A method and system for controlling a drum needling

Abstract

This invention provides a method and system for controlling cylindrical needle punching. By networking a cylindrical needle punching machine with a PLC control terminal, the PLC control terminal is used to control the cylindrical needle punching machine via wireless communication. Based on the PLC control terminal, parameters for the needle punching head movement, workpiece shaft rotation, and workpiece shaft lifting movement are determined and controlled, and parameter adjustment data for the operation of the cylindrical needle punching machine are adjusted. This achieves comprehensive and effective control of the three major movements of the cylindrical needle punching machine, ensuring that the cylindrical needle punching machine operates efficiently and with high quality, ultimately resulting in high-quality products.

Description

Technical Field

[0001] This invention relates to the field of machine control technology, and in particular to a method and system for controlling cylindrical needle puncture. Background Technology

[0002] The cylindrical needle punching machine achieves the process requirements of the product by realizing three major movements: needle punching motion of the needle head, rotation of the workpiece shaft, and lifting motion of the workpiece shaft. Among them, the needle head can perform reciprocating continuous needle punching motion with adjustable speed; the workpiece shaft can clamp the wooden mold tooling and the product, realizing forward / reverse rotation function with adjustable speed; the lifting motion of the workpiece shaft refers to the needle depth being precisely raised / lowered by the lifting mechanism as the thickness of the needle punched product increases.

[0003] How to achieve comprehensive and effective control among the three major movements of a cylindrical needle punching machine, so as to ensure that the cylindrical needle punching machine operates efficiently and with high quality and produces high-quality products, is an urgent problem to be solved in the field of cylindrical needle punching machine operation and control. Summary of the Invention

[0004] This invention provides a method and system for controlling cylindrical needle puncture, in order to solve the problems mentioned in the background art.

[0005] A method for controlling needle insertion in a cylindrical container, comprising:

[0006] S1: Network the cylindrical needle punching machine with the PLC control terminal and use wireless communication to control the cylindrical needle punching machine using the PLC control terminal;

[0007] S2: Based on the workpiece process requirements, the parameters for the needle-punching motion of the needle-punching head, the rotation of the workpiece axis, and the lifting motion of the workpiece axis are determined based on the PLC control terminal.

[0008] S3: The PLC control terminal acquires the operating parameters of the cylindrical needle punching machine and determines the parameter adjustment data for the cylindrical needle punching machine during operation based on the operating parameters;

[0009] S4: Based on the parameter adjustment data, send adjustment instructions to the cylindrical needle punching machine, and adjust the parameters of the cylindrical needle punching machine according to the adjustment instructions.

[0010] Preferably, in step S1, the cylindrical needle punching machine is networked with a PLC control terminal, and the PLC control terminal controls the cylindrical needle punching machine using wireless communication, including:

[0011] Establish an association between the IP address of the cylindrical needle punching machine and the IP address of the PLC control terminal, and then network the cylindrical needle punching machine and the PLC control terminal based on the IP association.

[0012] The parameters that need to be monitored and controlled by the cylindrical needle punching machine are obtained, and the parameters are sent to the PLC control terminal via wireless communication.

[0013] The PLC control terminal also acquires the workpiece process requirements for the cylindrical needle punching machine and establishes the correlation between parameter characteristics and workpiece process requirements.

[0014] The PLC control terminal controls the cylindrical needle punching machine based on the association relationship.

[0015] Preferably, in step S2, the parameter control for the needle-punching motion of the needle-punching head, the rotation of the workpiece shaft, and the lifting motion of the workpiece shaft is determined based on the workpiece process requirements and the PLC control terminal, including:

[0016] Based on the workpiece process requirements, determine the trajectory correspondence between the needle head and the workpiece, and set the motion trajectory and speed of the needle head needle puncturing motion, workpiece axis rotation and workpiece axis lifting motion based on the trajectory correspondence.

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

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

[0019] Based on the trajectory correspondence, the first moving trajectory of the needle and the second moving trajectory of the workpiece are determined;

[0020] The first model of the needle-punching motion of the needle head, the second model of the workpiece axis rotation, and the third model of the workpiece axis lifting motion are obtained from the PLC control terminal.

[0021] The first movement trajectory is converted into coordinate values ​​to obtain the first coordinate data. The first coordinate data is then input into the first model and the third model to obtain the first movement trajectory of the needle head's needle-punching motion and the second movement trajectory of the workpiece shaft's lifting motion.

[0022] The second movement trajectory is converted into coordinate data to obtain the second coordinate data. The second coordinate data is then input into the second and third models to obtain the third motion trajectory of the workpiece axis rotation and the fourth motion trajectory of the workpiece axis lifting motion.

[0023] By integrating the second and fourth motion trajectories of the workpiece shaft lifting motion, the overall motion trajectory of the workpiece shaft lifting motion is obtained.

[0024] Based on the trajectory correspondence, the first motion trajectory of the needle-punching 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 needle punching machine.

[0025] The comprehensive motion trajectory is divided according to the time uniformity to obtain the 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.

[0026] Based on the temporal order of the trajectory sets and the range of motion speeds, the motion speed of each trajectory set is determined sequentially.

[0027] Preferably, the determination of control parameters for the cylindrical needle punching machine based on the motion trajectory and speed of the needle punching head, the workpiece shaft rotation, and the workpiece shaft lifting motion includes:

[0028] The motion trajectory and speed of the needle-punching motion of the needle head, the rotation of the workpiece axis, and the lifting motion of the workpiece axis are matched with the control parameter type corresponding to the cylindrical needle punching machine to determine the control characteristics of the control parameter type, and the control association between the control parameter types is determined based on the control characteristics of the control parameter type.

[0029] Based on the matching relationship between the control parameter type and the motion trajectory and speed, the initial control parameters for the cylindrical needle punching machine are determined.

[0030] Based on the control correlation between control parameter types, the adjustment of the initial control parameters is determined by PLC control analysis, and the final control parameters of the cylindrical needle punching machine are obtained.

[0031] Preferably, in step S3, the PLC control terminal acquires the operating parameters of the cylindrical acupuncture machine and determines parameter adjustment data for the operation of the cylindrical acupuncture machine based on the operating parameters, including:

[0032] The speed sensor and motor speed sensor of the cylindrical needle punching machine are set to obtain the operating parameters of the cylindrical needle punching machine and transmit them to the PLC control terminal via 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 the corresponding parameter adjustment data, including:

[0035] The PLC control terminal divides the operating parameters into three operating data groups according to the needle-punching motion of the needle head, the rotation of the workpiece axis, and the lifting motion of the workpiece axis.

[0036] Obtain the first data difference between the running data set corresponding to the needle head needle puncture movement and the running data of the first target, and combine it with the feedback correction model of the needle head needle puncture movement to obtain the first correction amount;

[0037] The second data difference between the running data set corresponding to the workpiece axis rotation and the second target running data is obtained, and the second correction amount is obtained by combining the feedback correction model of the workpiece axis rotation and the first correction amount.

[0038] The third data difference between the running data set corresponding to the lifting motion of the workpiece axis and the running data of the third target is obtained, and the third correction amount is obtained by combining the feedback correction model and the second correction amount of the lifting motion of the workpiece axis.

[0039] The third correction value is input into the feedback correction model of the needle head's needle motion to obtain the fourth correction value. Based on the first correction value and the fourth correction value, the target correction value of the needle head's needle motion is obtained.

[0040] Based on the target correction amount, the parameters of the running data group corresponding to the needle needle movement are adjusted to determine the first parameter adjustment data;

[0041] Based on the second correction amount, the parameters of the running data set corresponding to the workpiece axis rotation are adjusted to obtain the second parameter adjustment data;

[0042] The parameters of the operating data set corresponding to the lifting and lowering motion of the workpiece axis are adjusted based on the third correction amount to obtain the third parameter adjustment data.

[0043] Preferably, obtaining the target correction amount for the needle tip's needle insertion motion based on the first correction amount and the fourth correction amount includes:

[0044] The first correction amount is used as the feedforward correction amount for the needle head's needle insertion motion, and the second correction amount is used as the feedback correction amount for the needle head's needle insertion motion.

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

[0046] The target correction amount is obtained by superimposing the first weighted correction amount and the fourth weighted correction amount.

[0047] Preferably, in step S4, based on parameter adjustment data, an adjustment command is sent to the cylindrical acupuncture machine, and the parameters of the cylindrical acupuncture machine are adjusted according to the adjustment command, including:

[0048] Based on the parameter adjustment data and the corresponding structure and equipment of the cylindrical needle punching machine, adjustment instructions are generated.

[0049] The adjustment instructions are transmitted to the cylindrical needle punching machine via wireless communication;

[0050] The cylindrical needle punching machine automatically adjusts the parameters of the structural equipment based on adjustment commands.

[0051] A cylindrical needle-punching control system, comprising:

[0052] The networking communication module is used to network the cylindrical needle punching machine with the PLC control terminal, and to control the cylindrical needle punching machine by means of wireless communication through the PLC control terminal.

[0053] The parameter determination module is used to determine the parameter control for the needle-punching motion of the needle-punching head, the rotation of the workpiece axis, and the lifting motion of the workpiece axis based on the workpiece process requirements and the PLC control terminal.

[0054] The parameter adjustment module is used by the PLC control terminal to acquire the operating parameters of the cylindrical needle punching machine and determine the parameter adjustment data for the cylindrical needle punching machine during operation based on the operating parameters.

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

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

[0057] By networking the cylindrical needle punching machine with a PLC control terminal, wireless communication is used to control the cylindrical needle punching machine through the PLC control terminal. Based on the PLC control terminal, the parameters for the needle punching head movement, workpiece shaft rotation, and workpiece shaft lifting movement are determined, and parameter adjustment data are adjusted during the operation of the cylindrical needle punching machine. This achieves comprehensive and effective control of the three major movements of the cylindrical needle punching machine, ensuring that the cylindrical needle punching machine operates efficiently and with high quality, ultimately resulting in high-quality products.

[0058] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in this application.

[0059] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0060] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0061] Figure 1 This is a flowchart of a barrel needle puncture control method according to an embodiment of the present invention;

[0062] Figure 2 This is a flowchart illustrating the control of the cylindrical needle punching machine using a PLC control terminal in an embodiment of the present invention.

[0063] Figure 3 This is a structural diagram of a cylindrical needle-punching control system according to an embodiment of the present invention. Detailed Implementation

[0064] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0065] Example 1:

[0066] This invention provides a method for controlling needle puncture in a cylindrical container, such as... Figure 1 As shown, it includes:

[0067] S1: Network the cylindrical needle punching machine with the PLC control terminal and use wireless communication to control the cylindrical needle punching machine using the PLC control terminal;

[0068] S2: Based on the workpiece process requirements, the parameters for the needle-punching motion of the needle-punching head, the rotation of the workpiece axis, and the lifting motion of the workpiece axis are determined based on the PLC control terminal.

[0069] S3: The PLC control terminal acquires the operating parameters of the cylindrical needle punching machine and determines the parameter adjustment data for the cylindrical needle punching machine during operation based on the operating parameters;

[0070] S4: Based on the parameter adjustment data, send adjustment instructions to the cylindrical needle punching machine, and adjust the parameters of the cylindrical needle punching machine according to the adjustment instructions.

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

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

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

[0074] The beneficial effects of the above design scheme are as follows: By networking the cylindrical needle punching machine with a PLC control terminal, the PLC control terminal is used to control the cylindrical needle punching machine through wireless communication. Based on the PLC control terminal, the parameters for the needle punching head movement, workpiece shaft rotation, and workpiece shaft lifting movement are determined, and the parameter adjustment data during the operation of the cylindrical needle punching machine are adjusted. This achieves comprehensive and effective control of the three major movements of the cylindrical needle punching machine, ensuring that the cylindrical needle punching machine operates efficiently and with high quality, ultimately resulting in high-quality products.

[0075] Example 2:

[0076] Based on Embodiment 1, this embodiment of the invention provides a method for controlling cylindrical needle puncture, wherein in S1, as follows: Figure 2 As shown, the cylindrical needle punching machine is networked with a PLC control terminal, and the PLC control terminal controls the cylindrical needle punching machine using wireless communication, including:

[0077] Establish an association between the IP address of the cylindrical needle punching machine and the IP address of the PLC control terminal, and then network the cylindrical needle punching machine and the PLC control terminal based on the IP association.

[0078] The parameters that need to be monitored and controlled by the cylindrical needle punching machine are obtained, and the parameters are sent to the PLC control terminal via wireless communication.

[0079] The PLC control terminal also acquires the workpiece process requirements for the cylindrical needle punching machine and establishes the correlation between parameter characteristics and workpiece process requirements.

[0080] The PLC control terminal controls the cylindrical needle punching machine based on the association relationship.

[0081] In this embodiment, parameter features include parameter type, etc.

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

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

[0084] Example 3:

[0085] Based on Embodiment 1, this embodiment of the invention provides a method for controlling the needle punching of a cylindrical tube. In step S2, based on workpiece process requirements, parameters for the needle punching motion of the needle head, the rotation of the workpiece shaft, and the lifting motion of the workpiece shaft are determined based on a PLC control terminal, including:

[0086] Based on the workpiece process requirements, determine the trajectory correspondence between the needle head and the workpiece, and set the motion trajectory and speed of the needle head needle puncturing motion, workpiece axis rotation and workpiece axis lifting motion based on the trajectory correspondence.

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

[0088] The beneficial effects of the above design scheme are as follows: by establishing the trajectory correspondence between the fixed needle head and the workpiece, the motion trajectory and speed of the needle head's needle-piercing motion, the workpiece shaft rotation, and the workpiece shaft lifting motion are set based on the trajectory correspondence, thereby realizing the setting of the motion characteristics of the cylindrical needle-piercing machine. Then, based on the motion trajectory and speed of the needle head's needle-piercing motion, the workpiece shaft rotation, and the workpiece shaft lifting motion, the control parameters of the cylindrical needle-piercing machine are determined, and the cylindrical needle-piercing machine is run according to the control parameters, thereby realizing the initial parameter determination and control of the cylindrical needle-piercing machine.

[0089] Example 4:

[0090] Based on Embodiment 3, this embodiment of the invention provides a method for controlling the needle punching of a cylindrical tube. The method involves setting the motion trajectory and speed of the needle head's needle punching motion, the workpiece shaft rotation, and the workpiece shaft lifting motion based on trajectory correspondence, including:

[0091] Based on the trajectory correspondence, the first moving trajectory of the needle and the second moving trajectory of the workpiece are determined;

[0092] The first model of the needle-punching motion of the needle head, the second model of the workpiece axis rotation, and the third model of the workpiece axis lifting motion are obtained from the PLC control terminal.

[0093] The first movement trajectory is converted into coordinate values ​​to obtain the first coordinate data. The first coordinate data is then input into the first model and the third model to obtain the first movement trajectory of the needle head's needle-punching motion and the second movement trajectory of the workpiece shaft's lifting motion.

[0094] The second movement trajectory is converted into coordinate data to obtain the second coordinate data. The second coordinate data is then input into the second and third models to obtain the third motion trajectory of the workpiece axis rotation and the fourth motion trajectory of the workpiece axis lifting motion.

[0095] By integrating the second and fourth motion trajectories of the workpiece shaft lifting motion, the overall motion trajectory of the workpiece shaft lifting motion is obtained.

[0096] Based on the trajectory correspondence, the first motion trajectory of the needle-punching 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 needle punching machine.

[0097] The comprehensive motion trajectory is divided according to the time uniformity to obtain the 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.

[0098] Based on the temporal order of the trajectory sets and the range of motion speeds, the motion speed of each trajectory set is determined sequentially.

[0099] The beneficial effects of the above design scheme are as follows: by inputting the coordinates of the moving trajectory into the corresponding model, the motion trajectory of the cylindrical needle punching machine is determined, and the motion trajectories of each part are integrated. The comprehensive motion trajectory is divided according to the time uniformity to obtain the 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 degree of matching between the obtained motion trajectory and motion speed and the process requirements, and providing a basis for determining the optimal control parameters.

[0100] Example 5:

[0101] Based on Embodiment 3, this embodiment of the invention provides a method for controlling cylindrical needle punching. The method involves determining control parameters for the cylindrical needle punching machine based on the motion trajectory and speed of the needle punching head, workpiece shaft rotation, and workpiece shaft lifting / lowering motion, including:

[0102] The motion trajectory and speed of the needle-punching motion of the needle head, the rotation of the workpiece axis, and the lifting motion of the workpiece axis are matched with the control parameter type corresponding to the cylindrical needle punching machine to determine the control characteristics of the control parameter type, and the control association between the control parameter types is determined based on the control characteristics of the control parameter type.

[0103] Based on the matching relationship between the control parameter type and the motion trajectory and speed, the initial control parameters for the cylindrical needle punching machine are determined.

[0104] Based on the control correlation between control parameter types, the adjustment of the initial control parameters is determined by PLC control analysis, and the final control parameters of the cylindrical needle punching machine are obtained.

[0105] The beneficial effects of the above design scheme are: determining the control correlation between control parameter types based on the control characteristics of the control parameter types; determining the initial control parameters of the cylindrical acupuncture machine based on the matching relationship between the control parameter types and the motion trajectory and motion speed; determining the adjustment of the initial control parameters based on the control correlation between the control parameter types and PLC control analysis based on the control correlation between the control parameter types, and obtaining the final control parameters of the cylindrical acupuncture machine, thus ensuring the optimality of the obtained control parameters of the cylindrical acupuncture machine.

[0106] Example 6:

[0107] Based on Embodiment 1, this embodiment of the invention provides a cylindrical acupuncture control method. In step S3, the PLC control terminal acquires the operating parameters of the cylindrical acupuncture machine and determines parameter adjustment data for the operation of the cylindrical acupuncture machine based on the operating parameters, including:

[0108] The speed sensor and motor speed sensor of the cylindrical needle punching machine are set to obtain the operating parameters of the cylindrical needle punching machine and transmit them to the PLC control terminal via 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: by acquiring the operating parameters of the cylindrical needle punching machine through the PLC control terminal, and determining the parameter adjustment data for the cylindrical needle punching machine during operation based on the operating parameters, the comprehensive and effective control between the three major movements of the cylindrical needle punching machine is realized, ensuring that the cylindrical needle punching machine works efficiently and with high quality, and ultimately obtaining high-quality products.

[0111] Example 7:

[0112] Based on Embodiment 6, this embodiment of the invention provides a method for controlling cylindrical needle penetration, wherein the PLC control terminal sends operating parameters to the 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 needle-punching motion of the needle head, the rotation of the workpiece axis, and the lifting motion of the workpiece axis.

[0114] Obtain the first data difference between the running data set corresponding to the needle head needle puncture movement and the running data of the first target, and combine it with the feedback correction model of the needle head needle puncture movement to obtain the first correction amount;

[0115] The second data difference between the running data set corresponding to the workpiece axis rotation and the second target running data is obtained, and the second correction amount is obtained by combining the feedback correction model of the workpiece axis rotation and the first correction amount.

[0116] The third data difference between the running data set corresponding to the lifting motion of the workpiece axis and the running data of the third target is obtained, and the third correction amount is obtained by combining the feedback correction model and the second correction amount of the lifting motion of the workpiece axis.

[0117] The third correction value is input into the feedback correction model of the needle head's needle motion to obtain the fourth correction value. Based on the first correction value and the fourth correction value, the target correction value of the needle head's needle motion is obtained.

[0118] Based on the target correction amount, the parameters of the running data group corresponding to the needle needle movement are adjusted to determine the first parameter adjustment data;

[0119] Based on the second correction amount, the parameters of the running data set corresponding to the workpiece axis rotation are adjusted to obtain the second parameter adjustment data;

[0120] The parameters of the operating data set corresponding to the lifting and lowering motion of the workpiece axis are adjusted based on the third correction amount to obtain the third parameter adjustment data.

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

[0122] Example 8:

[0123] Based on Embodiment 7, this embodiment of the invention provides a cylindrical needle puncture control method, wherein obtaining the target correction amount for the needle head puncture movement based on a first correction amount and a fourth correction amount includes:

[0124] The first correction amount is used as the feedforward correction amount for the needle head's needle insertion motion, and the second correction amount is used as the feedback correction amount for the needle head's needle insertion motion.

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

[0126] The target correction amount is obtained by superimposing the first weighted correction amount and the fourth weighted correction amount.

[0127] The beneficial effects of the above design scheme are as follows: by weighting the first correction amount based on the first correction weight of the feedforward correction amount to obtain the first weighted correction amount, and by weighting the fourth correction amount based on the fourth correction weight of the feedback correction amount to obtain the fourth weighted correction amount, the first weighted correction amount and the fourth weighted correction amount are superimposed to obtain the target correction amount, thereby realizing the correction of the overall deviation of the needle head needle movement and ensuring the accuracy of the needle head needle movement.

[0128] Example 9:

[0129] Based on Embodiment 1, this embodiment of the invention provides a cylindrical acupuncture control method. In step S4, based on parameter adjustment data, an adjustment command is sent to the cylindrical acupuncture machine, and the parameters of the cylindrical acupuncture machine are adjusted according to the adjustment command, including:

[0130] Based on the parameter adjustment data and the corresponding structure and equipment of the cylindrical needle punching machine, adjustment instructions are generated.

[0131] The adjustment instructions are transmitted to the cylindrical needle punching machine via wireless communication;

[0132] The cylindrical needle punching machine automatically adjusts the parameters of the structural equipment based on adjustment commands.

[0133] The beneficial effects of the above design scheme are: by sending adjustment instructions to the cylindrical acupuncture machine based on parameter adjustment data, and adjusting the parameters of the cylindrical acupuncture machine according to the adjustment instructions, the instruction transmission control of the cylindrical acupuncture machine is realized, ensuring that the cylindrical acupuncture machine works efficiently and with high quality.

[0134] Example 10:

[0135] This invention provides a cylindrical needle-punching control system, such as... Figure 3 As shown, it includes:

[0136] The networking communication module is used to network the cylindrical needle punching machine with the PLC control terminal, and to control the cylindrical needle punching machine by means of wireless communication through the PLC control terminal.

[0137] The parameter determination module is used to determine the parameter control for the needle-punching motion of the needle-punching head, the rotation of the workpiece axis, and the lifting motion of the workpiece axis based on the workpiece process requirements and the PLC control terminal.

[0138] The parameter adjustment module is used by the PLC control terminal to acquire the operating parameters of the cylindrical needle punching machine and determine the parameter adjustment data for the cylindrical needle punching machine during operation based on the operating parameters.

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

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

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

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

[0143] The beneficial effects of the above design scheme are as follows: By networking the cylindrical needle punching machine with a PLC control terminal, the PLC control terminal is used to control the cylindrical needle punching machine through wireless communication. Based on the PLC control terminal, the parameters for the needle punching head movement, workpiece shaft rotation, and workpiece shaft lifting movement are determined, and the parameter adjustment data during the operation of the cylindrical needle punching machine are adjusted. This achieves comprehensive and effective control of the three major movements of the cylindrical needle punching machine, ensuring that the cylindrical needle punching machine operates efficiently and with high quality, ultimately resulting in high-quality products.

[0144] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of this application and its equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for controlling needle puncture in a cylindrical container, characterized in that, include: S1: Network the cylindrical needle punching machine with the PLC control terminal and use wireless communication to control the cylindrical needle punching machine using the PLC control terminal; S2: Based on the workpiece process requirements, the parameters for the needle-punching motion of the needle-punching head, the rotation of the workpiece axis, and the lifting motion of the workpiece axis are determined based on the PLC control terminal. S3: The PLC control terminal acquires the operating parameters of the cylindrical acupuncture machine and determines the parameter adjustment data during the operation of the cylindrical acupuncture machine based on the operating parameters, including: The speed sensor and motor speed sensor of the cylindrical needle punching machine are set to obtain the operating parameters of the cylindrical needle punching machine and transmit them to the PLC control terminal via wireless communication. The PLC control terminal sends the operating parameters to the corresponding feedback correction model to obtain the corresponding parameter adjustment data, including: The PLC control terminal divides the operating parameters into three operating data groups according to the needle-punching motion of the needle head, the rotation of the workpiece axis, and the lifting motion of the workpiece axis. Obtain the first data difference between the running data set corresponding to the needle head needle puncture movement and the running data of the first target, and combine it with the feedback correction model of the needle head needle puncture movement to obtain the first correction amount; The second data difference between the running data set corresponding to the workpiece axis rotation and the second target running data is obtained, and the second correction amount is obtained by combining the feedback correction model of the workpiece axis rotation and the first correction amount. The third data difference between the running data set corresponding to the lifting motion of the workpiece axis and the running data of the third target is obtained, and the third correction amount is obtained by combining the feedback correction model and the second correction amount of the lifting motion of the workpiece axis. The third correction value is input into the feedback correction model of the needle head's needle motion to obtain the fourth correction value. Based on the first correction value and the fourth correction value, the target correction value of the needle head's needle motion is obtained. Based on the target correction amount, the parameters of the running data group corresponding to the needle needle movement are adjusted to determine the first parameter adjustment data; Based on the second correction amount, the parameters of the running data set corresponding to the workpiece axis rotation are adjusted to obtain the second parameter adjustment data; Based on the third correction amount, the parameters of the operating data set corresponding to the lifting and lowering motion of the workpiece axis are adjusted to obtain the third parameter adjustment data; S4: Based on the parameter adjustment data, send adjustment instructions to the cylindrical needle punching machine, and adjust the parameters of the cylindrical needle punching machine according to the adjustment instructions.

2. The method for controlling cylindrical needle puncture according to claim 1, characterized in that, In step S1, the cylindrical needle punching machine is networked with a PLC control terminal, and the PLC control terminal controls the cylindrical needle punching machine using wireless communication, including: Establish an association between the IP address of the cylindrical needle punching machine and the IP address of the PLC control terminal, and then network the cylindrical needle punching machine and the PLC control terminal based on the IP association. The parameters that need to be monitored and controlled by the cylindrical needle punching machine are obtained, and the parameters are sent to the PLC control terminal via wireless communication. The PLC control terminal also acquires the workpiece process requirements for the cylindrical needle punching machine and establishes the correlation between parameter characteristics and workpiece process requirements. The PLC control terminal controls the cylindrical needle punching machine based on the association relationship.

3. The method for controlling cylindrical needle puncture according to claim 1, characterized in that, In step S2, based on workpiece process requirements and the PLC control terminal, parameter control for the needle-punching motion of the needle-punching head, the rotation of the workpiece shaft, and the lifting motion of the workpiece shaft is determined, including: Based on the workpiece process requirements, the trajectory correspondence between the needle head and the workpiece is determined, and the motion trajectory and speed of the needle head needle puncturing motion, workpiece axis rotation and workpiece axis lifting motion are set based on the trajectory correspondence. The control parameters for the cylindrical needle punching machine are determined based on the motion trajectory and speed of the needle punching head, the workpiece shaft rotation, and the workpiece shaft lifting motion, and the cylindrical needle punching machine is operated according to the control parameters.

4. The method for controlling needle puncture in a cylindrical container according to claim 3, characterized in that, The process of setting the motion trajectory and speed of the needle-punching motion of the needle head, the rotation of the workpiece axis, and the lifting motion of the workpiece axis based on the trajectory correspondence includes: Based on the trajectory correspondence, the first moving trajectory of the needle and the second moving trajectory of the workpiece are determined; The first model of the needle-punching motion of the needle head, the second model of the workpiece axis rotation, and the third model of the workpiece axis lifting motion are obtained from the PLC control terminal. The first movement trajectory is converted into coordinate values ​​to obtain the first coordinate data. The first coordinate data is then input into the first model and the third model to obtain the first movement trajectory of the needle head's needle-punching motion and the second movement trajectory of the workpiece shaft's lifting motion. The second movement trajectory is converted into coordinate data to obtain the second coordinate data. The second coordinate data is then input into the second and third models to obtain the third motion trajectory of the workpiece axis rotation and the fourth motion trajectory of the workpiece axis lifting motion. By integrating the second and fourth motion trajectories of the workpiece shaft lifting motion, the overall motion trajectory of the workpiece shaft lifting motion is obtained. Based on the trajectory correspondence, the first motion trajectory of the needle-punching 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 needle punching machine. The comprehensive motion trajectory is divided according to the time uniformity to obtain the 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 temporal order of the trajectory sets and the range of motion speeds, the motion speed of each trajectory set is determined sequentially.

5. The method for controlling needle puncture in a cylindrical container according to claim 3, characterized in that, The control parameters for the cylindrical needle punching machine are determined based on the motion trajectory and speed of the needle punching head, the workpiece shaft rotation, and the workpiece shaft lifting motion, including: The motion trajectory and speed of the needle-punching motion of the needle head, the rotation of the workpiece axis, and the lifting motion of the workpiece axis are matched with the control parameter type corresponding to the cylindrical needle punching machine to determine the control characteristics of the control parameter type, and the control association between the control parameter types is determined based on the control characteristics of the control parameter type. Based on the matching relationship between the control parameter type and the motion trajectory and speed, the initial control parameters for the cylindrical needle punching machine are determined. Based on the control correlation between control parameter types, the adjustment of the initial control parameters is determined by PLC control analysis, and the final control parameters of the cylindrical needle punching machine are obtained.

6. The method for controlling cylindrical needle puncture according to claim 1, characterized in that, The method of obtaining the target correction amount for the needle tip acupuncture motion based on the first correction amount and the fourth correction amount includes: The first correction amount is used as the feedforward correction amount for the needle head's needle insertion motion, and the second correction amount is used as the feedback correction amount for the needle head's needle insertion motion. The first correction amount is weighted based on the first correction weight of the feedforward correction amount to obtain the first weighted correction amount, and the fourth correction amount is weighted based on the fourth correction weight of the feedback correction amount to obtain the fourth weighted correction amount. The target correction amount is obtained by superimposing the first weighted correction amount and the fourth weighted correction amount.

7. The method for controlling cylindrical needle puncture according to claim 1, characterized in that, In step S4, based on the parameter adjustment data, an adjustment command is sent to the cylindrical acupuncture machine, and the parameters of the cylindrical acupuncture machine are adjusted according to the adjustment command, including: Based on the parameter adjustment data and the corresponding structure and equipment of the cylindrical needle punching machine, adjustment instructions are generated. The adjustment instructions are transmitted to the cylindrical needle punching machine via wireless communication; The cylindrical needle punching machine automatically adjusts the parameters of the structural equipment based on adjustment commands.

8. A cylindrical needle-punching control system for implementing the cylindrical needle-punching control method as described in claim 1, characterized in that, include: The networking communication module is used to network the cylindrical needle punching machine with the PLC control terminal, and to control the cylindrical needle punching machine by means of wireless communication through the PLC control terminal. The parameter determination module is used to determine the parameter control for the needle-punching motion of the needle-punching head, the rotation of the workpiece axis, and the lifting motion of the workpiece axis based on the workpiece process requirements and the PLC control terminal. The parameter adjustment module is used by the PLC control terminal to acquire the operating parameters of the cylindrical needle punching machine and determine the parameter adjustment data for the cylindrical needle punching machine during operation based on the operating parameters. The instruction control module is used to send adjustment instructions to the cylindrical acupuncture machine based on parameter adjustment data, and to adjust the parameters of the cylindrical acupuncture machine according to the adjustment instructions.

Images