Gantry shaft balancing method and device, electronic equipment and medium

Abstract

The embodiment of the invention provides a balancing method and device for a gantry shaft, electronic equipment and a medium. The method comprises the steps that the coupling relation between a driving shaft and a driven shaft of a gantry shaft is relieved; the driving shaft is controlled to move in the forward direction and / or the reverse direction until the difference value of the load data of the driving shaft and the load data of the driven shaft in the moving process is smaller than a preset threshold value, and the driving shaft is controlled to stop moving; and establishing a coupling relationship between the driving shaft and the driven shaft. According to the embodiment, automatic leveling of the gantry shaft of the gantry machine tool is achieved, non-machining time is saved, and production efficiency is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of gantry machine tools and gantry axis balancing, and in particular to a gantry axis balancing method, device, electronic equipment, and medium. Background Art

[0002] After a period of use, the gantry axis's frame posture often deviates. This deviation often causes internal friction in the two gantry axis drive motors, reduced machining accuracy, and shortened lifespan of the gantry axis's mechanical components and motors. Currently, manual leveling is often used to correct this deviation, but manual leveling is time-consuming, labor-intensive, and inefficient. To address this issue, an automatic gantry axis leveling solution is urgently needed. Summary of the Invention

[0003] In view of this, the present disclosure provides a balancing method, device, electronic equipment and medium for a gantry axis, which are used to at least partially solve the above technical problems.

[0004] A first aspect of the present disclosure provides a balancing method for a gantry axis, which is applied to a gantry machine tool system. The method comprises:

[0005] Release the coupling relationship between the driving axis and the driven axis of the gantry axis;

[0006] Controlling the driving shaft to move in a forward direction and / or a reverse direction until a difference in load data between the driving shaft and the driven shaft during movement is less than a preset threshold, and then controlling the driving shaft to stop moving;

[0007] A coupling relationship between the driving shaft and the driven shaft is established.

[0008] In one possible implementation, controlling the driving shaft to move in a forward or reverse direction until a difference in load data between the driving shaft and the driven shaft during movement is less than a preset threshold, and then controlling the driving shaft to stop moving, further includes:

[0009] Controlling the driving shaft to move along a first direction, wherein the first direction is positive or negative;

[0010] respectively acquiring load data of the driving shaft and the driven shaft during movement;

[0011] After determining that the load data during the movement becomes smaller, when the difference between the load data of the driving shaft and the driven shaft is less than a preset threshold, the driving shaft is controlled to stop moving.

[0012] In one possible implementation, controlling the driving shaft to move in a forward direction and a reverse direction until a difference in load data between the driving shaft and the driven shaft during movement is less than a preset threshold, and then controlling the driving shaft to stop moving, further includes:

[0013] Controlling the driving shaft to move along a first direction, wherein the first direction is positive or negative;

[0014] respectively acquiring load data of the driving shaft and the driven shaft during movement;

[0015] After determining that the load data during the movement increases, controlling the active shaft to move in a second direction, the second direction being opposite to the first direction;

[0016] When the difference between the load data of the driving shaft and the driven shaft is smaller than a preset threshold, the driving shaft is controlled to stop moving.

[0017] In a possible implementation, the method further includes:

[0018] determining a distance between an initial position and a stop position of the driving shaft;

[0019] After the coupling relationship between the driving axis and the driven axis is established, the distance is used as an offset of the coordinate data of the driving axis to calibrate the coordinates of the reference point of the gantry axis.

[0020] In a possible implementation, controlling the driving shaft to move in a forward direction and / or a reverse direction further includes:

[0021] The active axis is controlled to move in a forward direction and / or a reverse direction at a preset step distance, where the distance is equal to the preset step distance*N, where N represents the number of preset step distances between the initial position and the stop position.

[0022] In a possible implementation, the load data includes torque data and / or current data of the driving motor of the driving shaft and the driving motor of the driven shaft.

[0023] A second aspect of the present disclosure provides a gantry axis balancing device, which is applied to a gantry machine tool system. The device includes:

[0024] The coupling release module is used to release the coupling relationship between the driving axis and the driven axis of the gantry axis;

[0025] a movement control and data analysis module, configured to control the driving shaft to move in a forward direction and / or a reverse direction until the difference in load data between the driving shaft and the driven shaft during movement is less than a preset threshold, thereby controlling the driving shaft to stop moving;

[0026] A coupling establishing module is used to establish a coupling relationship between the driving shaft and the driven shaft after controlling the driving shaft to stop moving.

[0027] In one possible implementation, the motion control and data analysis module is further configured to control the active axis to move in a forward direction and / or reverse direction at a preset step distance; and the apparatus further includes a distance determination module and a coordinate calibration module; the distance determination module is configured to determine a distance between an initial position of the active axis before it starts moving and a stop position of the active axis after it stops moving, wherein the distance is equal to a preset step distance*N, where N represents the number of preset step distances between the initial position and the stop position; and the coordinate calibration module is configured to, after establishing a coupling relationship between the active axis and the driven axis, use the distance as an offset of the coordinate data of the active axis to calibrate the coordinates of the reference point of the gantry axis.

[0028] A third aspect of the present disclosure 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 via the bus;

[0029] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to any one of the methods described in the first aspect.

[0030] A fourth aspect of the present disclosure provides a computer-readable storage medium, on which determination machine instructions are stored. When the determination machine instructions are executed by a processor, the processor executes any one of the methods described in the first aspect.

[0031] In an embodiment of the present application, the coupling relationship between the driving axis and the driven axis of the gantry axis is first released, and then the driving axis is controlled to move in the forward and / or reverse direction until the difference in load data between the driving axis and the driven axis during the movement is less than a preset threshold value, and then the driving axis is controlled to stop moving, and then the coupling relationship between the driving axis and the driven axis is established. The automatic leveling of the gantry axis of the gantry machine tool can be achieved only through software configuration, saving non-processing time and improving production efficiency; and the embodiment of the present application can complete the automatic leveling work at any time and in any working state of the machine tool. Further, the distance between the initial position and the stop position of the driving axis is determined, and after the coupling relationship between the driving axis and the driven axis is established, the distance is used as the offset of the coordinate data of the driving axis to calibrate the coordinates of the reference point of the gantry axis, so that while achieving the mechanical leveling of the gantry axis, the coordinate synchronization of the gantry axis is also automatically completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 4 is a flow chart of a balancing method for a gantry axis according to an embodiment of the present disclosure.

[0033] Figure 2 2 is a structural diagram of a balancing device for a gantry axis according to an embodiment of the present disclosure.

[0034] Figure 3 A structural diagram of an electronic device according to an embodiment of the present disclosure is shown.

[0035] List of reference numerals:

[0036] 200. Balancing device for gantry axis; 210. Coupling release module;

[0037] 220. Mobile control and data analysis module; 230. Coupling establishment module;

[0038] 300. Electronic device; 302. Processor;

[0039] 304, communication interface; 306, memory;

[0040] 308, bus; 310, program. DETAILED DESCRIPTION

[0041] To further clarify the objectives, technical solutions, and advantages of this application, the present application is further described below with reference to the accompanying drawings and examples. It should be understood that the described embodiments are merely some, and not all, of the embodiments of this application. All other technical solutions derived by persons of ordinary skill in the art based on the embodiments of this application are intended to fall within the scope of protection of this application.

[0042] Figure 1 FIG. 1 is a flow chart showing a method for balancing a gantry axis according to an embodiment of the present disclosure, which is mainly applied to a gantry machine tool system. Figure 1 As shown, the method includes:

[0043] In step S110, the coupling relationship between the master axis (Xm) and the slave axis (Xs) of the gantry axis is released.

[0044] Optionally, before step S110, the method further includes: controlling the driving axis and the driven axis of the gantry axis to move to a specified position, where the specified position is, for example but not limited to, a position of a reference point.

[0045] The method of this embodiment can be triggered and executed based on the user's operation on the operation interface, and can also be triggered and executed in response to a preset trigger event, such as an event in which the cumulative number of uses reaches a preset number of uses of the gantry machine tool, an event in which the machine tool is started, an event in which the difference in load data between the driving axis and the driven axis at the time of machine tool startup is greater than an alarm value, and the like.

[0046] Then, the process proceeds to step S120, in which the driving shaft is controlled to move in the forward direction and / or reverse direction until the difference in load data between the driving shaft and the driven shaft during movement is less than a preset threshold, and the driving shaft is controlled to stop moving.

[0047] The preset threshold in step S120 can be set to a fixed tolerance value based on the actual mechanical parameters of the machine tool. The preset threshold can also be set to k*the original memory value, where k is less than 1, for example, but not limited to, 1 / 10. The original memory value is the difference between the load data of the driving and driven axes before balancing or movement.

[0048] There are various specific implementations of step S120. For example, a first specific implementation of step S120 includes: controlling the active shaft to move in the forward direction until the difference in load data between the active shaft and the driven shaft during movement is less than a preset threshold, and then controlling the active shaft to stop moving. This further includes: controlling the active shaft to move in the forward direction; acquiring load data for the active shaft and the driven shaft during movement; and, after determining that the load data during movement has decreased, controlling the active shaft to stop moving when the difference in load data between the active shaft and the driven shaft is less than a preset threshold.

[0049] For another example, a second specific implementation of step S120 includes: controlling the active shaft to move in the negative direction until the difference in load data between the active shaft and the driven shaft during movement is less than a preset threshold, and then controlling the active shaft to stop moving. The method further includes: controlling the active shaft to move in the negative direction; acquiring load data of the active shaft and the driven shaft during movement; and after determining that the load data during movement decreases, controlling the active shaft to stop moving when the difference in load data between the active shaft and the driven shaft is less than a preset threshold.

[0050] For another example, a third specific implementation of step S120 includes: controlling the active shaft to move in a positive and reverse direction until the difference in load data between the active shaft and the driven shaft during movement is less than a preset threshold, and then controlling the active shaft to stop moving. For example, the method may further include: controlling the active shaft to move in a first direction, where the first direction is positive or negative; acquiring load data for the active shaft and the driven shaft during movement; upon determining that the load data increases during movement, controlling the active shaft to move in a second direction, where the second direction is opposite to the first direction; and controlling the active shaft to stop moving when the difference in load data between the active shaft and the driven shaft during movement is less than a preset threshold.

[0051] Optionally, "controlling the active axis to move in the forward and / or reverse direction" in step S120 can be further implemented as: controlling the active axis to move in the forward and / or reverse direction at a preset step size. The preset step size is set based on the actual mechanical parameters of the machine tool and actual needs, and can be, for example but not limited to, less than 1 mm, a few mm, or the like.

[0052] Optionally, the load data of any two steps or any multiple steps can be compared by comparing the initial position during the movement with the first M steps (including step 1, ..., step M, where M is an integer not less than 1), and it can be determined based on the comparison result whether the load data during the movement becomes smaller or larger.

[0053] Optionally, the load data includes torque data and / or current data of the driving motor of the driving shaft and the driving motor of the driven shaft. Exemplarily, the load data includes torque data of the driving motor of the driving shaft and the driving motor of the driven shaft. Exemplarily, the load data includes current data of the driving motor of the driving shaft and the driving motor of the driven shaft. Exemplarily, the load data includes torque data and current data of the driving motor of the driving shaft and the driving motor of the driven shaft.

[0054] Afterwards, the process proceeds to step S130 to establish a coupling relationship between the driving shaft and the driven shaft.

[0055] In addition, optionally, the method may further include the following steps: determining the distance between the initial position and the stop position of the active axis; and after step S130, using the distance as an offset of the coordinate data of the active axis to calibrate the coordinates of the reference point of the gantry axis.

[0056] Optionally, the "distance" is equal to the preset step distance * N, where N represents the number of preset step distances between the initial position and the stop position. Taking the first and second specific implementations of step S120 as an example, the number of preset step distances between the initial position and the stop position is the cumulative number of steps from the initial position to the stop position. Taking the third specific implementation of step S120 as an example, the number of preset step distances between the initial position and the stop position is equal to the difference between the cumulative number of steps moved in the second direction and the cumulative number of steps moved in the first direction.

[0057] In order to implement the balancing method of the gantry axis in the above embodiment, other embodiments of the present disclosure further provide a balancing device for the gantry axis. Figure 2 FIG. 2 shows a structural diagram of a balancing device 200 for a gantry axis according to an embodiment of the present invention. Figure 2 As shown, apparatus 200 includes a coupling release module 210, a mobility control and data analysis module 220, and a coupling establishment module 230. It should be noted that since the following embodiments are intended to implement the aforementioned method embodiments, each module in apparatus 200 is designed to implement each step of the aforementioned method. Therefore, the present disclosure is not limited to the following embodiments; any apparatus or module capable of implementing the aforementioned method is intended to fall within the scope of protection of the present disclosure.

[0058] exist Figure 2 In the illustrated embodiment, the coupling release module 210 is used to release the coupling relationship between the active axis and the driven axis of the gantry axis. The movement control and data analysis module 220 is used to control the active axis to move in the forward and / or reverse direction until the difference in load data between the active axis and the driven axis during movement is less than a preset threshold, at which point the active axis is controlled to stop moving. The coupling establishment module 230 is used to establish the coupling relationship between the active axis and the driven axis after the active axis is controlled to stop moving.

[0059] Exemplarily, the movement control and data analysis module 220 is further configured to control the active axis to move in a first direction, which is a positive direction or a negative direction; obtain load data of the active axis and the driven axis during the movement process; after determining that the load data during the movement process becomes smaller, when the difference between the load data of the active axis and the driven axis is less than a preset threshold, control the active axis to stop moving. Exemplarily, the movement control and data analysis module 220 is further configured to control the active axis to move in a first direction, which is a positive direction or a negative direction; obtain load data of the active axis and the driven axis during the movement process; after determining that the load data during the movement process becomes larger, control the active axis to move in a second direction, which is opposite to the first direction; when the difference between the load data of the active axis and the driven axis is less than a preset threshold, control the active axis to stop moving.

[0060] Optionally, the movement control and data analysis module 220 is also used to control the active axis to move in a forward and / or reverse direction with a preset step size. In addition, the device also includes a distance determination module and a coordinate calibration module. The distance determination module is used to determine the distance between the initial position before the active axis starts to move and the stop position after the active axis stops moving, and the distance is equal to the preset step size * N, where N represents the number of preset step sizes between the initial position and the stop position. The coordinate calibration module is used to use the distance as the offset of the coordinate data of the active axis to calibrate the coordinates of the reference point of the gantry axis after the coupling relationship between the active axis and the driven axis is established. Exemplarily, the distance is equal to the preset step size * N, where N represents the number of preset step sizes between the initial position and the stop position.

[0061] Optionally, the load data includes torque data and / or current data of the driving motor of the driving shaft and the driving motor of the driven shaft.

[0062] It should be noted that the gantry axis balancing method of the aforementioned embodiment corresponds to the gantry axis balancing device 200 of this embodiment. The gantry axis balancing device 200 of this embodiment can be implemented in conjunction with the gantry axis balancing method of the aforementioned embodiment. The relevant technical details mentioned in the gantry axis balancing method of the aforementioned embodiment are also valid for the gantry axis balancing device 200 of this embodiment and will not be repeated here to avoid repetition.

[0063] Figure 3 This is a schematic diagram of an electronic device according to an embodiment of the present application. The specific embodiment of the present application does not limit the specific implementation of the electronic device. Figure 3 The electronic device 300 provided in the embodiment of the present application includes: a processor 302, a communications interface 304, a memory 306, and a bus 308.

[0064] The processor 302 , the communication interface 304 , and the memory 306 communicate with each other via a bus 308 .

[0065] The communication interface 304 is used to communicate with other electronic devices or servers.

[0066] The processor 302 is configured to execute the program 310 , and specifically may execute the relevant steps in the above method embodiment.

[0067] Specifically, the program 310 may include program codes, which include computer operation instructions.

[0068] The processor 302 may be a central processing unit (CPU), 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 may be processors of different types, such as one or more CPUs and one or more ASICs.

[0069] The memory 306 is used to store the program 310. The memory 306 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0070] The program 310 may be specifically configured to enable the processor 302 to execute the method in any of the aforementioned embodiments.

[0071] The specific implementation of each step in program 310 can be found in the corresponding descriptions of the corresponding steps and units in the above-mentioned method embodiments, and will not be repeated here. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the above-mentioned devices and modules can refer to the corresponding process descriptions in the above-mentioned method embodiments, and will not be repeated here.

[0072] This application also provides a computer-readable storage medium storing instructions for causing a machine to execute the method described herein. Specifically, a system or device equipped with a storage medium can be provided, wherein the storage medium stores software program code that implements the functions of any of the above-described embodiments, and a computer (or CPU or MPU) of the system or device can read and execute the program code stored in the storage medium.

[0073] In this case, the program code read from the storage medium itself can realize the function of any one of the above embodiments, so the program code and the storage medium storing the program code constitute part of this application.

[0074] Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, the program code can be downloaded from a server computer via a communication network.

[0075] An embodiment of the present application also provides a computer program product, including computer instructions, which instruct a computing device to perform any corresponding operation in the above-mentioned multiple method embodiments.

[0076] 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.

[0077] The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or 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 as computer code that is originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded via a network and will 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.

[0078] It should be noted that not all steps and modules in the above processes and system structure diagrams are required. Certain steps or modules may be omitted based on actual needs. The execution order of the steps is not fixed and may be adjusted as needed. The system structure described in the above embodiments may 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 may be implemented by certain components in multiple independent devices.

[0079] Nouns and pronouns referring to persons in this patent application are not limited to a specific gender. The terms "comprise," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, the phrase "comprising a" does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising the elements.

[0080] In each of the above embodiments, the hardware modules can be implemented mechanically or electrically. For example, a hardware module may include permanent dedicated circuits or logic (such as a dedicated processor, FPGA, or ASIC) to perform corresponding operations. A hardware module may also include programmable logic or circuits (such as a general-purpose processor or other programmable processor), which can be temporarily configured by software to perform corresponding operations. The specific implementation method (mechanical, dedicated permanent circuit, or temporary circuit) can be determined based on cost and time considerations.

[0081] The present application has been described and illustrated in detail above through the accompanying drawings and preferred embodiments. However, the present application is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art will appreciate that the code review methods in the above different embodiments can be combined to obtain more embodiments of the present application, and these embodiments are also within the scope of protection of the present application.

Claims

1. A balancing method for a gantry axis, applied to a gantry machine tool system, characterized in that: The method comprises: Release the coupling relationship between the driving axis and the driven axis of the gantry axis; Controlling the driving shaft to move in a forward direction and / or a reverse direction until a difference in load data between the driving shaft and the driven shaft during movement is less than a preset threshold, and then controlling the driving shaft to stop moving; A coupling relationship between the driving shaft and the driven shaft is established.

2. The method according to claim 1, characterized in that The controlling the driving shaft to move in a forward direction and / or a reverse direction until the difference in load data between the driving shaft and the driven shaft during movement is less than a preset threshold, and then controlling the driving shaft to stop moving, further includes: Controlling the driving shaft to move along a first direction, wherein the first direction is positive or negative; respectively acquiring load data of the driving shaft and the driven shaft during movement; After determining that the load data during the movement becomes smaller, when the difference between the load data of the driving shaft and the driven shaft is less than a preset threshold, the driving shaft is controlled to stop moving.

3. The method according to claim 1, characterized in that The controlling the driving shaft to move in a forward direction and / or a reverse direction until the difference in load data between the driving shaft and the driven shaft during movement is less than a preset threshold, and then controlling the driving shaft to stop moving, further includes: Controlling the driving shaft to move along a first direction, wherein the first direction is positive or negative; respectively acquiring load data of the driving shaft and the driven shaft during movement; After determining that the load data during the movement becomes larger, controlling the active shaft to move in a second direction, the second direction being opposite to the first direction; When the difference between the load data of the driving shaft and the driven shaft is smaller than a preset threshold, the driving shaft is controlled to stop moving.

4. The method according to any one of claims 1 to 3, characterized in that The method further comprises: determining a distance between an initial position and a stop position of the driving shaft; After the coupling relationship between the driving axis and the driven axis is established, the distance is used as an offset of the coordinate data of the driving axis to calibrate the coordinates of the reference point of the gantry axis.

5. The method according to claim 4, characterized in that The controlling the driving shaft to move in a forward direction and / or a reverse direction further comprises: The active shaft is controlled to move in a forward direction and / or a reverse direction at a preset step distance, where the distance is equal to the preset step distance*N, where N represents the number of preset step distances between the initial position and the stop position.

6. The method according to claim 1, characterized in that The load data includes torque data and / or current data of the driving motor of the driving shaft and the driving motor of the driven shaft.

7. A balancing device for a gantry axis, applied to a gantry machine tool system, characterized in that: The device (200) comprises: A coupling release module (210) is used to release the coupling relationship between the driving axis and the driven axis of the gantry axis; a movement control and data analysis module (220), configured to control the driving shaft to move in a forward direction and / or a reverse direction until the difference in load data between the driving shaft and the driven shaft during movement is less than a preset threshold, and then control the driving shaft to stop moving; A coupling establishment module (230) is used to establish a coupling relationship between the driving shaft and the driven shaft after controlling the driving shaft to stop moving.

8. The device according to claim 7, characterized in that The movement control and data analysis module (220) is further used to control the active axis to move in a forward direction and / or a reverse direction at a preset step distance; The device further includes a distance determination module and a coordinate calibration module; the distance determination module is used to determine the distance between the initial position of the active axis before it starts moving and the stop position of the active axis after it stops moving, wherein the distance is equal to the preset step distance*N, where N represents the number of preset step distances between the initial position and the stop position; The coordinate calibration module is used to calibrate the coordinates of the reference point of the gantry axis by using the distance as the offset of the coordinate data of the driving axis after the coupling relationship between the driving axis and the driven axis is established.

9. An electronic device (300), comprising: A processor (302), a communication interface (304), a memory (306), and a bus (308), wherein the processor (302), the communication interface (304), and the memory (306) communicate with each other via the bus (308); The memory (306) is used to store at least one executable instruction, and the executable instruction enables the processor (302) to perform an operation corresponding to the method according to any one of claims 1 to 6.

10. A computer-readable storage medium having a determination machine instruction stored thereon, wherein when the determination machine instruction is executed by a processor, the processor is caused to execute the method according to any one of claims 1 to 6.

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