the establishment of a cam table for MC_CamIn. On the other hand, the method in which the user program determines that the current position of the axis is greater than a certain position is affected by the user program scanning cycle, which is not suitable for occasions with high precision requirements.

[0057] In this embodiment, when the material belt parking area reaches point 1 M1 and the probe signal is triggered, the motion trajectory of the slave axis, that is, the cam curve, is dynamically planned based on the main axis synchronization position, slave axis synchronization position and target distance determined by S101. This cam curve defines the entire movement process of the slave axis from the waiting position S2 to the synchronization end position S4.

[0058] This embodiment does not need to establish a cam table and cam curve in the PLC system, which reduces the system preset and debugging time. In addition, the dynamic planning of the cam curve is not affected by the user program scanning cycle, and can achieve high-precision real-time control to meet different processing requirements. It can be understood that in the process of gluing, the attachment position of the tape needs to be very precise. Any slight error may cause the tape to shift or overlap, affecting the product quality. The dynamic planning of the cam curve can adjust the movement of the slave axis in real time according to the above three related parameters to ensure that the tape is attached at the correct position and improve the gluing accuracy.

[0059] S103: Control the movement of the slave axis according to the current cam curve.

[0060] In this embodiment, after the current cam curve is planned, under the action of the MC_GearIn instruction, when the real-time position of the main axis reaches the waiting position M2, the slave axis is controlled to start moving according to the current cam curve.

[0061] In an exemplary embodiment, the process of controlling the movement of the slave axis according to the current cam curve includes:

[0062] Control the slave axis according to the current cam curve, accelerate from the waiting position to the slave axis synchronization position, and move at a constant speed from the slave axis synchronization position to the synchronization end position;

[0063] When the slave axis reaches the slave axis synchronization position, the master axis reaches the master axis synchronization position.

[0064] like Figure 2 As shown, in the acceleration stage, the starting position of the main axis (traction axis) is M2, the starting position of the slave axis (glue-coated axis) is S2, the end position of the main axis is M3, the end position of the slave axis is S3, and the slave axis accelerates from S2 until it reaches S3. When the slave axis reaches S3, the main axis also reaches M3. At this time, the linear speed of the slave axis reaches the forward speed of the main axis.

[0065] In the synchronization stage, the starting position of the main axis is M3, the starting position of the slave axis is S3, the end position of the main axis is M4, and the end position of the slave axis is S4. In the synchronization area, the main axis and the slave axis move forward at a constant speed. In the synchronization area, the film on the gluing shaft is rolled onto the material belt parking area to complete the gluing operation, realizing high-precision synchronous control and ensuring the accuracy and reliability of the gluing operation.

[0066] It can be seen that in this embodiment, when the real-time position of the main shaft meets the synchronization trigger condition, the current cam curve can be dynamically planned for the slave shaft according to the predetermined main shaft synchronization position, the slave shaft synchronization position, and the target distance of the main shaft movement during the acceleration movement of the slave shaft, thereby reducing the dependence on the fixed scanning cycle and avoiding lag. There is no need to pre-establish a cam table and cam curve, which saves time and reduces human errors. In addition, the glue sticking accuracy is improved in the glue sticking control and the program control is greatly simplified.

[0067] Based on the above embodiments:

[0068] In an exemplary embodiment, in response to the main shaft real-time position of the main shaft satisfying the synchronization trigger condition, planning a current cam curve for the slave shaft based on the main shaft synchronization position, the slave shaft synchronization position and the target distance includes:

[0069] In response to the real-time position of the main axis satisfying the synchronization trigger condition, the motion control function block is triggered, so that the motion control function block plans the current cam curve for the slave axis according to its own interface parameters;

[0070] The interface parameters include the main axis synchronization position accessed by the first interface of the motion control function block, the slave axis synchronization position accessed by the second interface of the motion control function block, and the target distance accessed by the third interface of the motion control function block.

[0071] In this embodiment, the motion control function block is a function block in the PLC system, specifically, the MC_GearInpos function block, which is described below by taking the MC_GearInpos function block as an example. The MC_GearInpos function block has multiple interfaces, the first interface is configured to access the main axis synchronization position, the second interface is configured to access the slave axis synchronization position, and the third interface is configured to access the target distance.

[0072] It can be understood that when the probe above point 1 of the material belt obtains a signal, the MC_GearInpos function block instruction Execute is triggered, that is, after the PLC system receives the probe signal, Execute is set to 1. When Execute=1, the MC_GearInpos function block dynamically plans the current cam curve of the slave axis according to its own interface parameters, that is, the master axis synchronization position, slave axis synchronization position and target distance connected to the corresponding interface, such as Figure 4 and Figure 5 As shown, use the MC_GearInpos instruction to make the slave axis work according to the required process. Figure 5 The middle curve ① is the speed curve of the slave axis. The first half of the acceleration and uniform speed stage is the motion effect of the slave axis under the action of MC_GearInPos. This embodiment is based on the flying shear synchronization control method of the non-MC_CamIn instruction, and there is no specified electronic cam curve. The MC_GearInpos function block provides a rich input and output interface, allowing users to flexibly configure synchronization parameters and support dynamic adjustment of parameters, thereby realizing flexible motion control. During operation, the cam curve of the slave axis can be modified in real time according to actual needs to adapt to different process requirements.

[0073] In an exemplary embodiment, planning a current cam curve for a slave axis based on a master axis synchronization position, a slave axis synchronization position, and a target distance includes:

[0074] Determine the current curve type corresponding to the process information of the current product to be processed;

[0075] The current cam curve is planned for the slave axis based on the current curve type, master axis synchronous position, slave axis synchronous position and target distance.

[0076] Considering that different products to be processed have different process requirements, such as different synchronous positions, speeds, accelerations, etc., different curve types for fitting the cam motion trajectory can be selected for different process requirements. Therefore, the type of cam curve can be dynamically adjusted according to the process information of the product to be processed to ensure that the motion trajectory of the slave axis accurately matches the motion of the main axis, meet different process requirements, and improve processing quality and efficiency.

[0077] For example, for the flying shear process, the flying shear axis is required to complete the shearing action in specific synchronization zone, acceleration zone and deceleration zone, and the shearing position and speed are required to be precisely controlled. A fifth-order polynomial curve is usually used in the acceleration zone and the deceleration zone because this curve can provide smooth acceleration and deceleration changes to avoid impact and ensure the smoothness of the shearing action. A linear curve is used in the synchronization zone because the synchronization zone requires a constant speed. The linear curve can ensure that the speed of the slave axis is consistent with that of the main axis. For the reflow soldering process, precise control of the temperature curve is required, including preheating, constant temperature, reflow and cooling stages to ensure welding quality. A linear curve can be used in the preheating and cooling stages to ensure linear temperature changes. A constant curve can be used in the constant temperature stage to ensure that the temperature remains at the set value. A fifth-order polynomial curve can be used in the reflow stage to smoothly reach and leave the reflow temperature.

[0078] In this embodiment, an interactive interface may be provided, on which a variety of available curve types are prompted, such as a linear curve, a quintic polynomial curve, a custom curve, etc. The interactive interface allows the user to input specific process information of the current product to be processed, such as synchronous position, speed, acceleration, etc. The user selects a curve type from the multiple curve types according to the process information of the current product to be processed. After the user completes the selection, the selected curve type and related process information may also be displayed on the interactive interface.

[0079] Alternatively, a correspondence table between the curve type and the process information of the product to be processed is pre-established, and the curve type can be automatically determined according to the determined process information of the product to be processed and the correspondence table. Of course, a method can also be selected to determine the curve type corresponding to the process information of the current product to be processed, which is not limited in this embodiment.

[0080] Furthermore, a reminder to determine the curve type can be triggered when the product to be processed changes or periodically. When the system detects a change in the type of product to be processed, it automatically triggers the curve type selection logic, or prompts the user to select or confirm the recommended curve type through an interactive interface or PLC program. Through the interactive interface or the preset correspondence table, the appropriate curve type can be selected according to the process information of different products to be processed, which improves flexibility and adaptability, ensures that the motion trajectory of the slave axis accurately matches the motion of the main axis, meets different process requirements, and improves processing quality and efficiency.

[0081] In an exemplary embodiment, determining a master axis synchronization position, a slave axis synchronization position, and a target distance of movement of the master axis during acceleration of the slave axis includes:

[0082] The main axis synchronous position, the slave axis synchronous position and the target distance of the main axis movement during the slave axis acceleration motion corresponding to the process information of the current product to be processed are determined.

[0083] In this embodiment, considering that the process information of different products to be processed is different, the requirements for the main axis synchronization position, the slave axis synchronization position, and the target distance are different. Based on this, the main axis synchronization position, the slave axis synchronization position, and the target distance of the main axis movement during the slave axis acceleration movement in this embodiment are all corresponding to the process information of the current product to be processed.

[0084] In an exemplary embodiment, determining the main axis synchronization position, the slave axis synchronization position, and the target distance of the main axis movement during the slave axis acceleration movement corresponding to the process information of the current product to be processed includes:

[0085] Acquire a first position parameter, a second position parameter, and a distance parameter input by a user based on process information of a current product to be processed;

[0086] determining a spindle synchronization position based on the first position parameter;

[0087] determining a synchronous position of the slave axis based on a second position parameter;

[0088] Determines the target distance based on the distance parameter.

[0089] An interactive interface can be designed, including input boxes, prompt information, and confirmation buttons. The prompt information displays the process requirements of the current product to be processed, such as "Please enter the spindle synchronization position of the flying shear process". Multiple input boxes are provided for entering the first position parameter, the second position parameter, and the distance parameter. After the operator enters the parameters, clicks the confirmation button, and the system reads the parameter values ​​entered by the user. The design of the interactive interface for the glue sticking control system can refer to Figure 6 As shown, the description of the glue roller servo glue suction position, glue rolling avoidance position, glue rolling synchronization position, and glue rolling synchronization length refers to the above, and this embodiment will not be repeated here.

[0090] Specifically, the operator manually inputs the first position parameter, the second position parameter and the distance parameter in the input box on the interactive interface according to the process information of the current product to be processed. When the operator clicks the confirmation button, the main shaft synchronization position, the slave shaft synchronization position and the target distance are set. In a specific embodiment, multiple input boxes can be connected to multiple interfaces of the MC_GearInpos function block in a one-to-one correspondence. After the MC_GearInpos function block is triggered, the parameter values ​​are read through each interface. The MC_GearInpos function block dynamically plans the cam curve of the slave shaft according to the read parameter values, so that the PLC system controls the movement of the slave shaft according to the planned cam curve to achieve precise synchronization with the main shaft.

[0091] In another optional embodiment, a relational table may be created, which contains process information of different products to be processed and corresponding parameters such as the main shaft synchronization position, the slave shaft synchronization position, and the target distance. The PLC system may monitor changes in the products to be processed in real time. When a change in product type is detected, the corresponding main shaft synchronization position, the slave shaft synchronization position, and the target distance are searched in the relational table according to the type of the current product to be processed. The searched parameter values ​​are passed to multiple interfaces of the MC_GearInpos function block, and the MC_GearInpos function block may dynamically plan the cam curve of the slave shaft according to these parameters, so that the PLC system controls the movement of the slave shaft according to the planned cam curve to achieve precise synchronization with the main shaft, while improving efficiency and accuracy.

[0092] In an exemplary embodiment, after controlling the movement of the slave axis according to the current cam curve, the method further includes:

[0093] In response to the slave axis reaching the synchronous end position, the slave axis is controlled to enter discrete motion from synchronous motion; the synchronous end position is the end point of the current cam curve.

[0094] In this embodiment, when the glue sticking axis moves to the synchronous end position S4, the material belt parking area also moves to the synchronous end position M4 of the material belt. At this time, the glue sticking axis triggers absolute positioning and moves to the origin S1 of the glue sticking axis. When the glue sticking axis triggers absolute positioning at the synchronous end point No. 4, the original synchronous movement will be automatically interrupted, and the glue sticking axis enters the discrete motion state. The discrete motion state allows the system to accurately control the position of the glue sticking axis at a specific time point, avoiding the cumulative error that may occur in continuous motion. Through absolute positioning, the glue sticking axis can accurately return to the origin S1, ensuring that the starting position of each movement is consistent, thereby improving the accuracy of the entire system.

[0095] In a specific embodiment, a double-welding double-sticking film making machine has the following process requirements: sticking accuracy: ±0.2mm, equipment speed: 80 pieces / min. The equipment has 4 sticking stations, 2 sticking rollers on the upper and lower sides, and the 4 sticking rollers all adopt the synchronous control method mentioned in the present invention.

[0096] Second, please refer to Figure 7 The present invention also provides a synchronous control system, comprising:

[0097] A first determination module 11 is used to determine the main shaft synchronization position, the slave shaft synchronization position, and the target distance of the main shaft during the slave shaft acceleration movement;

[0098] A trajectory planning module 12, for planning a current cam curve for the slave axis based on the master axis synchronous position, the slave axis synchronous position and the target distance in response to the master axis real-time position satisfying the synchronization trigger condition;

[0099] The slave axis control module 13 is used to control the movement of the slave axis according to the current cam curve.

[0100] In an exemplary embodiment, in response to the main shaft real-time position of the main shaft satisfying the synchronization trigger condition, planning a current cam curve for the slave shaft based on the main shaft synchronization position, the slave shaft synchronization position and the target distance includes:

[0101] In response to the real-time position of the main axis satisfying the synchronization trigger condition, the motion control function block is triggered, so that the motion control function block plans the current cam curve for the slave axis according to its own interface parameters;

[0102] The interface parameters include the main axis synchronization position accessed by the first interface of the motion control function block, the slave axis synchronization position accessed by the second interface of the motion control function block, and the target distance accessed by the third interface of the motion control function block.

[0103] In an exemplary embodiment, planning a current cam curve for a slave axis based on a master axis synchronization position, a slave axis synchronization position, and a target distance includes:

[0104] Determine the current curve type corresponding to the process information of the current product to be processed;

[0105] The current cam curve is planned for the slave axis based on the current curve type, master axis synchronous position, slave axis synchronous position and target distance.

[0106] In an exemplary embodiment, determining a master axis synchronization position, a slave axis synchronization position, and a target distance of movement of the master axis during acceleration of the slave axis includes:

[0107] The main axis synchronous position, the slave axis synchronous position and the target distance of the main axis movement during the slave axis acceleration motion corresponding to the process information of the current product to be processed are determined.

[0108] In an exemplary embodiment, determining the main axis synchronization position, the slave axis synchronization position, and the target distance of the main axis movement during the slave axis acceleration movement corresponding to the process information of the current product to be processed includes:

[0109] Acquire a first position parameter, a second position parameter, and a distance parameter input by a user based on process information of a current product to be processed;

[0110] determining a spindle synchronization position based on the first position parameter;

[0111] determining a synchronous position of the slave axis based on a second position parameter;

[0112] Determines the target distance based on the distance parameter.

[0113] In an exemplary embodiment, the process of controlling the movement of the slave axis according to the current cam curve includes:

[0114] Control the slave axis according to the current cam curve, accelerate from the waiting position to the slave axis synchronization position, and move at a constant speed from the slave axis synchronization position to the synchronization end position;

[0115] When the slave axis reaches the slave axis synchronization position, the master axis reaches the master axis synchronization position.

[0116] In an exemplary embodiment, the slave axis control module 13 is further configured to:

[0117] After the slave axis is controlled to move according to the current cam curve, in response to the slave axis reaching the synchronous end position, the slave axis is controlled to enter discrete motion from synchronous motion; the synchronous end position is the end point of the current cam curve.

[0118] Third, please refer to Figure 8 The present invention also provides an electronic device, comprising:

[0119] A memory 21, used for storing computer programs;

[0120] The processor 22 is used to implement the steps of any one of the above synchronization control methods when executing a computer program.

[0121] The electronic device also includes:

[0122] The input interface 23 is connected to the processor 22 via the communication bus 26, and is used to obtain the computer programs, parameters and instructions imported from the outside, and save them in the memory 21 under the control of the processor 22. The input interface can be connected to an input device to receive parameters or instructions manually input by the user. The input device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the terminal housing.

[0123] The display unit 24 is connected to the processor 22 via the communication bus 26 and is used to display the data sent by the processor 22. The display unit can be a liquid crystal display or an electronic ink display.

[0124] The network port 25 is connected to the processor 22 via the communication bus 26, and is used to communicate with various external terminal devices. The communication technology used in the communication connection can be a wired communication technology or a wireless communication technology, such as mobile high-definition link technology, universal serial bus, high-definition multimedia interface, wireless fidelity technology, Bluetooth communication technology, low-power Bluetooth communication technology, communication technology based on IEEE802.11s, etc.

[0125] Fourth, please refer to Figure 8 The present invention further provides a computer readable medium 30, on which a computer program 31 is stored, and when the computer program 31 is executed by a processor, the steps of any of the above synchronization control methods are implemented.

[0126] The computer readable medium 30 may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0127] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0128] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A synchronous control method, characterized in that: include: Determine the master axis synchronization position, the slave axis synchronization position, and the target distance of the master axis during the slave axis acceleration movement; In response to the main shaft real-time position of the main shaft satisfying the synchronization trigger condition, planning a current cam curve for the slave shaft based on the main shaft synchronization position, the slave shaft synchronization position and the target distance; The movement of the slave axis is controlled according to the current cam curve.

2. The synchronous control method according to claim 1, characterized in that: In response to the real-time position of the main shaft of the main shaft satisfying the synchronization trigger condition, planning a current cam curve for the slave shaft based on the main shaft synchronization position, the slave shaft synchronization position and the target distance includes: In response to the real-time position of the main axis satisfying the synchronization trigger condition, triggering the motion control function block so that the motion control function block plans a current cam curve for the slave axis according to its own interface parameters; Among them, the interface parameters include the main axis synchronization position connected to the first interface of the motion control function block, the slave axis synchronization position connected to the second interface of the motion control function block, and the target distance connected to the third interface of the motion control function block.

3. The synchronous control method according to claim 1, characterized in that: Planning a current cam curve for the slave axis based on the master axis synchronous position, the slave axis synchronous position and the target distance includes: Determine the current curve type corresponding to the process information of the current product to be processed; A current cam curve is planned for the slave axis based on the current curve type, the master axis synchronous position, the slave axis synchronous position and the target distance.

4. The synchronous control method according to claim 1, characterized in that: Determining the master axis synchronization position, slave axis synchronization position, and the target distance of the master axis during the slave axis acceleration movement includes: The main axis synchronous position and the slave axis synchronous position corresponding to the process information of the current product to be processed, and the target distance of the main axis movement during the slave axis acceleration movement are determined.

5. The synchronous control method according to claim 4, characterized in that: Determining the main axis synchronization position and the slave axis synchronization position corresponding to the process information of the current product to be processed, and the target distance of the main axis movement during the slave axis acceleration movement includes: Acquire a first position parameter, a second position parameter, and a distance parameter input by a user based on process information of the current product to be processed; determining a spindle synchronous position based on the first position parameter; determining a slave axis synchronization position based on the second position parameter; The target distance is determined based on the distance parameter.

6. The synchronous control method according to claim 1, characterized in that: The process of controlling the movement of the slave axis according to the current cam curve includes: Control the slave axis according to the current cam curve, accelerate the slave axis from the waiting position to the slave axis synchronization position, and move the slave axis from the slave axis synchronization position to the synchronization end position at a constant speed; Wherein, when the slave shaft reaches the slave shaft synchronization position, the master shaft reaches the master shaft synchronization position.

7. The synchronous control method according to any one of claims 1 to 6, characterized in that: After controlling the movement of the slave axis according to the current cam curve, the method further includes: In response to the slave axis reaching the synchronous end position, the slave axis is controlled to enter discrete motion from synchronous motion; the synchronous end position is the end point of the current cam curve.

8. A synchronous control system, characterized in that: include: A first determination module is used to determine the main axis synchronization position, the slave axis synchronization position, and the target distance of the main axis movement during the slave axis acceleration movement; A trajectory planning module, for planning a current cam curve for the slave axis based on the main axis synchronous position, the slave axis synchronous position and the target distance in response to the main axis real-time position of the main axis satisfying the synchronization trigger condition; The slave axis control module is used to control the movement of the slave axis according to the current cam curve.

9. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the synchronization control method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the synchronization control method according to any one of claims 1 to 7 are implemented.

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