Spiral curve processing method, control device, electronic equipment and PLC (Programmable Logic Controller)

Abstract

The invention provides a spiral curve machining method, a control device, electronic equipment and a PLC, and the method comprises the steps that the polar radius of a current machining point and the current speed value of a rotating motor are obtained in real time, and the polar radius is the radial distance between the current machining point and the rotating center of a spiral curve; according to the polar radius of the current machining point and a preset machining linear speed, a current speed given value of the rotating motor is obtained; and according to the current speed value and the current screw pitch of the rotating motor, the current speed given value of the linear motor is obtained, and the current screw pitch is the outward expansion distance of the rotating period where the current machining point is located. According to the spiral curve machining scheme, the speed of the linear motor and the speed of the rotating motor are calculated and corrected in real time, on one hand, the target spiral track can be accurately achieved, and on the other hand, the linear speed of the execution terminal can be accurately controlled to be kept consistent with the preset linear speed.

Description

Technical Field

[0001] The present application relates to the field of industrial automation technology, and in particular to a spiral curve processing method, a control device, an electronic device and a PLC controller. Background Art

[0002] The spiral curve is a classic geometric curve that is widely used in the manufacturing field, such as thread processing, spring processing, etc. In the control scheme of the prior art, the rotary motor rotates at a constant angular velocity. This method allows the execution terminal to change its linear velocity in real time as the length of the spiral curve increases when forming the spiral curve. Although this control strategy is simple and direct to implement, it is difficult to meet the complex application scenarios that require precise control of the linear velocity, thus limiting its wide application in the field of high-precision processing. Summary of the invention

[0003] In view of this, the spiral curve processing solution provided in the present application can accurately achieve the target spiral trajectory by real-time calculation and correction of the speed of the linear motor and the rotary motor, and can accurately control the linear speed of the execution terminal to keep it consistent with the preset linear speed.

[0004] In a first aspect, the present application provides a method for processing a spiral curve, comprising:

[0005] Acquire the polar diameter of the current processing point and the current speed value of the rotating motor in real time, wherein the polar diameter is the radial distance between the current processing point and the rotation center of the spiral curve;

[0006] Obtaining a current speed given value of the rotating motor according to the pole diameter of the current processing point and the preset processing line speed;

[0007] The current speed given value of the linear motor is obtained according to the current speed value and the current pitch of the rotary motor, wherein the current pitch is the distance extended outside the rotation cycle where the current processing point is located.

[0008] Optionally, the step of obtaining the polar diameter of the current processing point in real time further includes:

[0009] The current position value of the linear motor is acquired in real time, and the pole diameter of the current processing point is determined according to the current position value of the linear motor.

[0010] Optionally, the current position value of the linear motor is an actual position value of the linear motor acquired in a current scanning cycle.

[0011] Optionally, the current speed value of the rotating motor is an actual speed value of the rotating motor acquired in a current scanning cycle.

[0012] Optionally, when the spiral curve is a non-uniform pitch spiral curve, before obtaining the current speed set value of the linear motor according to the current speed value and the current pitch of the rotary motor, the following steps are included:

[0013] Obtain the current number of rotations of the rotary motor in real time;

[0014] Obtain the current pitch according to the current number of rotations of the rotary motor and the geometric parameters of the spiral curve.

[0015] Optionally, before the step of obtaining the polar radius of the current machining point and the current speed value of the rotary motor in real time, the following steps are further included:

[0016] Determine the initial speed set value of the linear motor and the initial speed set value of the rotary motor and output them to the drive device.

[0017] Optionally, before the step of determining the initial speed set value of the linear motor and the initial speed set value of the rotary motor and outputting them to the drive device, the following steps are further included:

[0018] Obtain the geometric parameters of the spiral curve and the preset machining line speed; and,

[0019] The step of determining the initial speed set value of the linear motor and the initial speed set value of the rotary motor and outputting them to the drive device includes:

[0020] Obtain the initial speed set value of the linear motor and the initial speed set value of the rotary motor according to the geometric parameters of the spiral curve and the preset machining line speed and output them to the drive device.

[0021] In a second aspect, the present application provides a control device for spiral curve machining, including:

[0022] An acquisition module, configured to acquire the polar radius of the current machining point and the current speed value of the rotary motor in real time, where the polar radius is the radial distance between the current machining point and the rotation center of the spiral curve;

[0023] A rotary motor speed determination module, configured to obtain the current speed set value of the rotary motor according to the polar radius of the current machining point and the preset machining line speed, where the polar radius is the radial distance between a point on the spiral curve and the rotation center of the spiral curve;

[0024] A linear motor speed determination module, configured to obtain the current speed set value of the linear motor according to the current speed value of the rotary motor and the current pitch, where the current pitch is the distance extended by the current rotation period where the current machining point is located.

[0025] In a third aspect, the present application provides a PLC controller, which is communicatively connected to a controlled device, and in which computer instructions are stored, and when the computer instructions are executed, the PLC controller executes the method described in the first aspect above.

[0026] In a fourth aspect, the present application provides an electronic device, comprising: a processor, a communication interface, a memory, and a bus, wherein the processor, the communication interface, and the memory communicate with each other through the bus;

[0027] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to the method described in the first aspect above.

[0028] In a fifth aspect, the present application provides a computer-readable storage medium, on which computer instructions are stored. When the computer instructions are executed by a processor, the processor executes the method described in the first aspect above.

[0029] It can be seen from the above technical solution that by real-time calculation and correction of the speeds of the linear motor and the rotary motor, on the one hand, the target spiral trajectory can be accurately achieved, and on the other hand, the linear speed of the execution terminal can be accurately controlled to keep it consistent with the preset linear speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The flowchart is a method for processing a spiral curve according to an exemplary embodiment of the present application.

[0031] Figure 2 It is a schematic diagram of a spiral curve processing equipment according to an exemplary embodiment of the present application.

[0032] Figure 3 A schematic diagram of an equidistant spiral curve.

[0033] Figure 4 This is a schematic diagram of an unequally spaced spiral curve of the present application.

[0034] Figure 5 It is a schematic diagram of the application of the spiral curve processing method of the exemplary embodiment of the present application.

[0035] List of reference numerals:

[0036] 511: Rotating motor;

[0037] 512: long arm mechanism;

[0038] 521: Linear motor;

[0039] 522: end effector;

[0040] 60: HMI (human-machine interface);

[0041] 70: PLC;

[0042] 80: Servo drive;

[0043] 801: Speed ​​loop of linear motor shaft and rotary motor shaft; DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the embodiments of the present application should fall within the scope of protection of the embodiments of the present application.

[0045] Some embodiments of the present application are described in detail below in conjunction with the accompanying drawings. In the case where there is no conflict between the embodiments, the following embodiments and the features in the embodiments can be combined with each other. The steps in the following method embodiments are only used for exemplary description and are not intended to limit the present invention.

[0046] The spiral curve is a classic geometric curve that is widely used in the manufacturing field, such as thread processing, spring processing, etc. In the control scheme of the prior art, the rotary motor rotates at a constant angular velocity. This method allows the execution terminal to change its linear velocity in real time as the length of the spiral curve increases when forming the spiral curve. Although this control strategy is simple and direct to implement, it is difficult to meet the complex application scenarios that require precise control of the linear velocity, thus limiting its wide application in the field of high-precision processing.

[0047] Based on the various problems in the above-mentioned prior art, the embodiments of the present application provide a control scheme for the spiral curve. By real-time calculation and correction of the speeds of the linear motor and the rotary motor, on the one hand, the target spiral trajectory can be accurately achieved, and on the other hand, the linear speed of the execution terminal can be accurately controlled to keep it consistent with the preset linear speed.

[0048] The control scheme of the spiral curve provided in each embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0049] Example 1

[0050] Embodiment 1 is a method for processing a spiral curve.

[0051] Spiral curves include equidistant spiral curves and unequally spaced spiral curves. An equidistant spiral curve is a spiral line that expands outward at a constant rate, that is, the spiral expands outward by the same distance in each rotation cycle. Figure 3 As shown in , any radial line is cut into equally spaced line segments by an equidistant spiral curve. However, during the rotation of an unequally spaced spiral curve, the distance of expansion in each rotation cycle is not fixed, such as Figure 4 The method of this embodiment is applicable to both equidistant spiral curves and unequally spaced spiral curves.

[0052] Figure 2 The schematic diagram of an execution mechanism for executing the method of the present application is shown as an example. Figure 2 As shown, the actuator includes two motion mechanisms: a rotary motor 511 drives the long arm mechanism 512 to perform rotary motion, and its rotation center is CC'; the end actuator 522 is fixedly connected to the long arm mechanism 512, and the linear motor 521 drives the end actuator 522 to perform linear motion along the long arm mechanism 512.

[0053] like Figure 1 As shown, the method S100 of this embodiment includes the following steps:

[0054] S103: Real-time acquisition of the polar diameter r of the current processing point 实时 And the current speed value V of the rotating motor a_实时 , wherein the polar diameter is the radial distance between the current processing point and the rotation center O of the spiral curve.

[0055] For example, Figure 3 As shown, the polar diameter r1 of point O1 is the radial distance between point O1 and the rotation center point O, r1 = a + △D.

[0056] There are various specific implementations for obtaining the polar diameter of the current processing point. Two specific implementations are listed below, but it can be understood that they are only exemplary and the present embodiment is not limited to these two specific implementations.

[0057] For example, in a specific implementation, step S103 is further implemented as follows:

[0058] S1031: Acquire the current position value of the linear motor in real time;

[0059] S1032: Obtain the pole diameter r of the current processing point according to the current position value of the linear motor 实时 .

[0060] like Figure 2 As shown in the figure, during the processing, the rotary motor drives the long arm mechanism to drive the execution terminal to rotate around the central axis CC', and the linear motor drives the end actuator to move along the radial direction of the spiral curve. Therefore, the current position value of the linear motor can be converted into the polar diameter r of the current processing point. 实时 .

[0061] In one implementation, the current position value of the linear motor is an actual position value of the linear motor acquired in a current scanning cycle.

[0062] For another example, in another specific implementation, step S103 is further implemented as follows:

[0063] S103a: Acquire the current number of rotations and current position value of the rotating motor in real time;

[0064] S103b: Obtaining the polar diameter r of the current processing point according to the current number of rotations of the rotating motor, the current position value and the polar coordinate equation of the spiral curve 实时 .

[0065] The polar coordinate equation of a spiral curve describes the relationship between the polar radius and polar angle of any point on the spiral curve. Figure 3 As shown in the figure, the polar diameter is the radial distance between any point on the spiral curve and the rotation center O of the spiral curve; the polar angle is the angle from the origin O' to a certain point on the spiral curve, where the origin is the point on the spiral curve where the polar angle is 0, as shown in the figure. Figure 3 and Figure 4 The starting point of the spiral curve can be the origin O' or not. For example, Figure 3 The polar angle of the starting point S1 of the spiral curve in is 270°, and the polar angle of the end point S2 is 2110°. It can be understood that if the polar diameter of the origin O' is 0, the origin O' coincides with the rotation center O of the spiral curve.

[0066] Exemplarily, the polar coordinate equation of the equidistant spiral curve is:

[0067] r=a+bθ1-1

[0068] Among them, r is used to represent the polar diameter, θ is used to represent the polar angle, and a and b are constants.

[0069] According to the current number of rotations and the current position value of the rotary motor, the polar angle of the current processing point can be obtained. For example, the polar angle θ corresponding to the zero position of the rotary motor is 0°, and the current number of rotations of the rotary motor is n=3, which means that the rotary motor has rotated 2 complete circles; the current position value of the rotary motor is α=90°, which means that in the current rotation cycle, the motor has rotated 90°, and the polar angle of the current processing point is θ=(n-1)*360°+α=810°.

[0070] Among them, the current speed value V of the rotating motor a_实时 There are many ways to obtain V. For example, in one specific implementation, the current speed value V of the rotating motor is a_实时 is the actual speed value of the rotating motor obtained in the current scanning cycle. For example, in another specific implementation, the current speed value V of the rotating motor isa_实时 is the speed given value of the rotating motor output in the previous scanning cycle. For example, in another specific implementation, the current speed value V of the rotating motor is a_实时 The speed reference value of the rotary motor determined for the current scan cycle.

[0071] After step S103, proceed to step S105: according to the polar diameter r of the current processing point 实时 And preset processing line speed V 线 , get the current speed given value of the rotating motor.

[0072] The processing line speed refers to the straight-line distance traveled by the execution terminal along the processing path (spiral curve) in unit time. In the processing of spiral curves, the processing line speed is an important control target.

[0073] Specifically, Figure 3 As shown, according to the current processing point's pole diameter r 实时 And preset processing line speed V 线 According to formula 1-2, the current speed setting value V of the rotating motor can be obtained. a_给定 .

[0074]

[0075] After step S103, the process proceeds to step S107: according to the current speed value V of the rotating motor, a_实时 and the current pitch ΔD 实时 , get the current speed given value V of the linear motor l_给定 The current pitch is the distance of the rotation cycle where the current processing point is located. Starting from the origin O', one rotation cycle is completed every 360° rotation, such as Figure 3 O' to O1 is the first rotation period, O1 to O2 is the second rotation period, and so on. For example, the starting point of the current rotation period is r n_1 , the polar radius r of the end point n_2 , then the current pitch ΔD 实时 =r n_2 -r n_1 .

[0076] For an equidistant spiral curve, its current pitch ΔD 实时 is a constant, such as Figure 3 shown.

[0077] When the spiral curve is an unequally spaced spiral curve, step S107 further includes:

[0078] S1071: Acquire the current number of rotations of the rotating motor in real time;

[0079] S1072: Obtaining a current pitch ΔD according to the current number of rotations of the rotating motor and the geometric parameters of the spiral curve 实时 .

[0080] Each time the rotary motor rotates one circle, a rotation period of the spiral curve is formed. Therefore, the rotation period to which the current processing point belongs on the spiral curve can be determined according to the current number of rotations of the rotary motor, thereby obtaining the current pitch.

[0081] For example, when processing Figure 4 When the non-equidistant spiral curve is used, the number of revolutions of the rotary motor at the current moment is 3, then the current processing point is located in the third rotation cycle (O2 to O3) of the spiral curve. Figure 4 As shown, the pitch of the third rotation cycle is D3, and the current pitch is D3.

[0082] Specifically, the speed reference value of the linear motor in the current scanning cycle can be obtained according to Formula 1-3.

[0083]

[0084] It can be understood that step S105 and step S107 may be performed in any order.

[0085] In some implementations, step S103 further includes step S102:

[0086] The initial speed setting value of the linear motor and the initial speed setting value of the rotary motor are determined and output to the drive device.

[0087] In some implementations, step S102 may include step S101: obtaining geometric parameters of the to-be-processed spiral curve and a preset processing linear speed.

[0088] The geometric parameters of the spiral curve together define the shape of the spiral curve, and the specific form of these parameters may vary depending on the type of spiral curve. For example, in one possible implementation, the geometric parameters of the equidistant spiral curve include: starting point polar coordinates, end point polar coordinates, and rotation direction, wherein the polar coordinates include polar angle and polar diameter. For another example, in another possible implementation, the geometric parameters of the equidistant spiral curve include: rotation direction, starting point polar angle, end point polar angle, radial distance when the polar angle is 0, and pitch (or rate of change of polar diameter). Figure 3 An equidistant spiral curve is shown as an example. Figure 3 As shown, the starting point of the curve is S1 and the end point is S2. Its geometric parameters can be: rotation direction, polar angle of the starting point S1, polar angle of the end point S2, polar diameter a of the origin and pitch △D. Figure 4 An unequally spaced spiral curve is shown as an example. Figure 4As shown, the starting point of the curve is P1 and the end point is P2. Its geometric parameters can be: rotation direction, polar angle of the starting point P1, polar angle of the end point P2, polar diameter a of the origin and pitch D1~D5 of each rotation cycle.

[0089] The present application associates control targets such as the trajectory of the spiral curve and the linear speed of the execution terminal with the parameters of the linear motor and the rotary motor. By adjusting the operating speeds of the rotary motor and the linear motor in real time, the linear speed of the execution terminal is precisely controlled while achieving the target spiral trajectory.

[0090] In some implementations, step S102 further includes:

[0091] According to the geometric parameters of the spiral curve and the preset processing line speed, the initial speed given value of the linear motor and the initial speed given value of the rotary motor are obtained and output to the driving device.

[0092] In some embodiments, the spiral curve is generated by three-dimensional or two-dimensional drawing software, and the total length L of the spiral curve can be directly obtained from the above software. Therefore, in the embodiment where the geometric parameters of the spiral curve include the total length of the spiral curve, step S102 further includes the following sub-steps:

[0093] S1021: Based on the total length L of the spiral curve and the preset processing line speed V 线 , based on formula 1-4, the total processing time t is obtained.

[0094]

[0095] According to the geometric parameters of the spiral curve, the total displacement △x of the linear motor can be obtained, where the total displacement △x of the linear motor is the end point diameter r of the spiral curve. 2 The difference between the starting point and the pole diameter r 1 , that is, △x=r 2 -r 1 . r 1 and r 2 are all constants, which can be obtained directly or indirectly according to the geometric parameters of the spiral curve.

[0096] According to the total displacement △x of the linear motor and the total processing time t, the initial speed given value V of the linear motor can be obtained based on formula 1-5 l_s :

[0097]

[0098] According to the polar radius r of the starting point of the spiral curve 1 And preset processing line speed V 线Based on formula 1-6, the initial speed reference value V of the rotating motor can be obtained. a_s :

[0099]

[0100] For another example, in another specific implementation, the geometric parameters of the spiral curve do not include the total length of the spiral curve, and before step S1021, the total length of the spiral curve can be obtained according to the geometric parameters of the spiral curve to be processed. For example, the total length of the spiral curve can be obtained according to the integral method.

[0101] In some embodiments, the following steps are also included before step 101: according to the polar coordinates of the starting point of the spiral curve, the initial position values ​​of the linear motor and the rotary motor are obtained, so as to position the servo drive to these initial positions before processing, ensuring that the starting processing point is consistent with the starting point of the target spiral curve.

[0102] In order to control the processing of the spiral curve in real time and ensure that the processing is stopped when the spiral curve reaches the end point, in some embodiments, the method 100 includes step S109. For example, in some embodiments, step S109 is performed as follows:

[0103] The polar diameter of the current processing point is compared with the polar diameter of the end point of the spiral curve. When the polar diameter of the current processing point is equal to the polar diameter of the end point of the spiral curve or reaches a predetermined tolerance range, a stop command is sent to the spiral motor and the linear motor.

[0104] For another example, in some implementations, step S109 is performed as follows:

[0105] S109a: acquiring the current number of rotations and the current position value of the rotating motor in real time, and determining the polar angle of the current processing point according to the current number of rotations and the current position value of the rotating motor;

[0106] S109b: Compare the polar angle of the current processing point with the polar angle of the end point of the spiral curve, and when the polar angle of the current processing point is equal to the polar angle of the end point of the spiral curve or reaches a predetermined tolerance range, send a stop command to the spiral motor and the linear motor.

[0107] like Figure 5 The flowchart of the control method of the present application implemented by using PLC is schematically shown.

[0108] Perform the following operations in the HMI:

[0109] 601: The technician inputs the geometric parameters of the spiral curve and the preset processing line speed on the HMI. In other achievable implementations, the geometric parameters of the spiral curve are automatically identified according to the drawing or three-dimensional model of the spiral curve and output to the PLC.

[0110] Based on the received geometric parameters of the spiral curve and the preset processing line speed, the PLC performs the following operations:

[0111] 701: Calculate the total length of the spiral curve according to the geometric parameters of the spiral curve;

[0112] 702: Calculate the total processing time according to the total length of the spiral curve and the preset processing line speed;

[0113] 703: Calculate the initial speed reference value V of the linear motor based on the geometric parameters of the spiral curve and the total processing time l_s And output to the servo drive device through the 707 module;

[0114] 704: According to the geometric parameters of the spiral curve and the preset processing line speed V 线 Calculate the initial speed reference value V of the rotating motor a_s And output to the servo drive device through the 707 module;

[0115] It is understandable that the execution order of step 703 and step 704 is not limited, and they can be executed simultaneously, or step 703 is executed before step 704, or step 704 is executed before step 703;

[0116] 705: Calculate the speed setting value of the linear motor in the current scanning cycle and output it to the servo drive device 801 through the 707 module; specifically, if the spiral curve is an equidistant spiral curve, execute step 705a; if the spiral curve is an unequally spaced spiral curve, execute step 705b;

[0117] 705a: Obtaining a given speed value of the linear motor in the current scanning cycle according to the actual speed value of the rotating motor collected in the current scanning cycle and the geometric parameters of the spiral curve;

[0118] 705b: Obtaining a speed reference value of the linear motor in the current scanning period according to the actual speed value of the rotating motor collected in the current scanning period, the current number of rotations of the rotating motor, and the geometric parameters of the spiral curve;

[0119] 706: According to the actual position value of the linear motor collected in the current scanning cycle and the preset processing linear speed, the speed setting value of the rotary motor in the current scanning cycle is obtained and output to the servo drive device 801 through the module 707; or,

[0120] According to the current number of rotations of the rotating motor, the current position value and the preset processing line speed collected in the current scanning cycle, the speed setting value of the rotating motor in the current scanning cycle is obtained and output to the servo drive device 801 through the 707 module;

[0121] It is understandable that the execution order of step 705 and step 706 is not limited, and they can be executed simultaneously, or step 705 can be executed before step 706, or step 706 can be executed before step 705.

[0122] This implementation method utilizes the cyclic scanning mechanism of the PLC to cyclically calculate the speed set value of the linear motor and the speed set value of the rotary motor, and corrects the speed of the linear motor and the rotary motor in real time based on the scanning period of the PLC, so that they can accurately achieve the target rotation trajectory. At the same time, the linear speed of the execution terminal is precisely controlled to keep it consistent with the target linear speed.

[0123] Example 2

[0124] In order to implement the spiral curve processing method of the above-mentioned embodiment, the embodiment of the present disclosure also provides a control device for spiral curve processing, which includes: an acquisition module, a rotating motor speed determination module and a linear motor speed determination module. It should be noted that since the following embodiment is to implement the aforementioned method embodiment, each module in the control device is set to implement each step of the aforementioned method. Therefore, the present invention is not limited to the following embodiment, and any device or module that can implement the above method should be included in the protection scope of the present invention. In addition, since the control device of this embodiment is a device corresponding to the embodiment of the aforementioned detection method, all technical details in the embodiment of the aforementioned detection method are applicable to the control device of this embodiment. In order to save space, some of the same contents as the aforementioned method are omitted here.

[0125] The acquisition module is used to acquire the polar diameter of the current processing point and the current speed value of the rotary motor in real time, wherein the polar diameter is the radial distance between the current processing point and the rotation center of the spiral curve. The rotary motor speed determination module is used to obtain the current speed given value of the rotary motor according to the polar diameter of the current processing point and the preset processing line speed, wherein the polar diameter is the radial distance between a point on the spiral curve and the rotation center of the spiral curve. The linear motor speed determination module is used to obtain the current speed given value of the linear motor according to the current speed value of the rotary motor and the current pitch, wherein the current pitch is the distance of the rotation cycle where the current processing point is located.

[0126] Example 3

[0127] Embodiment 3 is a PLC controller provided in the present application, wherein the PLC controller is communicatively connected to a controlled device, and computer instructions are stored in the PLC controller. When the computer instructions are executed, the PLC controller executes the aforementioned embodiments of the processing methods for spiral curves.

[0128] Example 4

[0129] Embodiment 4 is an electronic device provided by the present application. The specific embodiments of the present application do not limit the specific implementation of the electronic device. The electronic device provided by the embodiment of the present application includes: a processor, a communications interface, a memory, and a bus. Among them:

[0130] The processor, the communication interface, and the memory communicate with each other via the bus.

[0131] Communication interface, used to communicate with other electronic devices or servers.

[0132] The processor is used to execute the program, and specifically can execute the relevant steps in the above-mentioned spiral curve processing method embodiment.

[0133] Specifically, the program may include program codes including computer operation instructions.

[0134] The processor may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0135] Memory, used to store programs. Memory 806 may include high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

[0136] The program can be specifically used to enable the processor 802 to execute the spiral curve processing method in any of the aforementioned embodiments.

[0137] The specific implementation of each step in the program can refer to the corresponding steps and corresponding descriptions in the units in the above-mentioned spiral curve processing method embodiment, which will not be repeated here. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described equipment and modules can refer to the corresponding process description in the above-mentioned method embodiment, which will not be repeated here.

[0138] Example 5

[0139] Embodiment 4 is a computer-readable storage medium provided by the present application, storing instructions for causing a machine to execute the spiral curve processing method as described herein. Specifically, a system or device equipped with a storage medium can be provided, on which a software program code for implementing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or device reads and executes the program code stored in the storage medium.

[0140] In this case, the program code read from the storage medium itself can implement the function of any one of the above embodiments, so the program code and the storage medium storing the program code constitute part of the present application.

[0141] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0142] Example 5

[0143] Embodiment 5 is a computer program product provided by the present application, including computer instructions, which instruct a computing device to perform any corresponding operation in the above-mentioned multiple method embodiments.

[0144] It should be pointed out that, according to the needs of implementation, the various components / steps described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.

[0145] The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or implemented as software or computer code that can be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or implemented as a computer code originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded through a network and to be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a special-purpose processor or programmable or special-purpose hardware (such as an ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, a processor or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown here, the execution of the code converts the general-purpose computer into a special-purpose computer for executing the method shown here.

[0146] It should be noted that not all steps and modules in the above-mentioned processes and system structure diagrams are necessary, and some steps or modules can be ignored according to actual needs. The execution order of each step is not fixed and can be adjusted as needed. The system structure described in the above-mentioned embodiments can be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or some components in multiple independent devices may be implemented together.

[0147] Nouns and pronouns relating to persons in this patent application are not limited to a specific gender.

[0148] In the above embodiments, the hardware module can be implemented mechanically or electrically. For example, a hardware module can include permanent dedicated circuits or logic (such as special processors, FPGA or ASIC) to complete the corresponding operation. The hardware module can also include programmable logic or circuits (such as general-purpose processors or other programmable processors), which can be temporarily set by software to complete the corresponding operation. The specific implementation method (mechanical method, or dedicated permanent circuit, or temporarily set circuit) can be determined based on cost and time considerations.

[0149] The present invention has been shown and described in detail above through the accompanying drawings and preferred embodiments. However, the present invention is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art can know that the code review methods in the above different embodiments can be combined to obtain more embodiments of the present invention, and these embodiments are also within the protection scope of the present invention.

Claims

1. A method for processing a spiral curve, characterized in that: include: Acquire the polar diameter of the current processing point and the current speed value of the rotating motor in real time, wherein the polar diameter is the radial distance between the current processing point and the rotation center of the spiral curve; Obtaining a current speed given value of the rotating motor according to the pole diameter of the current processing point and the preset processing line speed; The current speed given value of the linear motor is obtained according to the current speed value and the current pitch of the rotary motor, wherein the current pitch is the distance extended outside the rotation cycle where the current processing point is located.

2. The method for processing a spiral curve according to claim 1, characterized in that: The step of obtaining the polar diameter of the current processing point in real time further includes: The current position value of the linear motor is acquired in real time, and the pole diameter of the current processing point is determined according to the current position value of the linear motor.

3. The method for processing a spiral curve according to claim 2, characterized in that: The current position value of the linear motor is the actual position value of the linear motor acquired in the current scanning cycle.

4. The method for processing a spiral curve according to claim 1, characterized in that: The current speed value of the rotating motor is an actual speed value of the rotating motor acquired in the current scanning cycle.

5. The method for processing a spiral curve according to claim 1, characterized in that: When the spiral curve is an unequal pitch spiral curve, before obtaining the current speed given value of the linear motor according to the current speed value and the current pitch of the rotary motor, the method includes: Get the current number of rotations of the rotating motor in real time; The current pitch is obtained according to the current number of rotations of the rotating motor and the geometric parameters of the spiral curve.

6. The method for processing a spiral curve according to claim 1, characterized in that: Before the step of obtaining the polar diameter of the current processing point and the current speed value of the rotating motor in real time, the method further includes: The initial speed setting value of the linear motor and the initial speed setting value of the rotary motor are determined and output to the drive device.

7. The method for processing a spiral curve according to claim 6, characterized in that: Before the step of determining the initial speed given value of the linear motor and the initial speed given value of the rotary motor and outputting them to the drive device, the method further includes: Obtaining geometric parameters of the spiral curve and preset processing line speed; and, The step of determining the initial speed given value of the linear motor and the initial speed given value of the rotary motor and outputting them to the driving device comprises: According to the geometric parameters of the spiral curve and the preset processing line speed, the initial speed given value of the linear motor and the initial speed given value of the rotary motor are obtained and output to the driving device.

8. A control device for spiral curve processing, comprising: An acquisition module, used for acquiring the polar diameter of the current processing point and the current speed value of the rotating motor in real time, wherein the polar diameter is the radial distance between the current processing point and the rotation center of the spiral curve; A rotating motor speed determination module, used to obtain a current speed given value of the rotating motor according to the polar diameter of the current processing point and a preset processing line speed, wherein the polar diameter is a radial distance between a point on the spiral curve and the rotation center of the spiral curve; The linear motor speed determination module is used to obtain the current speed given value of the linear motor according to the current speed value and the current pitch of the rotary motor, wherein the current pitch is the distance extended outside the rotation cycle where the current processing point is located.

9. A PLC controller, wherein the PLC controller is in communication with a controlled device, wherein computer instructions are stored in the PLC controller, and when the computer instructions are executed, the PLC controller executes the method according to any one of claims 1 to 7.

10. An electronic device, comprising: A processor, a communication interface, a memory and a bus, wherein the processor, the communication interface and the memory communicate with each other via the bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform an operation corresponding to the method as claimed in any one of claims 1 to 7.

11. A computer-readable storage medium, wherein computer instructions are stored on the computer-readable storage medium, and when the computer instructions are executed by a processor, the processor is caused to execute the method according to any one of claims 1 to 7.

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