Cutter track correction method and device, servo driver and readable storage medium
By detecting the deformation data of the cutting tool and performing digital signal processing in the servo drive, and determining compensation instructions to correct the cutting tool trajectory, the problem of long response time for cutting and adjustment and lack of accurate correction methods in the prior art is solved, and a more efficient and accurate cutting process is achieved.
Patent Information
- Application Number
- CN202510303744.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-14
- Publication Date
- 2025-06-20
AI Technical Summary
In the prior art, the cutting adjustment response time is long and there is a lack of accurate cutting tool trajectory correction method, which affects the cutting accuracy and efficiency.
By detecting the deformation data of the cutting tool, it is converted into an analog signal and sent to the analog-to-digital converter of the servo driver, converted into a digital signal, and the compensation command is determined and sent to the C-axis motor to perform fine-tuning and correction of the cutting tool track.
It effectively avoids the impact of cutting tool deformation on cutting accuracy, shortens communication time, improves the response speed and accuracy of cutting, and meets the needs of higher quality cutting.
Smart Images
Figure CN120178655A_ABST
Abstract
Description
Technical Field
[0001] The present application belongs to the field of cutting technology, and relates to a cutting knife trajectory correction method, and in particular to a cutting knife trajectory correction method, device, servo driver and readable storage medium. Background Art
[0002] In the context of the rapid development of the textile and clothing industry, cutting equipment, as a key production tool, has an increasingly wide range of applications. This equipment must not only meet the requirements of high-efficiency production, but also reach the industry-leading level in cutting speed and precision. In view of consumers' increasing attention to the quality and appearance of clothing, cutting accuracy has become a core indicator for evaluating the performance of cutting tables. High-precision cutting can ensure that the size and shape of the cut pieces fully meet the design specifications, thereby improving the overall quality and appearance of the finished garments. Therefore, how to enhance the accuracy and stability of cutting has become a technical problem that needs to be solved urgently. Summary of the invention
[0003] The present application provides a cutting knife trajectory correction method, device, servo driver and readable storage medium, which are used to solve the problem of lack of accurate cutting knife trajectory correction in the prior art.
[0004] In a first aspect, an embodiment of the present application provides a method for correcting a cutting knife trajectory, the method comprising: detecting deformation data of the cutting knife; converting the deformation data into a deformation analog signal; sending the deformation analog signal to an analog-to-digital converter in a servo driver, and converting the deformation analog signal into a deformation digital signal in the analog-to-digital converter; determining a compensation instruction corresponding to the deformation digital signal; sending the compensation instruction to a C-axis motor, so that the C-axis motor fine-tunes the cutting knife according to the compensation instruction to correct the cutting trajectory of the cutting knife.
[0005] In an implementation of the first aspect, determining the compensation instruction corresponding to the deformation digital signal includes: determining the compensation instruction corresponding to the deformation digital signal based on a proportional-integral-differential control method.
[0006] In an implementation of the first aspect, the proportional-integral-differential control method includes: inputting the deformation digital signal into a processor corresponding to the proportional-integral-differential control method; obtaining a compensation instruction through data processing by the processor, and outputting the compensation instruction from an output port of the processor.
[0007] In an implementation of the first aspect, obtaining a compensation instruction through data processing by the processor and outputting the compensation instruction from an output port of the processor includes: initializing proportional parameters, integral parameters, and derivative parameters; determining a deformation value corresponding to the deformation digital signal; calculating an error value between the deformation value and a preset value; adjusting the proportional coefficient, integral coefficient, and derivative coefficient based on the error value; obtaining the compensation instruction based on the adjusted proportional coefficient, integral coefficient, and derivative coefficient; if the compensation instruction does not converge to the expected output value, continuing to execute the above steps of obtaining the compensation instruction based on the detected deformation digital signal; if the compensation instruction converges to the expected output value, outputting the compensation instruction from the output port of the processor.
[0008] In an implementation of the first aspect, before detecting the deformation data of the cutting tool, the method further includes: receiving a cutting instruction sent by a computer numerical control; based on the cutting instruction, controlling a corresponding motor by the servo driver to start rotating, so that the cutting tool connected to the motor performs cutting.
[0009] In an implementation of the first aspect, the number of the motors is at least one.
[0010] In an implementation of the first aspect, detecting the deformation data of the cutting tool includes: when the cutting tool deforms, a tool intelligent sensor at the cutting tool detects the deformation data.
[0011] The embodiment of the present application provides a cutting tool trajectory correction method. In this method, by detecting the deformation data of the cutting tool; converting the deformation data into a deformation analog signal; sending the deformation analog signal to an analog-to-digital converter in the servo driver, and converting the deformation analog signal into a deformation digital signal in the analog-to-digital converter; determining a compensation instruction corresponding to the deformation digital signal; sending the compensation instruction to a C-axis motor, so that the C-axis motor fine-tunes the cutting tool according to the compensation instruction to correct the cutting trajectory of the cutting tool, effectively avoiding the influence of the deformation of the cutting tool on the cutting accuracy. The cutting trajectory of the cutting tool is fine-tuned quickly and accurately through the compensation instruction. The acquisition feedback path of the cutting tool deformation is greatly reduced, and the communication time is shortened from dozens of milliseconds (ms) to dozens of nanoseconds (ns), reducing the adjustment time of cutting and significantly improving the response speed; during the cutting process, the cutting trajectory can be corrected more quickly and frequently according to the deformation data of the cutting tool, improving the cutting accuracy and meeting the customer's demand for higher-quality cutting.
[0012] In a second aspect, an embodiment of the present application provides a cutter path correction device, which includes: a deformation data detection module for detecting the deformation data of the cutter; a first conversion module for converting the deformation data into a deformation analog signal; a second conversion module for sending the deformation analog signal to an analog-to-digital converter in the servo driver, and converting the deformation analog signal into a deformation digital signal in the analog-to-digital converter; a compensation instruction determination module for determining a compensation instruction corresponding to the deformation digital signal; and a path correction module for sending the compensation instruction to the C-axis motor, so that the C-axis motor finely adjusts the cutter according to the compensation instruction to correct the cutting path of the cutter.
[0013] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the cutter path correction method according to any one of the first aspects of the embodiments of the present application is implemented.
[0014] In a fourth aspect, an embodiment of the present application provides a servo driver, which includes a memory and a processor; the memory is used for storing a computer program; the processor is used for executing the computer program and implementing the cutter path correction method according to any one of the first aspects of the embodiments of the present application when executing the computer program. Description of the Drawings
[0015] Figure 1 It shows a flowchart of the cutter path correction method provided by an embodiment of the present application.
[0016] Figure 2 It shows a system flowchart corresponding to another cutter path correction method provided by an embodiment of the present application.
[0017] Figure 3 It shows a flowchart of the proportional-integral-derivative control method in an embodiment of the present application.
[0018] Figure 4 It shows a flowchart of determining a compensation instruction based on the proportional-integral-derivative control method in an embodiment of the present application.
[0019] Figure 5 It shows a flowchart of determining a compensation instruction based on another proportional-integral-derivative control method provided by an embodiment of the present application.
[0020] Figure 6 It shows a software system structure diagram corresponding to the cutter path correction method provided by an embodiment of the present application.
[0021] Figure 7 It shows a hardware system structure diagram corresponding to the cutter path correction method provided by an embodiment of the present application.
[0022] Figure 8 Shown is a schematic diagram of a cutter path correction device provided by an embodiment of the present application.
[0023] Figure 9 Shown is a schematic structural diagram of an electronic device in an embodiment of the present application.
[0024] Description of component labels
[0025] Steps S11 to S15
[0026] Steps S31 to S32
[0027] Steps S41 to S47
[0028] 80 Cutter path correction device
[0029] 81 Deformation data detection module
[0030] 82 First conversion module
[0031] 83 Second conversion module
[0032] 84 Compensation instruction determination module
[0033] 85 Trajectory correction module
[0034] 90 Electronic device
[0035] 91 Processor
[0036] 92 Non-volatile storage medium
[0037] 93 System bus
[0038] 94 Internal memory
[0039] 95 Network interface Specific implementation manners
[0040] The following uses specific specific examples to illustrate the implementation manners of the present application. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.
[0041] It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner. Therefore, only the components related to the present application are shown in the drawings, rather than being drawn according to the number, shape, and size of the components in actual implementation. The form, quantity, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout pattern may also be more complex.
[0042] In the prior art, high-level cutting machines usually use servo drivers to control four motors, namely X / Y / M / C, to achieve the operation in the X, Y, and Z axis directions and the adjustment of the cutting tool angle, so as to efficiently and accurately complete the cutting process from fabric to cut pieces.
[0043] To meet the accuracy and cost requirements in different application scenarios, traditional high-level cutting machines will select imported or domestic servo drivers. Currently, the industry mainstream is to use 4 single-axis or 2 dual-axis servo drivers to control the 4-axis motors, which are interconnected through the Ethernet for Control Automation Technology (EtherCAT) bus for automation control and then communicate with the master station to receive the cutting instructions issued by the master station.
[0044] Based on the above solution, in order to improve the cutting accuracy, a set of knife intelligent device is usually added, and the working principle is as follows:
[0045] The first step: The Computer Numerical Control (CNC) issues a cutting instruction to the servo driver, and the servo driver controls the corresponding motor to rotate.
[0046] The second step: During the cutting process, after the cutting tool deforms, the sensing device at the tool disc will detect the relevant deformation data.
[0047] The third step: The knife intelligent device converts the amount of deformation into an analog quantity and sends it to the cutting head Input / Output (IO) board.
[0048] The fourth step: The IO board converts the analog quantity into a digital quantity, and then transmits the information to the upper computer through EtherCAT bus communication.
[0049] The fifth step: The upper computer calculates the data that needs to be compensated for the C axis according to the deformation data.
[0050] The sixth step: The master station issues a C-axis compensation instruction to the servo driver through EtherCAT bus communication, and the servo driver then controls the C-axis motor to rotate by a corresponding angle, so as to achieve the purpose of correcting the cutting trajectory when cutting multiple layers of fabric.
[0051] However, in the above technical solution during the cutting process, if the cutting tool deforms, it is necessary to go through cumbersome steps such as multiple signal conversions, bus communications, and instructions sent by the host computer to correct the walking trajectory of the cutting tool. In this process, data needs to be transmitted through the EtherCAT bus at each link, which not only increases the complexity of data transmission but also significantly lengthens the response time of cutting adjustment. Such a delay may directly affect the cutting accuracy and efficiency and reduce the production quality.
[0052] Therefore, in the prior art during the process of correcting the trajectory of the cutting tool, the response time of cutting adjustment is relatively long, and there is a lack of an accurate cutting tool trajectory correction method.
[0053] At least for the above problems, the embodiments of the present application provide a cutting tool trajectory correction method. The cutting tool trajectory correction method can detect the deformation data of the cutting tool; convert the deformation data into a deformation analog signal; send the deformation analog signal to the analog-to-digital converter in the servo driver, and convert the deformation analog signal into a deformation digital signal in the analog-to-digital converter; determine the compensation instruction corresponding to the deformation digital signal; send the compensation instruction to the C-axis motor so that the C-axis motor fine-tunes the cutting tool according to the compensation instruction to correct the cutting trajectory of the cutting tool, and can solve the technical problems of relatively long response time of cutting adjustment and lack of an accurate cutting tool trajectory correction method in the prior art.
[0054] Next, the technical solutions in the embodiments of the present application will be described in detail with reference to the accompanying drawings in the embodiments of the present application.
[0055] Figure 1 It shows a flowchart of the cutting tool trajectory correction method provided by an embodiment of the present application. As Figure 1 shown, the cutting tool trajectory correction method provided by the embodiments of the present application includes the following steps S11 to S15.
[0056] S11, detecting the deformation data of the cutting tool.
[0057] Specifically, when the cutting tool deforms, the tool intelligent sensor at the cutting tool can be used to detect the deformation data.
[0058] In some embodiments, before detecting the deformation data of the cutting tool, the method further includes: receiving a cutting instruction sent by a computer numerical control; based on the cutting instruction, the servo driver controls the corresponding motor to start rotating, so that the cutting tool connected to the motor performs cutting.
[0059] Specifically, the CNC issues a cutting instruction to the servo driver according to the preset cutting path and parameters. After receiving the cutting instruction, the servo driver controls the corresponding motor to start rotating, and the cutting task starts to be executed.
[0060] In some embodiments, the number of the motors is at least one.
[0061] Exemplarily, the servo driver controls four motors, namely X, Y, M, and C, to achieve the operation in the X, Y, and Z axis directions and the adjustment of the cutting tool angle.
[0062] It should be noted that the above example of the servo driver controlling four motors is only for illustrative purposes. In actual applications, the servo driver can also control any other appropriate number of motors according to specific application requirements, and this application will not elaborate further on this.
[0063] S12. Convert the deformation data into a deformation analog signal.
[0064] Exemplarily, the deformation data can be converted into a deformation analog signal through a tool intelligent device connected to the tool intelligent sensor.
[0065] Exemplarily, the deformation data can also be directly converted into an analog signal through the interface circuit of the tool intelligent sensor. Among them, the interface circuit can amplify, filter, and adjust these signals to generate an analog deformation signal.
[0066] It should be noted that the above-listed methods for converting deformation data into deformation analog signals are only for illustrative purposes. In actual applications, other any appropriate methods can also be selected according to specific application requirements to convert the deformation data into deformation analog signals, and this application does not limit this.
[0067] S13. Send the deformation analog signal to the analog-to-digital converter in the servo driver, and convert the deformation analog signal into a deformation digital signal in the analog-to-digital converter.
[0068] Specifically, before sending the deformation analog signal to the servo driver, the deformation analog signal needs to be conditioned to ensure that the deformation analog signal will not be distorted during transmission and meets the requirements of the input end of the servo driver. Among them, signal conditioning may include amplification, filtering, isolation, and impedance matching, etc.
[0069] Connect the conditioned deformation analog signal to the input end of the servo driver through a suitable connector or interface. Among them, the connector or interface includes BNC connectors, RJ45 connectors, or other industrial standard interfaces.
[0070] Exemplarily, the analog-to-digital converter (ADC) includes: successive approximation ADC, flash ADC, dual-slope ADC, pipelined ADC, voltage-to-frequency conversion ADC, etc.
[0071] It should be noted that the types of analog-to-digital converters listed above are only for illustrative purposes. In actual applications, any other suitable analog-to-digital converter can be selected according to specific application requirements, and the present application does not limit this.
[0072] S14. Determine a compensation instruction corresponding to the deformation digital signal.
[0073] In some embodiments, the determining a compensation instruction corresponding to the deformation digital signal includes: determining a compensation instruction corresponding to the deformation digital signal based on a proportional-integral-derivative control method.
[0074] S15. Send the compensation instruction to the C-axis motor so that the C-axis motor finely adjusts the cutting tool according to the compensation instruction to correct the cutting trajectory of the cutting tool.
[0075] Specifically, the compensation instruction is sent to the C-axis motor through a communication interface, where the communication interface includes, for example, any one of an analog signal, a digital signal, or other dedicated interfaces. The specific type of the communication interface can be determined according to the model or specification of the specific C-axis motor, and the present application does not limit this.
[0076] Exemplarily, when the C-axis motor receives the compensation instruction, the C-axis motor adjusts the rotation angle or position according to the compensation instruction, and then finely adjusts the cutting trajectory of the cutting tool to correct the cutting trajectory of the cutting tool.
[0077] In a cutting tool trajectory correction method provided by an embodiment of the present application, by obtaining deformation data of a detected cutting tool; converting the deformation data into a deformation analog signal; sending the deformation analog signal to an analog-to-digital converter in a servo driver, and converting the deformation analog signal into a deformation digital signal in the analog-to-digital converter; determining a compensation instruction corresponding to the deformation digital signal; sending the compensation instruction to the C-axis motor so that the C-axis motor finely adjusts the cutting tool according to the compensation instruction to correct the cutting trajectory of the cutting tool, the cutting trajectory of the cutting tool can be finely adjusted quickly and accurately through the compensation instruction, the influence of the cutting tool deformation on the cutting accuracy can be adjusted in time, the cutting accuracy is improved, and the cutting adjustment time is reduced.
[0078] Please refer to Figure 2 , Figure 2 which shows a system flowchart corresponding to another cutting tool trajectory correction method provided by an embodiment of the present application. Figure 2 The specific implementation steps of the system flow in Figure 1 are similar to the respective steps in the above
[0079] Figure 3 shows a flowchart of a proportional-integral-derivative control method in an embodiment of the present application. AsFigure 3 As shown, the proportional-integral-derivative control method in the embodiment of the present application includes the following steps S31 to S32.
[0080] S31, input the deformation digital signal into the processor corresponding to the proportional-integral-derivative control method.
[0081] Specifically, the processor corresponding to the proportional-integral-derivative control method is a proportional-integral-derivative (PID) controller.
[0082] Exemplarily, the deformation digital signal can be input into the processor corresponding to the proportional-integral-derivative control method through a serial communication interface (such as RS-232, RS-485, SPI, I2C, etc.), a parallel data bus, wireless transmission, etc.
[0083] It should be noted that the above-listed ways of inputting the deformation digital signal into the processor corresponding to the proportional-integral-derivative control method are only for illustrative purposes. In actual applications, any other suitable way can be selected according to specific application requirements, and the present application does not limit this.
[0084] S32, through the data processing of the processor, obtain a compensation instruction, and output the compensation instruction from the output port of the processor.
[0085] The embodiment of the present application provides a proportional-integral-derivative control method. In this method, by inputting the deformation digital signal into the processor corresponding to the proportional-integral-derivative control method, and performing data processing on the deformation digital signal in the processor to obtain a compensation instruction corresponding to the deformation digital signal, and outputting the compensation instruction from the processor. Through the data processing of the processor, an accurate compensation instruction is obtained, providing accurate adjustment information for subsequent correction of the cutting trajectory of the cutting tool; and the processor can automatically complete the compensation instruction corresponding to the deformation digital signal, reducing the dependence on manual intervention and improving the automation level.
[0086] Figure 4 It is shown as a flowchart for determining a compensation instruction based on the proportional-integral-derivative control method in an embodiment of the present application. As Figure 4 shown, the process of determining a compensation instruction based on the proportional-integral-derivative control method in the embodiment of the present application includes the following steps S41 to S47.
[0087] S41, initialize the proportional parameter, integral parameter, and derivative parameter.
[0088] Specifically, perform initialization settings on the proportional parameter P, integral parameter I, and derivative parameter D.
[0089] S42. Determine the deformation value corresponding to the deformation digital signal.
[0090] S43. Calculate the error value between the deformation value and the preset value.
[0091] Exemplarily, the error value between the deformation value and the preset value can be calculated based on the formula e(t) = r(t) - y(t). Here, e(t) represents the error value, r(t) represents the deformation value, and y(t) represents the preset value.
[0092] It should be noted that the above expression for calculating the error value between the deformation value and the preset value is only for exemplary illustration. In actual applications, any other suitable formula (for example, a formula including taking the absolute value) can also be selected according to specific application requirements, and the present application does not limit this.
[0093] S44. Adjust the proportional coefficient, integral coefficient, and differential coefficient based on the error value.
[0094] Exemplarily, evolutionary strategies such as genetic algorithms or particle swarm algorithms can be used to continuously adjust the proportional parameter P, integral parameter I, and differential parameter D until the error value is minimized.
[0095] It should be noted that the above method of adjusting the proportional parameter P, integral parameter I, and differential parameter D based on the error value is only for exemplary illustration. In actual applications, any other suitable method can also be selected according to the actual situation to adjust the proportional parameter P, integral parameter I, and differential parameter D, and the present application does not limit this.
[0096] S45. Obtain the compensation instruction based on the adjusted proportional coefficient, integral coefficient, and differential coefficient.
[0097] Exemplarily, based on the adjusted proportional coefficient, integral coefficient, and differential coefficient, determine the new control quantity u(t), and obtain the compensation instruction based on the control quantity u(t).
[0098] S46. If the compensation instruction does not converge to the expected output value, continue to execute the above steps of obtaining the compensation instruction based on the detected deformation digital signal.
[0099] S47. If the compensation instruction converges to the expected output value, output the compensation instruction from the output port of the processor.
[0100] The embodiment of the present application provides a method for determining a compensation command based on a proportional-integral-derivative control method. In this method, by initializing the PID parameters, determining the deformation value corresponding to the deformation digital signal, and calculating the error value between the deformation value and the preset value, based on the adjusted proportional coefficient, integral coefficient, and differential coefficient, the compensation command is obtained; if the compensation command does not converge to the expected output value, the above steps of obtaining the compensation command are continued based on the detected deformation digital signal; if the compensation command converges to the expected output value, the compensation command is output from the output port of the processor. Through this control method, rapid adjustment is performed to obtain the compensation command, and it is judged whether the compensation command converges to the expected output, reducing the trajectory deviation during the cutting process and improving the cutting accuracy.
[0101] Please refer to Figure 5 , Figure 5 which shows a flowchart of another method for determining a compensation command based on a proportional-integral-derivative control method provided by an embodiment of the present application. Figure 5 The specific implementation steps in Figure 4 are similar to the respective steps in the above
[0102] Please refer to Figure 6 , Figure 6 which shows the software system structure diagram corresponding to the cutter trajectory correction method provided by an embodiment of the present application. Among them, this software system structure diagram includes Figures 4 to 5 the proportional-integral-derivative control method and the motor motion control method in
[0103] The two-phase current of the motor is sampled to obtain: Iu_fd - U-phase current feedback, Iw_fd - W-phase current feedback; Iu_fd and Iw_fd are calculated through Clarke and Park transforms to obtain Id - the current direct-axis current, Iq - the current quadrature-axis current; the errors between Iq, Id and their set values Iq_ref - quadrature-axis current reference, Id_ref - direct-axis current reference are calculated; the above errors are input into two PID (only PI is used) controllers to obtain the output control voltages Vd_ref - direct-axis voltage reference, Vq_ref - quadrature-axis voltage reference; Vq_ref and Vd_ref are inverse Park transformed to obtain Vα_ref - α-phase voltage reference, Vβ_ref - β-phase voltage reference; Vα_ref and Vβ_ref are input into the SVPWM (Space Vector Pulse Width Modulation) module for modulation to synthesize the voltage space vector, and the switching states of the three half-bridges at this moment are output to control the rotation of the motor; the above steps are cycled; the output of the position loop is used as the input of the speed loop, and the output of the speed loop is used as the input of the current loop, and then three-closed-loop control can be achieved.
[0104] It should be noted that motor motion control can precisely control the operating state of the motor, including key parameters such as position, speed, and current feedback. Through the calculation and adjustment of this method, precise planning and tracking of the motor's operating trajectory can be achieved.
[0105] Please refer to Figure 7 , Figure 7 which shows the hardware system structure diagram corresponding to the cutter trajectory correction method provided by an embodiment of the present application.
[0106] As can be seen from Figure 7 , this hardware system structure diagram includes: a power supply system, a microcontroller unit module (MCU), a field-programmable gate array (FPGA) module, an EtherCAT slave module, an analog-to-digital converter (ADC), and a power drive module (Power Integrity Module, PIM). Among them, the functions of each module are as follows:
[0107] Power supply system: Provides a stable and reliable power supply for the power board and control board to ensure the normal operation of the entire system.
[0108] MCU: Responsible for position loop control, precisely adjusting the position of the cutter; performing parameter adjustment to meet different cutting requirements; processing IO signals to achieve interaction with external devices; communicating with the slave chip to coordinate the work of each module within the system.
[0109] FPGA: Implements speed loop control and current loop control, performs current sampling and encoder signal sampling, and sends PWM waves (pulse width modulation waves).
[0110] EtherCAT slave module: Communicates with the host computer, receives instructions and uploads data to achieve real-time interaction and remote monitoring of system data.
[0111] ADC: Converts the analog signal sent by the cutter intelligent device into a digital signal through a high-precision ADC chip, and then sends it to the MCU for processing to ensure the accuracy and reliability of the signal.
[0112] Power drive module: Drives the motor to run, provides sufficient power and torque; at the same time, collects the motor current and monitors the working state of the motor in real time to ensure the safe and stable operation of the motor.
[0113] The protection scope of the cutter path correction method according to the embodiments of the present application is not limited to the execution order of the steps listed in this embodiment. Any solution achieved by adding or reducing steps of the prior art and replacing steps according to the principle of the present application is included in the protection scope of the present application.
[0114] The embodiments of the present application further provide a cutter path correction device. The cutter path correction device can implement the cutter path correction method of the present application. However, the implementation devices of the cutter path correction method of the present application include, but are not limited to, the structure of the cutter path correction device listed in this embodiment. Any structural deformation and replacement of the prior art made according to the principle of the present application are included in the protection scope of the present application.
[0115] As Figure 8 shown, in an embodiment, the cutter path correction device 80 of the present application includes a deformation data detection module 81, a first conversion module 82, a second conversion module 83, a compensation instruction determination module 84, and a path correction module 85.
[0116] The deformation data detection module 81 is used to detect the deformation data of the cutter.
[0117] The first conversion module 82 is used to convert the deformation data into a deformation analog signal.
[0118] The second conversion module 83 is used to send the deformation analog signal to the analog-to-digital converter in the servo driver, and convert the deformation analog signal into a deformation digital signal in the analog-to-digital converter.
[0119] The compensation instruction determination module 84 is used to determine the compensation instruction corresponding to the deformation digital signal.
[0120] The path correction module 85 is used to send the compensation instruction to the C-axis motor, so that the C-axis motor fine-tunes the cutter according to the compensation instruction to correct the cutting path of the cutter.
[0121] Among them, the structures and principles of the deformation data detection module 81, the first conversion module 82, the second conversion module 83, the compensation instruction determination module 84, and the path correction module 85 correspond to the steps in the above cutter path correction method one by one, so they will not be elaborated here.
[0122] In several embodiments provided in this application, it should be understood that the disclosed device or method can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules / units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of devices or modules or units can be in electrical, mechanical or other forms.
[0123] The modules / units described as separate components may or may not be physically separated. The components shown as modules / units may or may not be physical modules, that is, they can be located in one place, or they can be distributed to multiple network units. Some or all of the modules / units can be selected according to actual needs to achieve the purpose of the embodiments of this application. For example, in each embodiment of this application, the functional modules / units can be integrated in a processing module, or each module / unit can exist physically alone, or two or more modules / units can be integrated in one module / unit.
[0124] Those of ordinary skill in the art should also further realize that the units and steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.
[0125] Embodiments of the present application also provide a computer-readable storage medium. Those of ordinary skill in the art can understand that all or part of the steps in the methods of the above embodiments can be completed by instructing a processor through a program, and the program can be stored in a computer-readable storage medium. The storage medium is a non-transitory medium, such as random access memory, read-only memory, flash memory, hard disk, solid-state drive, magnetic tape, floppy disk, optical disc, and any combination thereof. The above storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., digital video disc (DVD)), or a semiconductor medium (e.g., solid state disk (SSD)), etc.
[0126] Embodiments of the present application also provide an electronic device. Figure 9 Shown is a schematic structural diagram of an electronic device 90 in an embodiment of the present application. The cutter path correction method provided by the embodiments of the present application can be applied to Figure 9 the electronic device 90 shown, but is not limited thereto. As Figure 9 shown, the electronic device 90 includes a processor 91, a memory, a system bus 93, and a network interface 95. Among them, the memory may include a non-volatile storage medium 92 and an internal memory 94.
[0127] The non-volatile storage medium 92 can store an operating system and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor can be made to execute any cutter path correction method provided by the embodiments of the present application.
[0128] The processor is used to provide computing and control capabilities to support the operation of the entire computer device.
[0129] The internal memory 94 provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor, the processor can be made to execute any cutter path correction method provided by the embodiments of the present application.
[0130] The network interface 95 is used for network communication, such as sending assigned tasks, etc. Those skilled in the art can understand that the structure shown is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different component layout.
[0131] It should be understood that the processor 91 can be a central processing unit (CPU), and this processor can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor can be a microprocessor or this processor can also be any conventional processor, etc.
[0132] The electronic device 90 in the embodiments of the present application can include terminal devices such as tablet computers, laptop computers, mobile phones, supercomputers, and intelligent wearable devices, and can also be applied to databases, servers, and service response systems based on terminal artificial intelligence. The embodiments of the present application do not impose any restrictions on the specific types of electronic devices.
[0133] For example, the electronic device can be a station (STAION, ST) in a WLAN, can be a cellular phone, cordless phone, session initiation protocol (SIP) phone, wireless local loop (WLL) station, a handheld device with wireless communication capabilities, a computing device, or other processing devices connected to a wireless modem, a computer, a laptop computer, a handheld communication device, a handheld computing device, and / or other devices for communicating on a wireless system, and next-generation communication systems, for example, a mobile terminal in a 5G network, a mobile terminal in a future evolved public land mobile network (PLMN), or a mobile terminal in a future evolved non-terrestrial network (NTN), etc.
[0134] By way of example and not limitation, when the electronic device is a wearable device, the wearable device can also be a general term for devices developed by applying wearable technologies to the intelligent design of daily wear, such as gloves, watches, etc. equipped with near-field communication modules. A wearable device is a portable device that is either directly worn on the body or integrated into the user's clothes or accessories. By attaching to the user's body and using a pre-bound electronic card, it can perform operations such as payment and authentication. A wearable device is not just a hardware device, but also realizes powerful functions through software support, data interaction, and cloud interaction. Broadly speaking, wearable intelligent devices include those with complete functions and large sizes that can achieve complete or partial functions without relying on a smartphone, such as smart watches or smart glasses, as well as those that only focus on a certain type of application function and need to cooperate with other devices such as smartphones, such as various smart watches and smart bracelets with displays.
[0135] The descriptions of the processes or structures corresponding to the above respective drawings have their own emphases. For parts not detailed in a certain process or structure, reference can be made to the relevant descriptions of other processes or structures.
[0136] The above embodiments are only illustrative of the principles and effects of the present application and are not intended to limit the present application. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present application should still be covered by the claims of the present application.
Claims
1. A cutting tool trajectory correction method, characterized in that: The method comprises: Detect the deformation data of the cutting knife; Converting the deformation data into a deformation simulation signal; Sending the deformation analog signal to an analog-to-digital converter in a servo driver, and converting the deformation analog signal into a deformation digital signal in the analog-to-digital converter; Determining a compensation instruction corresponding to the deformation digital signal; The compensation instruction is sent to the C-axis motor, so that the C-axis motor fine-tunes the cutter according to the compensation instruction to correct the cutting trajectory of the cutter.
2. The cutting tool trajectory correction method according to claim 1, characterized in that: The determining of the compensation instruction corresponding to the deformation digital signal comprises: Based on a proportional-integral-differential control method, a compensation instruction corresponding to the deformation digital signal is determined.
3. The cutting tool trajectory correction method according to claim 2, characterized in that: The proportional-integral-derivative control method includes: Inputting the deformation digital signal into a processor corresponding to the proportional-integral-differential control method; A compensation instruction is obtained through data processing by the processor, and the compensation instruction is output from an output port of the processor.
4. The cutting tool trajectory correction method according to claim 3, characterized in that: The step of obtaining a compensation instruction through data processing by the processor and outputting the compensation instruction from an output port of the processor comprises: Initialize proportional parameters, integral parameters, and differential parameters; Determining a deformation value corresponding to the deformation digital signal; Calculating an error value between the deformation value and a preset value; Based on the error value, adjusting the proportional coefficient, the integral coefficient, and the differential coefficient; Obtaining the compensation instruction based on the adjusted proportional coefficient, integral coefficient, and differential coefficient; If the compensation instruction does not converge to the expected output value, continue to perform the above step of obtaining the compensation instruction based on the detected deformation digital signal; If the compensation instruction converges to the expected output value, the compensation instruction is output from the output port of the processor.
5. The cutting knife trajectory correction method according to claim 1, characterized in that: Before detecting the deformation data of the cutting knife, the method further comprises: Receive cutting instructions sent by computer numerical control; Based on the cutting instruction, the servo driver controls the corresponding motor to start rotating, so that the cutter connected to the motor performs cutting.
6. The cutting knife trajectory correction method according to claim 5, characterized in that: The number of the motors is at least one.
7. The cutting tool trajectory correction method according to claim 1, characterized in that: The deformation data of the cutting knife includes: When the cutting knife is deformed, the intelligent knife sensor at the cutting knife detects the deformation data.
8. A cutting knife trajectory correction device, characterized in that: The device comprises: A deformation data detection module, used for detecting the deformation data of the cutting knife; A first conversion module, used for converting the deformation data into a deformation simulation signal; A second conversion module, used for sending the deformation analog signal to an analog-to-digital converter in a servo driver, and converting the deformation analog signal into a deformation digital signal in the analog-to-digital converter; A compensation instruction determination module, used to determine the compensation instruction corresponding to the deformation digital signal; The trajectory correction module is used to send the compensation instruction to the C-axis motor, so that the C-axis motor fine-tunes the cutter according to the compensation instruction to correct the cutting trajectory of the cutter.
9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the cutting knife trajectory correction method according to any one of claims 1 to 7 is implemented.
10. A servo driver, characterized in that: The servo drive comprises: A memory storing a computer program; A processor is communicatively connected to the memory, and executes the cutting knife trajectory correction method according to any one of claims 1 to 7 when calling the computer program.