Barrel acupuncture control method and system

Abstract

According to the barrel needling control method and system, a barrel needling machine and a PLC control terminal are networked, the barrel needling machine is controlled through the PLC control terminal in a wireless communication mode, and needling movement of a needling head is determined based on the PLC control terminal; by means of parameter control of workpiece shaft rotation and workpiece shaft lifting motion and parameter data adjustment in the operation process of the cylinder needling machine, comprehensive and effective control over three kinds of motion of the cylinder needling machine is achieved, it is guaranteed that the cylinder needling machine works efficiently and high in quality, and finally high-quality products are obtained.

Description

Technical Field

[0001] The present invention relates to the technical field of machine control, and in particular to a barrel acupuncture control method and system. Background Art

[0002] The cylindrical needling machine achieves the process requirements of the product by realizing three major movements, namely the needling movement of the needling head, the rotation of the workpiece shaft, and the lifting movement of the workpiece shaft; the needling head can perform reciprocating continuous needling movement with adjustable speed; the workpiece shaft can clamp the wooden mold tooling and the product to realize the forward / reverse rotation function with adjustable speed; the lifting movement of the workpiece shaft means that as the thickness of the needling product increases, the needle depth can be precisely increased / decreased through the lifting mechanism.

[0003] How to achieve comprehensive and effective control among the three major movements of the cylindrical needling machine, ensure the efficient and high-quality operation of the cylindrical needling machine, and produce high-quality products is a problem that urgently needs to be solved in the field of cylindrical needling machine operation and control. Summary of the Invention

[0004] The present invention provides a barrel acupuncture control method and system to solve the problems raised in the background technology.

[0005] A barrel acupuncture control method comprising:

[0006] S1: Network the barrel needling machine with the PLC control terminal, and use wireless communication to control the barrel needling machine using the PLC control terminal;

[0007] S2: Based on the workpiece process requirements, the PLC control terminal determines the parameter control of the needling head needling movement, workpiece axis rotation and workpiece axis lifting movement;

[0008] S3: The PLC control terminal obtains the operating parameters of the barrel needling machine and determines parameter adjustment data during the operation of the barrel needling machine based on the operating parameters;

[0009] S4: Based on the parameter adjustment data, an adjustment instruction is sent to the drum needling machine, and the parameters of the drum needling machine are adjusted according to the adjustment instruction.

[0010] Preferably, in said S1, the barrel needling machine is networked with a PLC control terminal, and the barrel needling machine is controlled by the PLC control terminal using wireless communication, including:

[0011] Associate the IP address of the barrel needle loom with the IP address of the PLC control terminal, and network the barrel needle loom and the PLC control terminal based on the IP association;

[0012] Obtain parameter characteristics of the barrel needling machine that need to be monitored and controlled, and send the parameter characteristics to the PLC control terminal via wireless communication;

[0013] The PLC control terminal also obtains the workpiece process requirements of the barrel needling machine and establishes a correlation between the parameter characteristics and the workpiece process requirements;

[0014] Based on the association relationship, the PLC control terminal controls the barrel needling machine.

[0015] Preferably, in said S2, based on the workpiece process requirements, the parameter control of the needling head needling motion, the workpiece axis rotation and the workpiece axis lifting motion is determined based on the PLC control terminal, including:

[0016] Based on the workpiece process requirements, the trajectory correspondence between the needling head and the workpiece is determined, and based on the trajectory correspondence, the motion trajectory and motion speed of the needling head needling motion, workpiece axis rotation and workpiece axis lifting motion are set;

[0017] The control parameters of the barrel needling machine are determined based on the needling motion of the needling head, the motion trajectory and motion speed of the workpiece shaft rotation and the workpiece shaft lifting motion, and the barrel needling machine is operated according to the control parameters.

[0018] Preferably, the setting of the motion trajectory and motion speed of the needling head needling motion, the workpiece axis rotation and the workpiece axis lifting motion based on the trajectory correspondence includes:

[0019] Determining a first movement trajectory of the acupuncture needle and a second movement trajectory of the workpiece based on the trajectory correspondence;

[0020] Obtaining from the PLC control terminal a first model of the needling head's needling motion, a second model of the workpiece axis's rotation, and a third model of the workpiece axis's lifting motion;

[0021] The first movement trajectory is digitized to obtain first coordinate data, and the first coordinate data is input into the first model and the third model to obtain a first movement trajectory of the acupuncture head and a second movement trajectory of the workpiece axis lifting movement;

[0022] Converting the second movement trajectory into coordinate data to obtain second coordinate data, inputting the second coordinate data into the second model and the third model to obtain a third motion trajectory of the workpiece axis rotation and a fourth motion trajectory of the workpiece axis lifting motion;

[0023] Integrate the second motion trajectory and the fourth motion trajectory of the workpiece axis lifting motion to obtain the overall motion trajectory of the workpiece axis lifting motion;

[0024] Based on the trajectory correspondence, the first motion trajectory of the needling head, the third motion trajectory of the workpiece shaft rotation and the overall motion trajectory of the workpiece shaft lifting motion are matched to obtain the comprehensive motion trajectory of the barrel needling machine;

[0025] The comprehensive motion trajectory is divided according to time uniformity to obtain the trajectory set of different parts in the same time. Based on the workpiece process requirements, the motion speed range of the trajectory set is determined;

[0026] Based on the time sequence of the trajectory sets and the range of motion speeds, the motion speed of each trajectory set is determined in turn.

[0027] Preferably, the control parameters of the drum needling machine are determined based on the motion trajectory and motion speed of the needling head, the rotation of the workpiece shaft, and the lifting motion of the workpiece shaft, including:

[0028] Matching the motion trajectories and motion speeds of the needling head, the workpiece shaft rotation, and the workpiece shaft lifting motion with the control parameter types corresponding to the barrel needling machine, determining control characteristics of the control parameter types, and determining control associations between the control parameter types based on the control characteristics of the control parameter types;

[0029] Determine the initial control parameters of the barrel needling machine based on the matching relationship between the control parameter type and the motion trajectory and motion speed;

[0030] Based on the control association between the control parameter types and the PLC control analysis, the adjustment of the initial control parameters is determined to obtain the final control parameters of the barrel needling machine.

[0031] Preferably, in said S3, the PLC control terminal obtains the operating parameters of the barrel needling machine, and determines the parameter adjustment data during the operation of the barrel needling machine based on the operating parameters, including:

[0032] The speed sensor and motor speed sensor installed on the barrel needling machine obtain the operating parameters of the barrel needling machine and transmit them to the PLC control terminal through wireless communication;

[0033] The PLC control terminal sends the operating parameters to the corresponding feedback correction model to obtain the corresponding parameter adjustment data.

[0034] Preferably, the PLC control terminal sends the operating parameters to the corresponding feedback correction model to obtain corresponding parameter adjustment data, including:

[0035] The PLC control terminal divides the operating parameters into three operating data groups according to the needling movement of the acupuncture head, the rotation of the workpiece axis and the lifting movement of the workpiece axis;

[0036] Obtaining a first data difference between an operation data group corresponding to acupuncture movement of the acupuncture head and first target operation data, and obtaining a first correction value in combination with a feedback correction model of acupuncture movement of the acupuncture head;

[0037] Obtaining a second data difference between the operation data group corresponding to the rotation of the workpiece axis and the second target operation data, and combining the feedback correction model of the rotation of the workpiece axis and the first correction amount to obtain a second correction amount;

[0038] Obtaining a third data difference between the operation data group corresponding to the lifting motion of the workpiece axis and the third target operation data, and combining the feedback correction model of the lifting motion of the workpiece axis and the second correction value to obtain a third correction value;

[0039] Inputting the third correction value into the feedback correction model of the acupuncture head's needling motion to obtain a fourth correction value, and obtaining a target correction value of the acupuncture head's needling motion based on the first correction value and the fourth correction value;

[0040] Adjusting parameters of the operation data group corresponding to the acupuncture movement of the acupuncture head based on the target correction amount to determine first parameter adjustment data;

[0041] Adjusting the parameters of the operation data group corresponding to the rotation of the workpiece axis based on the second correction amount to obtain second parameter adjustment data;

[0042] Based on the third correction amount, the operating data group corresponding to the lifting motion of the workpiece axis is parameter-adjusted to obtain third parameter adjustment data.

[0043] Preferably, obtaining the target correction amount of the acupuncture movement of the acupuncture head based on the first correction amount and the fourth correction amount includes:

[0044] The first correction amount is used as a feedforward correction amount for the needling motion of the acupuncture head, and the second correction amount is used as a feedback correction amount for the needling motion of the acupuncture head;

[0045] The first correction amount is weighted based on the first correction weight of the feedforward correction amount to obtain a first weighted correction amount, and the fourth correction amount is weighted based on the fourth correction weight of the feedback correction amount to obtain a fourth weighted correction amount;

[0046] The first weighted correction amount and the fourth weighted correction amount are superimposed to obtain a target correction amount.

[0047] Preferably, in said S4, based on the parameter adjustment data, an adjustment instruction is sent to the drum needling machine, and the parameters of the drum needling machine are adjusted according to the adjustment instruction, including:

[0048] Generate adjustment instructions based on parameter adjustment data and its corresponding structural equipment of the barrel needling machine;

[0049] transmitting the adjustment instructions to the drum needling machine via wireless communication;

[0050] The barrel needling machine automatically adjusts the parameters of the structural equipment based on the adjustment instructions.

[0051] A drum acupuncture control system, comprising:

[0052] A networking communication module is used to network the barrel needling machine with the PLC control terminal, and to control the barrel needling machine using the PLC control terminal through wireless communication;

[0053] A parameter determination module is used to determine the parameter control of the needling head needling motion, workpiece axis rotation and workpiece axis lifting motion based on the workpiece process requirements and the PLC control terminal;

[0054] A parameter adjustment module is used for the PLC control terminal to obtain the operating parameters of the barrel needling machine and determine the parameter adjustment data during the operation of the barrel needling machine based on the operating parameters;

[0055] The instruction control module is used to send an adjustment instruction to the barrel needling machine based on the parameter adjustment data, and adjust the parameters of the barrel needling machine according to the adjustment instruction.

[0056] Compared with the prior art, the present invention has achieved the following beneficial effects:

[0057] By networking the barrel needling machine with the PLC control terminal, wireless communication is used to control the barrel needling machine using the PLC control terminal. The parameter control of the needling head needling motion, workpiece shaft rotation and workpiece shaft lifting motion, as well as the parameter adjustment data during the operation of the barrel needling machine are determined based on the PLC control terminal. This realizes comprehensive and effective control of the three major motions of the barrel needling machine, ensures that the barrel needling machine works efficiently and with high quality, and ultimately obtains high-quality products.

[0058] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be achieved and obtained through the structures specifically pointed out in this application document.

[0059] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0061] Figure 1 This is a flow chart of a barrel acupuncture control method according to an embodiment of the present invention;

[0062] Figure 2 This is a flow chart of controlling a barrel needling machine using a PLC control terminal in an embodiment of the present invention;

[0063] Figure 3 This is a structural diagram of a drum acupuncture control system in an embodiment of the present invention. DETAILED DESCRIPTION

[0064] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0065] Example 1:

[0066] The embodiment of the present invention provides a method for controlling acupuncture of a barrel. Figure 1 As shown, including:

[0067] S1: Network the barrel needling machine with the PLC control terminal, and use wireless communication to control the barrel needling machine using the PLC control terminal;

[0068] S2: Based on the workpiece process requirements, the PLC control terminal determines the parameter control of the needling head needling movement, workpiece axis rotation and workpiece axis lifting movement;

[0069] S3: The PLC control terminal obtains the operating parameters of the barrel needling machine and determines parameter adjustment data during the operation of the barrel needling machine based on the operating parameters;

[0070] S4: Based on the parameter adjustment data, an adjustment instruction is sent to the drum needling machine, and the parameters of the drum needling machine are adjusted according to the adjustment instruction.

[0071] In this embodiment, the acupuncture needle of the acupuncture head adopts an eccentric wheel structure to achieve reciprocating motion, and the acupuncture motion speed is adjustable; the workpiece shaft rotation adopts a servo motor to achieve forward / reverse motion, and can achieve automatic rotation and inching rotation; the workpiece shaft lifting motion can accurately achieve the lifting and lowering adjustment of the acupuncture depth in the vertical direction, and has two modes of automatic lifting and inching lifting.

[0072] In this embodiment, the PLC control terminal pre-sets a control model for the cylindrical needling machine.

[0073] In this embodiment, the PLC control terminal realizes the initial determination and monitoring of the parameters of the drum needling machine, and realizes the analysis and adjustment of the monitoring results.

[0074] The beneficial effect of the above design scheme is: by networking the barrel needling machine with the PLC control terminal, the barrel needling machine is controlled by the PLC control terminal using wireless communication, and the parameter control of the needling head needling movement, the workpiece shaft rotation and the workpiece shaft lifting movement and the parameter adjustment data during the operation of the barrel needling machine are determined based on the PLC control terminal, thereby realizing comprehensive and effective control among the three major movements of the barrel needling machine, ensuring that the barrel needling machine works efficiently and with high quality, and ultimately obtaining high-quality products.

[0075] Example 2:

[0076] Based on Example 1, the present invention provides a method for controlling acupuncture of a barrel, wherein in S1, Figure 2 As shown, the barrel needling machine is networked with the PLC control terminal, and the barrel needling machine is controlled by the PLC control terminal using wireless communication, including:

[0077] Associate the IP address of the barrel needle loom with the IP address of the PLC control terminal, and network the barrel needle loom and the PLC control terminal based on the IP association;

[0078] Obtain parameter characteristics of the barrel needling machine that need to be monitored and controlled, and send the parameter characteristics to the PLC control terminal via wireless communication;

[0079] The PLC control terminal also obtains the workpiece process requirements of the barrel needling machine and establishes a correlation between the parameter characteristics and the workpiece process requirements;

[0080] Based on the association relationship, the PLC control terminal controls the barrel needling machine.

[0081] In this embodiment, the parameter characteristics include parameter type and the like.

[0082] In this embodiment, the association relationship between the parameter features and the workpiece process requirements is the relationship between the parameter features required to meet the workpiece process requirements.

[0083] The beneficial effects of the above design scheme are: by establishing an association between the IP address of the cylindrical needling machine and the IP address of the PLC control terminal, the cylindrical needling machine and the PLC control terminal are networked based on the IP association, the PLC control terminal controls the cylindrical needling machine based on the association relationship, and the communication and interaction between the PLC control terminal and the cylindrical needling machine are realized, providing a basis for comprehensive and effective control of the three major movements of the cylindrical needling machine.

[0084] Example 3:

[0085] Based on Example 1, this embodiment of the present invention provides a method for controlling a needling of a barrel. In S2, based on the workpiece process requirements, the parameters for the needling motion of the needling head, the rotation of the workpiece axis, and the lifting motion of the workpiece axis are determined based on the PLC control terminal, including:

[0086] Based on the workpiece process requirements, the trajectory correspondence between the needling head and the workpiece is determined, and based on the trajectory correspondence, the motion trajectory and motion speed of the needling head needling motion, workpiece axis rotation and workpiece axis lifting motion are set;

[0087] The control parameters of the barrel needling machine are determined based on the needling motion of the needling head, the motion trajectory and motion speed of the workpiece shaft rotation and the workpiece shaft lifting motion, and the barrel needling machine is operated according to the control parameters.

[0088] The beneficial effects of the above design scheme are: by determining the trajectory correspondence between the needling head and the workpiece, the motion trajectory and motion speed of the needling head needling motion, the workpiece shaft rotation and the workpiece shaft lifting motion are set based on the trajectory correspondence, so as to realize the setting of the motion characteristics of the barrel needling machine, and then the control parameters of the barrel needling machine are determined based on the motion trajectory and motion speed of the needling head needling motion, the workpiece shaft rotation and the workpiece shaft lifting motion, and the barrel needling machine is operated according to the control parameters to realize the initial parameter determination and control of the barrel needling machine.

[0089] Example 4:

[0090] Based on Example 3, an embodiment of the present invention provides a method for controlling acupuncture of a barrel, wherein the motion trajectory and motion speed of the acupuncture head, the rotation of the workpiece axis, and the lifting motion of the workpiece axis are set based on the trajectory correspondence, including:

[0091] Determining a first movement trajectory of the acupuncture needle and a second movement trajectory of the workpiece based on the trajectory correspondence;

[0092] Obtaining from the PLC control terminal a first model of the needling head's needling motion, a second model of the workpiece axis's rotation, and a third model of the workpiece axis's lifting motion;

[0093] The first movement trajectory is digitized to obtain first coordinate data, and the first coordinate data is input into the first model and the third model to obtain a first movement trajectory of the acupuncture head and a second movement trajectory of the workpiece axis lifting movement;

[0094] Converting the second movement trajectory into coordinate data to obtain second coordinate data, inputting the second coordinate data into the second model and the third model to obtain a third motion trajectory of the workpiece axis rotation and a fourth motion trajectory of the workpiece axis lifting motion;

[0095] Integrate the second motion trajectory and the fourth motion trajectory of the workpiece axis lifting motion to obtain the overall motion trajectory of the workpiece axis lifting motion;

[0096] Based on the trajectory correspondence, the first motion trajectory of the needling head, the third motion trajectory of the workpiece shaft rotation and the overall motion trajectory of the workpiece shaft lifting motion are matched to obtain the comprehensive motion trajectory of the barrel needling machine;

[0097] The comprehensive motion trajectory is divided according to time uniformity to obtain the trajectory set of different parts in the same time. Based on the workpiece process requirements, the motion speed range of the trajectory set is determined;

[0098] Based on the time sequence of the trajectory sets and the range of motion speeds, the motion speed of each trajectory set is determined in turn.

[0099] The beneficial effects of the above design scheme are: the motion trajectory of the barrel needling machine is determined by coordinate-forming the moving trajectory and inputting it into the corresponding model, and the motion trajectories of each part are integrated, and the comprehensive motion trajectory is divided according to time uniformity to obtain a trajectory set of different parts at the same time. Based on the workpiece process requirements, the motion speed range of the trajectory set is determined; based on the time sequence of the trajectory set and combined with the motion speed range, the motion speed of each trajectory set is determined in turn, ensuring a high match between the obtained motion trajectory and motion speed and the process requirements, providing a basis for determining the optimal control parameters.

[0100] Example 5:

[0101] Based on Example 3, an embodiment of the present invention provides a method for controlling a drum needling machine, wherein the control parameters of the drum needling machine are determined based on the needling motion of the needling head, the rotation of the workpiece shaft, and the motion trajectory and speed of the workpiece shaft lifting motion, including:

[0102] Matching the motion trajectories and motion speeds of the needling head, the workpiece shaft rotation, and the workpiece shaft lifting motion with the control parameter types corresponding to the barrel needling machine, determining control characteristics of the control parameter types, and determining control associations between the control parameter types based on the control characteristics of the control parameter types;

[0103] Determine the initial control parameters of the barrel needling machine based on the matching relationship between the control parameter type and the motion trajectory and motion speed;

[0104] Based on the control association between the control parameter types and the PLC control analysis, the adjustment of the initial control parameters is determined to obtain the final control parameters of the barrel needling machine.

[0105] The beneficial effects of the above design scheme are: determining the control association between control parameter types based on the control characteristics of the control parameter types; determining the initial control parameters of the barrel needling machine based on the matching relationship between the control parameter types and the motion trajectory and motion speed; based on the control association between the control parameter types, adjusting the initial control parameters based on PLC control analysis to obtain the final control parameters of the barrel needling machine, thereby ensuring the optimality of the obtained control parameters of the barrel needling machine.

[0106] Example 6:

[0107] Based on Example 1, this embodiment of the present invention provides a method for controlling a drum needling machine. In S3, the PLC control terminal obtains operating parameters of the drum needling machine and determines parameter adjustment data for the operation of the drum needling machine based on the operating parameters, including:

[0108] The speed sensor and motor speed sensor installed on the barrel needling machine obtain the operating parameters of the barrel needling machine and transmit them to the PLC control terminal through wireless communication;

[0109] The PLC control terminal sends the operating parameters to the corresponding feedback correction model to obtain the corresponding parameter adjustment data.

[0110] The beneficial effects of the above design scheme are: obtaining the operating parameters of the barrel needling machine through the PLC control terminal, and determining the parameter adjustment data during the operation of the barrel needling machine based on the operating parameters, realizing comprehensive and effective control among the three major movements of the barrel needling machine, ensuring that the barrel needling machine works efficiently and with high quality, and ultimately obtaining high-quality products.

[0111] Example 7:

[0112] Based on Example 6, this embodiment of the present invention provides a method for controlling a drum acupuncture, wherein the PLC control terminal sends operating parameters to a corresponding feedback correction model to obtain corresponding parameter adjustment data, including:

[0113] The PLC control terminal divides the operating parameters into three operating data groups according to the needling movement of the acupuncture head, the rotation of the workpiece axis and the lifting movement of the workpiece axis;

[0114] Obtaining a first data difference between an operation data group corresponding to acupuncture movement of the acupuncture head and first target operation data, and obtaining a first correction value in combination with a feedback correction model of acupuncture movement of the acupuncture head;

[0115] Obtaining a second data difference between the operation data group corresponding to the rotation of the workpiece axis and the second target operation data, and combining the feedback correction model of the rotation of the workpiece axis and the first correction amount to obtain a second correction amount;

[0116] Obtaining a third data difference between the operation data group corresponding to the lifting motion of the workpiece axis and the third target operation data, and combining the feedback correction model of the lifting motion of the workpiece axis and the second correction value to obtain a third correction value;

[0117] Inputting the third correction value into the feedback correction model of the acupuncture head's needling motion to obtain a fourth correction value, and obtaining a target correction value of the acupuncture head's needling motion based on the first correction value and the fourth correction value;

[0118] Adjusting parameters of the operation data group corresponding to the acupuncture movement of the acupuncture head based on the target correction amount to determine first parameter adjustment data;

[0119] Adjusting the parameters of the operation data group corresponding to the rotation of the workpiece axis based on the second correction amount to obtain second parameter adjustment data;

[0120] Based on the third correction amount, the operating data group corresponding to the lifting motion of the workpiece axis is parameter-adjusted to obtain third parameter adjustment data.

[0121] The beneficial effect of the above design scheme is: by sequentially analyzing the deviation of the needling head needling motion, the workpiece shaft rotation and the workpiece shaft lifting motion, and considering the mutual influence among the three, the final parameter correction amount is determined, the parameter adjustment data is obtained, the accuracy of the obtained parameter adjustment data is ensured, and the comprehensive and effective control among the three major motions of the cylindrical needling machine is achieved, thereby ensuring that the cylindrical needling machine works efficiently and with high quality, and ultimately obtaining high-quality products.

[0122] Example 8:

[0123] Based on Example 7, this embodiment of the present invention provides a method for controlling acupuncture of a drum, wherein the method obtains a target correction amount for acupuncture movement of acupuncture head based on the first correction amount and the fourth correction amount, including:

[0124] The first correction amount is used as a feedforward correction amount for the needling motion of the acupuncture head, and the second correction amount is used as a feedback correction amount for the needling motion of the acupuncture head;

[0125] The first correction amount is weighted based on the first correction weight of the feedforward correction amount to obtain a first weighted correction amount, and the fourth correction amount is weighted based on the fourth correction weight of the feedback correction amount to obtain a fourth weighted correction amount;

[0126] The first weighted correction amount and the fourth weighted correction amount are superimposed to obtain a target correction amount.

[0127] The beneficial effect of the above design scheme is: by weighting the first correction amount by the first correction weight based on the feedforward correction amount, a first weighted correction amount is obtained, and the fourth correction amount is weighted by the fourth correction weight based on the feedback correction amount to obtain a fourth weighted correction amount, and the first weighted correction amount and the fourth weighted correction amount are superimposed to obtain a target correction amount, thereby realizing the correction of the overall deviation of the acupuncture head's acupuncture movement and ensuring the accuracy of the acupuncture head's acupuncture movement.

[0128] Example 9:

[0129] Based on Example 1, this embodiment of the present invention provides a method for controlling a drum needling machine. In S4, based on the parameter adjustment data, an adjustment instruction is sent to the drum needling machine, and the parameters of the drum needling machine are adjusted according to the adjustment instruction, including:

[0130] Generate adjustment instructions based on parameter adjustment data and its corresponding structural equipment of the barrel needling machine;

[0131] transmitting the adjustment instructions to the drum needling machine via wireless communication;

[0132] The barrel needling machine automatically adjusts the parameters of the structural equipment based on the adjustment instructions.

[0133] The beneficial effect of the above design scheme is: by sending adjustment instructions to the cylindrical needling machine based on the parameter adjustment data, and adjusting the parameters of the cylindrical needling machine according to the adjustment instructions, the instruction transmission control of the cylindrical needling machine is realized, and the efficient and high-quality operation of the cylindrical needling machine is ensured.

[0134] Example 10:

[0135] The embodiment of the present invention provides a drum acupuncture control system, such as Figure 3 As shown, including:

[0136] A networking communication module is used to network the barrel needling machine with the PLC control terminal, and to control the barrel needling machine using the PLC control terminal through wireless communication;

[0137] A parameter determination module is used to determine the parameter control of the needling head needling motion, workpiece axis rotation and workpiece axis lifting motion based on the workpiece process requirements and the PLC control terminal;

[0138] A parameter adjustment module is used for the PLC control terminal to obtain the operating parameters of the barrel needling machine and determine the parameter adjustment data during the operation of the barrel needling machine based on the operating parameters;

[0139] The instruction control module is used to send an adjustment instruction to the barrel needling machine based on the parameter adjustment data, and adjust the parameters of the barrel needling machine according to the adjustment instruction.

[0140] In this embodiment, the acupuncture needle of the acupuncture head adopts an eccentric wheel structure to achieve reciprocating motion, and the acupuncture motion speed is adjustable; the workpiece shaft rotation adopts a servo motor to achieve forward / reverse motion, and can achieve automatic rotation and inching rotation; the workpiece shaft lifting motion can accurately achieve the lifting and lowering adjustment of the acupuncture depth in the vertical direction, and has two modes of automatic lifting and inching lifting.

[0141] In this embodiment, the PLC control terminal pre-sets a control model for the cylindrical needling machine.

[0142] In this embodiment, the PLC control terminal realizes the initial determination and monitoring of the parameters of the drum needling machine, and realizes the analysis and adjustment of the monitoring results.

[0143] The beneficial effect of the above design scheme is: by networking the barrel needling machine with the PLC control terminal, the barrel needling machine is controlled by the PLC control terminal using wireless communication, and the parameter control of the needling head needling movement, the workpiece shaft rotation and the workpiece shaft lifting movement and the parameter adjustment data during the operation of the barrel needling machine are determined based on the PLC control terminal, thereby realizing comprehensive and effective control among the three major movements of the barrel needling machine, ensuring that the barrel needling machine works efficiently and with high quality, and ultimately obtaining high-quality products.

[0144] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of this application document and its equivalents, the present invention is intended to include these modifications and variations.

Claims

1. A barrel acupuncture control method, characterized in that: include: S1: Network the barrel needling machine with the PLC control terminal, and use wireless communication to control the barrel needling machine using the PLC control terminal; S2: Based on the workpiece process requirements, the PLC control terminal determines the parameter control of the needling head needling movement, workpiece axis rotation and workpiece axis lifting movement; S3: The PLC control terminal obtains the operating parameters of the barrel needling machine and determines parameter adjustment data during the operation of the barrel needling machine based on the operating parameters; S4: Based on the parameter adjustment data, an adjustment instruction is sent to the drum needling machine, and the parameters of the drum needling machine are adjusted according to the adjustment instruction.

2. A barrel acupuncture control method according to claim 1, characterized in that: In the above S1, the barrel needling machine is networked with the PLC control terminal, and the barrel needling machine is controlled by the PLC control terminal using wireless communication, including: Associate the IP address of the barrel needle loom with the IP address of the PLC control terminal, and network the barrel needle loom and the PLC control terminal based on the IP association; Obtain parameter characteristics of the barrel needling machine that need to be monitored and controlled, and send the parameter characteristics to the PLC control terminal via wireless communication; The PLC control terminal also obtains the workpiece process requirements of the barrel needling machine and establishes a correlation between the parameter characteristics and the workpiece process requirements; Based on the association relationship, the PLC control terminal controls the barrel needling machine.

3. The barrel acupuncture control method according to claim 1, characterized in that: In S2, based on the workpiece process requirements, the parameters of the needling head needling motion, the workpiece axis rotation and the workpiece axis lifting motion are determined based on the PLC control terminal, including: Based on the workpiece process requirements, the trajectory correspondence between the needling head and the workpiece is determined, and based on the trajectory correspondence, the motion trajectory and motion speed of the needling head needling motion, workpiece axis rotation and workpiece axis lifting motion are set; The control parameters of the barrel needling machine are determined based on the needling motion of the needling head, the motion trajectory and motion speed of the workpiece shaft rotation and the workpiece shaft lifting motion, and the barrel needling machine is operated according to the control parameters.

4. A barrel acupuncture control method according to claim 3, characterized in that: The motion trajectory and motion speed of the needling head, the workpiece axis rotation and the workpiece axis lifting motion are set based on the trajectory correspondence, including: Determining a first movement trajectory of the acupuncture needle and a second movement trajectory of the workpiece based on the trajectory correspondence; Obtaining from the PLC control terminal a first model of the needling head's needling motion, a second model of the workpiece axis's rotation, and a third model of the workpiece axis's lifting motion; The first movement trajectory is digitized to obtain first coordinate data, and the first coordinate data is input into the first model and the third model to obtain a first movement trajectory of the acupuncture head and a second movement trajectory of the workpiece axis lifting movement; Converting the second movement trajectory into coordinate data to obtain second coordinate data, inputting the second coordinate data into the second model and the third model to obtain a third motion trajectory of the workpiece axis rotation and a fourth motion trajectory of the workpiece axis lifting motion; Integrate the second motion trajectory and the fourth motion trajectory of the workpiece axis lifting motion to obtain the overall motion trajectory of the workpiece axis lifting motion; Based on the trajectory correspondence, the first motion trajectory of the needling head, the third motion trajectory of the workpiece shaft rotation and the overall motion trajectory of the workpiece shaft lifting motion are matched to obtain the comprehensive motion trajectory of the barrel needling machine; The comprehensive motion trajectory is divided according to time uniformity to obtain the trajectory set of different parts in the same time. Based on the workpiece process requirements, the motion speed range of the trajectory set is determined; Based on the time sequence of the trajectory sets and the range of motion speeds, the motion speed of each trajectory set is determined in turn.

5. The barrel acupuncture control method according to claim 3, characterized in that: The control parameters of the drum needling machine are determined based on the motion trajectory and motion speed of the needling head, the rotation of the workpiece shaft, and the lifting motion of the workpiece shaft, including: Matching the motion trajectories and motion speeds of the needling head, the workpiece shaft rotation, and the workpiece shaft lifting motion with the control parameter types corresponding to the barrel needling machine, determining control characteristics of the control parameter types, and determining control associations between the control parameter types based on the control characteristics of the control parameter types; Determine the initial control parameters of the barrel needling machine based on the matching relationship between the control parameter type and the motion trajectory and motion speed; Based on the control association between the control parameter types and the PLC control analysis, the adjustment of the initial control parameters is determined to obtain the final control parameters of the barrel needling machine.

6. The barrel acupuncture control method according to claim 1, characterized in that: In S3, the PLC control terminal obtains the operating parameters of the barrel needling machine and determines parameter adjustment data during the operation of the barrel needling machine based on the operating parameters, including: The speed sensor and motor speed sensor installed on the barrel needling machine obtain the operating parameters of the barrel needling machine and transmit them to the PLC control terminal through wireless communication; The PLC control terminal sends the operating parameters to the corresponding feedback correction model to obtain the corresponding parameter adjustment data.

7. The barrel acupuncture control method according to claim 6, characterized in that: The PLC control terminal sends the operating parameters to the corresponding feedback correction model to obtain corresponding parameter adjustment data, including: The PLC control terminal divides the operating parameters into three operating data groups according to the needling movement of the acupuncture head, the rotation of the workpiece axis and the lifting movement of the workpiece axis; Obtaining a first data difference between an operation data group corresponding to acupuncture movement of the acupuncture head and first target operation data, and obtaining a first correction value in combination with a feedback correction model of acupuncture movement of the acupuncture head; Obtaining a second data difference between the operation data group corresponding to the rotation of the workpiece axis and the second target operation data, and combining the feedback correction model of the rotation of the workpiece axis and the first correction amount to obtain a second correction amount; Obtaining a third data difference between the operation data group corresponding to the lifting motion of the workpiece axis and the third target operation data, and combining the feedback correction model of the lifting motion of the workpiece axis and the second correction value to obtain a third correction value; Inputting the third correction value into the feedback correction model of the acupuncture head's needling motion to obtain a fourth correction value, and obtaining a target correction value of the acupuncture head's needling motion based on the first correction value and the fourth correction value; Adjusting parameters of the operation data group corresponding to the acupuncture movement of the acupuncture head based on the target correction amount to determine first parameter adjustment data; Adjusting the parameters of the operation data group corresponding to the rotation of the workpiece axis based on the second correction amount to obtain second parameter adjustment data; Based on the third correction amount, the operating data group corresponding to the lifting motion of the workpiece axis is parameter-adjusted to obtain third parameter adjustment data.

8. The barrel acupuncture control method according to claim 7, characterized in that: The step of obtaining a target correction amount for the acupuncture movement of the acupuncture head based on the first correction amount and the fourth correction amount includes: The first correction amount is used as a feedforward correction amount for the needling motion of the acupuncture head, and the second correction amount is used as a feedback correction amount for the needling motion of the acupuncture head; The first correction amount is weighted based on the first correction weight of the feedforward correction amount to obtain a first weighted correction amount, and the fourth correction amount is weighted based on the fourth correction weight of the feedback correction amount to obtain a fourth weighted correction amount; The first weighted correction amount and the fourth weighted correction amount are superimposed to obtain a target correction amount.

9. The barrel acupuncture control method according to claim 1, characterized in that: In S4, based on the parameter adjustment data, an adjustment instruction is sent to the drum needling machine, and the parameters of the drum needling machine are adjusted according to the adjustment instruction, including: Generate adjustment instructions based on parameter adjustment data and its corresponding structural equipment of the barrel needling machine; transmitting the adjustment instructions to the drum needling machine via wireless communication; The barrel needling machine automatically adjusts the parameters of the structural equipment based on the adjustment instructions.

10. A drum acupuncture control system, characterized in that: include: A networking communication module is used to network the barrel needling machine with the PLC control terminal, and to control the barrel needling machine using the PLC control terminal through wireless communication; A parameter determination module is used to determine the parameter control of the needling head needling motion, workpiece axis rotation and workpiece axis lifting motion based on the workpiece process requirements and the PLC control terminal; A parameter adjustment module is used for the PLC control terminal to obtain the operating parameters of the barrel needling machine and determine the parameter adjustment data during the operation of the barrel needling machine based on the operating parameters; The instruction control module is used to send an adjustment instruction to the barrel needling machine based on the parameter adjustment data, and adjust the parameters of the barrel needling machine according to the adjustment instruction.

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