Motion control method and device based on cam phase angle, equipment and storage medium

Abstract

The invention discloses a motion control method, device and equipment based on a cam phase angle, and a storage medium, and relates to the technical field of motion control, and the method comprises the steps: carrying out the first coupling of at least one motion shaft with a time shaft as a driving shaft in response to the corresponding coupling condition of the at least one motion shaft, the time shaft and a main shaft serving as a driving shaft are subjected to second coupling, the main shaft is a linear shaft, the at least one motion shaft and the time shaft are circulating shafts, and the first coupling and the second coupling are coupled based on the cam phase angle mapping relation; and based on the first coupling and the second coupling, controlling the at least one motion shaft to start motion. The method has the advantages that the time sequence of the motion control process meets the requirement, and the motion control efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motion control, in particular to a motion control method and device based on cam phase angle, equipment and storage medium. BACKGROUND

[0002] In some multi-axis motion control systems, multiple motion axes are driven by a time axis, but there are some time-consuming non-actual actions in process control, which deviate from the planned timing. For example, before entering the action, the coupling needs to be re-performed, after the action is completed, the positioning of the motion axis needs to be judged, after the positioning is completed, the decoupling is started and the original reset is re-performed, and after the reset is completed, the process can be exited. These timing processes occupy some time, resulting in a deviation between the actual time and the theoretical time, and the timing of the motion control process is chaotic. SUMMARY

[0003] The present application aims to at least solve one of the technical problems in the prior art, and provides a motion control method and device based on cam phase angle, equipment and storage medium, which aims to make the timing of the motion control process meet the demand, improve the motion control efficiency, and at the same time, improve the motion accuracy of the motion axis and the accuracy of the material operation, and optimize the material production conditions.

[0004] In a first aspect, the present application provides a motion control method based on cam phase angle, comprising: In response to satisfying the corresponding coupling conditions of at least one motion axis, respectively, the at least one motion axis is first coupled with a time axis as a driving axis, and the time axis is second coupled with a main shaft as a driving axis, wherein the main shaft is a linear axis, the at least one motion axis and the time axis are circular axes, the at least one motion axis includes a roller belt servo axis for conveying materials, and the first coupling and the second coupling are both coupled based on a cam phase angle mapping relationship; Obtain a deviation correction detection value, and correct the movement distance of the material according to the deviation correction detection value, wherein the roller belt servo axis is used to move based on the movement distance of the material after correction; Based on the first coupling and the second coupling, the at least one motion axis starts to move.

[0005] According to the technical scheme of the embodiment of the present application, the main shaft performs linear motion, the motion mechanism corresponding to at least one motion shaft is indirectly coupled with the main shaft as a slave shaft to perform cooperative motion control, thereby effectively reducing conditional interaction time and waiting time for shaft positioning, making the cooperation between shafts more coherent and close to the set requirements, the timing of the motion control process meeting the needs, and the motion control efficiency being improved; meanwhile, when the first coupling and the second coupling are completed, the main shaft motion can be accurately followed, and the control accuracy of at least one motion shaft including the roller conveying belt servo shaft can be improved, on this basis, the movement distance of the material is corrected by the correction detection value, the roller conveying belt servo shaft can move based on the corrected movement distance of the material, the actual material movement deviation can be further reduced, and the material movement deviation is reduced to reduce the deviation of other motion shafts when operating the material, thereby, through the accurate control of the first coupling and the second coupling and the error elimination of the correction detection value, the motion accuracy of the motion shafts can be greatly improved, and the accuracy of operating the material is improved, and the material production conditions are optimized.

[0006] According to some embodiments of the present application, the at least one motion shaft and the time shaft are 360-degree cycle shafts, so that the at least one motion shaft and the time shaft are continuously coupled in the cycle process.

[0007] According to some embodiments of the present application, the at least one motion shaft further includes a conveying belt servo shaft for conveying the material, a cutting knife servo shaft, and a pressing plate servo shaft.

[0008] According to some embodiments of the present application, the coupling condition includes a condition of determining whether to couple according to the position of the material.

[0009] According to some embodiments of the present application, the motion control method further includes: In the case where the first coupling or the second coupling is not completed, it is determined again whether the corresponding coupling condition of the at least one motion shaft is met.

[0010] According to some embodiments of the present application, the coupling condition further includes a condition of determining whether to couple according to the flag of the material.

[0011] According to some embodiments of the present application, before the corresponding coupling condition of the at least one motion shaft is met, the motion control method further includes: In the case where the main shaft and the time shaft are in the original position, the coupling condition is determined.

[0012] In a second aspect, an embodiment of the present application provides a running control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the program to implement the motion control method in the first aspect.

[0013] In a third aspect, an embodiment of the present application provides a material cutting processing device, comprising the running control device in the second aspect.

[0014] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, storing computer executable instructions, and the computer executable instructions are used to make a computer execute the motion control method in the first aspect.

[0015] Other features and advantages of the present application will be further described in the following description, and will become apparent from the description, or will be learned through practice of the present application. The objects and other advantages of the present application will be realized and achieved by particularly pointed out in the description, claims and accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings are used to provide further understanding of the technical solutions of the present application, and constitute a part of the specification, and are used to explain the technical solutions of the present application together with the embodiments of the present application, and do not constitute a limitation to the technical solutions of the present application.

[0017] The present application will be further described below in combination with the drawings and embodiments; Figure 1 is a flow chart of the motion control method provided by an embodiment of the present application; Figure 2 is a control flow timing chart of a laminating machine in the prior art; Figure 3 is a structural schematic diagram of a laminating machine provided by another embodiment of the present application; Figure 4 is a flow chart of the motion control method provided by another embodiment of the present application; Figure 5 is a flow chart of the motion control method provided by another embodiment of the present application; Figure 6 is a schematic diagram of a running control device for executing the running control method provided by an embodiment of the present application. DETAILED DESCRIPTION

[0018] This part will describe the specific embodiments of the present application in detail, and the preferred embodiments of the present application are shown in the drawings, and the drawings are used to supplement the description in the text part of the specification, so that people can intuitively and visually understand each technical feature and the overall technical scheme of the present application, but it cannot be understood as a limitation to the protection scope of the present application.

[0019] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right and the like, is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0020] In the description of the present application, the meaning of several is one or more, the meaning of multiple is more than two, greater than, less than, more than and the like are understood as not including the number, above, below, within and the like are understood as including the number. If it is described as first, second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of technical features indicated.

[0021] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting and the like should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0022] The various embodiments of the motion control method based on cam phase angle of the present application will be further described below in combination with the drawings.

[0023] As shown in the figure, Figure 1 Figure 1 is a flow chart of the motion control method provided by an embodiment of the present application, which can include but is not limited to steps S110, S120 and S130.

[0024] Step S110, in response to the satisfaction of the corresponding coupling conditions of at least one motion axis respectively, first coupling the at least one motion axis with a time axis as a driven axis, and second coupling the time axis with a main axis as a driving axis, wherein the main axis is a linear axis, the at least one motion axis and the time axis are cyclic axes, the at least one motion axis includes a roller conveyor belt servo axis for conveying materials, and the first coupling and the second coupling are both based on a cam phase angle mapping relationship for coupling; Step S120, obtaining a deviation correction detection value, and correcting the movement distance of the material according to the deviation correction detection value, and the roller conveyor belt servo axis is used for movement based on the movement distance of the material after correction; Step S130, based on the first coupling and the second coupling, controlling the at least one motion axis to start moving.

[0025] ​It is understood that the motion control method provided in the embodiments of this application can be applied to a variety of different motion control systems. The motion control system includes at least one motion axis. For example, it can be applied to electrode sheet stacking machines and all similar models. Moreover, the articles prepared by the motion control system are not limited to electrode sheets, and other sheet-like materials can also be prepared.

[0026] For example, during the lamination process, the incoming material (i.e., the coated substrate) is cut into electrode sheets (the electrode sheets required for a single battery cell). The incoming material is a roll of material that has already undergone processes such as mixing, coating, rolling, slitting, and drying. The positive electrode is typically an aluminum foil-coated positive electrode material (such as lithium iron phosphate or ternary materials), and the negative electrode is typically a copper foil-coated negative electrode material (such as graphite). The roll of material is loaded onto the unwinding mechanism using an automatic loading trolley or a lifting device. Driven by a servo motor, the unwinding mechanism smoothly releases the roll of material.

[0027] like Figure 2 As shown, Figure 2 This is a timing diagram of the control flow of a stacking machine in the prior art. The stacking machine is driven by a time axis that drives the movement of multiple axes. In the process control, there are some time occupies that are not actual actions, which cause deviations from the planned timing. These include the time occupied by re-coupling before entering an action, the time occupied by checking the axis positioning after the action is completed, the time occupied by decoupling and returning to the original position to reset the belt position after the axis is in position, and the time occupied by exiting the process only after returning to the original position. These timing processes will occupy tens of milliseconds, causing the actual time to deviate from the theoretical time and the timing of the motion control process to be disordered.

[0028] For example, in response to satisfying the corresponding coupling conditions of at least one motion axis, where the coupling condition refers to the condition that will start to be executed after being satisfied, that is, the coupling condition refers to one or more logical or physical states that, when these states are satisfied, will trigger one or more motion axes to change from independent motion mode to coupled motion mode of cooperative motion.

[0029] For example, the coupling condition may include position-based master-slave coupling: In an XY table system of a CNC machine tool, assuming that the X-axis and Y-axis initially move independently for positioning, the corresponding coupling condition may be "when the actual position of the X-axis and Y-axis reaches the coordinate value of 100.0 mm". Once this condition is detected by the position sensor and confirmed by the controller, the control system will initiate a coupled motion sequence; in this sequence, the movement of the X-axis and Y-axis will no longer be controlled by independent commands, but will be bound to the subsequent movement of the time axis as the active axis.

[0030] It can be understood that the setting of the coupling condition is far from a simple numerical comparison, and it can involve real-time monitoring of the entire control system, interrupt response, and trajectory planning capabilities. The controller's task scheduler continuously scans the status data of all axes. When the position feedback value of the X-axis enters the preset value, for example, within a small error tolerance range of 100.0 mm, a hardware interrupt or high-priority software event is generated to trigger the coupling manager, which then performs a series of operations, such as verifying the current system state for safety and suitability for mode switching, including checking the normality of each axis servo and whether there are alarms. Secondly, calculate and load the pre-planned parameters for coupled motion, including the starting speed of the Y-axis, acceleration, and its kinematic relationship with the X-axis, etc.

[0031] For example, in the case of a laminating machine or a type of device, at least one motion axis can include a platen servo axis, a roller servo axis, a cutting knife servo axis, a pole conveying belt servo axis, etc.

[0032] For example, the at least one motion axis is first coupled with the time axis as the master axis, and the time axis is second coupled with the main axis as the master axis, wherein the main axis is a linear axis, and the at least one motion axis and the time axis are cyclic axes. In this way, one main axis performs linear motion, and the motion mechanism corresponding to the at least one motion axis indirectly couples with the main axis as a slave axis to perform joint motion control. In this way, the conditional interaction time and the waiting time for axis positioning can be effectively reduced, the coordination between axes is more coherent and close to the set requirements, the timing of the motion control process meets the demand, and the motion control efficiency is improved.

[0033] It can be understood that the main axis is an axis that performs linear motion, so the motion of the main axis is logically non-periodic, one-way or two-way straight-line displacement. The time axis and the at least one motion axis are cyclic axes, so the motion state of the time axis and the at least one motion axis will periodically change within a given range, or their motion instructions are based on the logic of cyclic execution, such as a virtual axis rotating at a constant speed, or their position instructions are determined by a periodically generated function.

[0034] For example, the at least one motion axis is coupled with the time axis as the master axis as a slave axis, and the time axis provides a reference, predictable beat or phase signal as the master axis. For example, the time axis can be an internal counter whose value cycles from 0 to 360 degrees, representing a motion period. The target position or speed of the motion axis as a slave axis can be set as a function of the current value of the time axis. In this way, the motion axis completely follows the time axis to make smooth, continuous periodic motion without the need for independent positioning for each point.

[0035] Exemplarily, the time axis is coupled with the master axis as the master axis and the slave axis as the slave axis, a master-slave correlation is established, so that the whole periodic motion process is modulated by the linear motion of the master axis. For example, the coupling condition can be set as: the cycle frequency of the time axis is proportional to the linear moving speed of the master axis, so that when the master axis is stationary, the time axis also stops circulating and the whole periodic motion is paused; when the master axis starts to move linearly at a certain speed, the time axis starts to circulate at an angular speed proportional to the speed. In this way, the frequency of the reciprocating motion of the motion axis following the sinusoidal motion of the time axis is associated with the linear speed of the master axis.

[0036] Exemplarily, the traditional control mode can need to calculate and instruct the motion axis to move to the corresponding position for each position point of the master axis, involving a large number of condition judgments, instruction issuing and waiting for the axis servo positioning process to be completed, and there is unavoidable discretization and delay. In the two-stage coupling model provided in the embodiment of the application, including the first coupling and the second coupling, once the two-stage coupling relationship is established and enabled before the motion starts, the whole system becomes a linkage device, and the motion of the motion axis is no longer in response to a discrete instruction from the upper controller, but in response to an internal beat of the time axis driven by the speed of the master axis, eliminating the instruction analysis and waiting time of the intermediate layer, so that the motion of the slave axis and the motion of the master axis are essentially continuously and real-time linked, the response is instantaneous and predictable, thereby greatly improving the efficiency and trajectory accuracy of the motion control.

[0037] Exemplarily, referring to Figure 3 , Figure 3 is a structural schematic diagram of a lamination machine provided by another embodiment of the application, and the lamination machine includes a tab distance detection CCD, a tab size detection CCD, a line scanning camera CCD, a master axis, a time axis, a size CCD pressing plate servo, a roller conveying servo, a cutting knife servo, a tab conveying belt servo, etc.

[0038] Exemplarily, since the belt can have phenomena such as slipping, stretching or wearing, the actual advancing distance of the material is not the set distance, so the tab distance detection CCD and the tab size detection CCD can be used to obtain a deviation correction detection value, the moving distance of the material is corrected according to the deviation correction detection value, and the roller conveying servo shaft moves based on the moving distance of the material after correction.

[0039] For example, the tab distance detection CCD is installed above or aside the conveying path, and is used to continuously image and algorithmically analyze the periodically appearing tabs on the material. Each time a tab enters, the camera captures an image, and the image processing software calculates the center distance between the current tab and the previous tab in real time. The measured actual tab distance is compared with the preset theoretical tab distance in the system, and the difference reflects the actual movement error of the material accumulated since the previous operation cycle. Meanwhile, the tab size detection CCD is used to monitor the geometric parameters of a single tab, and can also serve as an auxiliary correction signal in addition to quality monitoring.

[0040] For example, the first coupling and the second coupling are both based on a cam phase angle mapping relationship, which defines the mapping from a position or phase of the driving shaft to a desired position of the driven shaft.

[0041] For example, based on the cutting process, a first cam phase angle mapping relationship between at least one motion shaft and a time axis, and a second cam phase angle mapping relationship between the main shaft and the time axis are established, the first coupling is based on the first cam phase angle mapping relationship, and the second coupling is based on the second cam phase angle mapping relationship.

[0042] For example, the cutting system includes a main shaft for continuous linear motion, a virtual time axis for serving as a beat generator, and a motion shaft for performing a cutting action. In the cutting process, the goal is to complete a complete cutting cycle when the material travels a fixed length, so the cam phase angle mapping may be in the form of a linear proportional function. In specific implementation, an electronic gear or an electronic cam table can be established in the motion controller to map the linear position of the main shaft to the phase angle of the time axis, for example, a parameter is set that for every 300 units of forward movement of the main shaft, the phase angle of the time axis linearly increases from 0 degrees to 360 degrees to complete a period, thereby ensuring that the cutting rhythm is completely synchronized with the material conveying speed, and each cutting is accurately performed after the material travels a fixed length, thereby avoiding cumulative errors from the root. In addition, for the coupling relationship between the time axis and the motion shaft, since it directly determines the motion trajectory of the cutter head, the mapping coupling relationship may no longer be a simple linear function, but a complex curve capable of describing a complete cutting action, for example, during the phase angle of 0-90 degrees, the mapping relationship controls the cutter head to accelerate from the highest position to contact the material, during the phase angle of 90-180 degrees, the cutter head maintains synchronization with the material to complete stable cutting, during the phase angle of 180-270 degrees, the cutter head quickly decelerates and lifts away from the material, and during the phase angle of 270-360 degrees, the cutter head returns to the highest position and remains stationary, waiting for the next cycle.

[0043] In the motion control method provided in another embodiment of the application, the at least one motion axis and the time axis are 360-degree cyclic axes, so that the at least one motion axis and the time axis are continuously coupled in the cyclic process.

[0044] It can be understood that, in a conventional motion control, once a motion cycle ends, the current cam coupling relationship usually needs to be released, then the axis is quickly returned to the starting point of the next cycle, and finally the coupling relationship is re-established, at this time, mode switching of the controller, re-planning of a track, and re-synchronization of a servo system, etc. are all involved, and even on a high-speed controller, millisecond-level delay and start-stop impact of a mechanical system are introduced, and in a high-speed and high-frequency cyclic application, the accumulated waste of time and the incoherence of motion are more serious.

[0045] For example, the at least one motion axis and the time axis are 360-degree cyclic axes, that is, the position count of the at least one motion axis is in a 360-degree cyclic mode, and the time axis is also in a 360-degree cyclic mode, so that, after the cam relationship between the at least one motion axis and the time axis is established, the at least one motion axis does not need to be decoupled and re-coupled, but can be continuously coupled with the time axis in the cyclic mode, so that the coupling return time is saved.

[0046] In the motion control method provided in another embodiment of the application, the at least one motion axis includes a conveying belt servo axis for conveying materials, a cutting knife servo axis, and a pressing plate servo axis.

[0047] Reference Figure 3 The laminating machine includes a tab distance detection CCD, a tab size detection CCD, a line scanning camera CCD, a main shaft, a time axis, a size CCD pressing plate servo, a roller conveying servo, a cutting knife servo, a tab conveying belt servo, and the like, and therefore, the laminating machine also includes a tab conveying belt servo axis, a cutting knife servo axis, a pressing plate servo axis, and the like.

[0048] In the motion control method provided in another embodiment of the application, the coupling condition includes a condition for a position of the material.

[0049] For example, the at least one motion axis includes a conveying belt servo axis for conveying materials, and the coupling condition includes a condition for determining whether to be coupled according to the position of the material.

[0050] It's understandable that the movement of the conveyor belt servo shaft is not the end goal, but merely a means to transfer materials. If the coupling condition is set solely based on the parameters of the servo shaft itself, the system essentially operates in an open-loop or semi-closed-loop state, assuming that the belt's movement can be transmitted to the material without loss and completely synchronously. However, in real industrial environments, belts may slip, stretch, or wear, causing cumulative errors between the rotation angle fed back by the servo motor encoder and the actual distance the material travels. Furthermore, the material itself may have positional deviations during the loading process. If these factors are ignored, and subsequent actions are triggered only when the belt shaft reaches a fixed position, the target point of subsequent operations will be offset relative to the actual material, leading to product quality defects and potentially causing equipment collisions or shutdowns. Therefore, using the material's position as the coupling condition essentially elevates the feedback loop of the control system from the servo shaft to the material itself. This gives motion control the ability to sense and adapt to external changes, ensuring that all subsequent coordinated movements are triggered based on the material's true, absolute position in physical space, thereby fundamentally guaranteeing the accuracy and reliability of the operation.

[0051] For example, conditions for material positioning include triggering based on absolute position and synchronization based on relative position. Triggering based on absolute position relies on sensors installed at key points on the conveyor line, such as photoelectric sensors or fiber optic sensors. When the material moves with the conveyor belt, its leading edge or a specific marker point obstructs or triggers the sensor, generating a switching signal that can be used directly or indirectly as a coupling condition. For example, the condition can be set to initiate the coupling of the motion axis with the time axis and begin trajectory execution when photoelectric sensor #1 is triggered by the material. On the other hand, synchronization based on relative position is used in applications requiring dynamic tracking of moving materials. In this case, the material's position is continuously monitored by a measurement system and mapped in real time to a virtual axis in the control system or directly as the primary position source. The coupling condition here is not a trigger at a specific point, but a continuous relationship. For example, switching the robot's motion axis from an internal virtual axis to a virtual axis representing the actual position of the material allows for high-precision dynamic synchronization between the robot and the moving material over a long distance, enabling complex tasks such as fly-through pick-and-place and online labeling.

[0052] like Figure 4 As shown, Figure 4 This is a flowchart of a motion control method provided in another embodiment of this application; the motion control method described above may also include, but is not limited to, step S140.

[0053] Step S140: If the first coupling or the second coupling is not completed, re-determine whether the corresponding coupling conditions of at least one motion axis are satisfied.

[0054] Exemplarily, after the first coupling and the second coupling are completed, the coupling between the at least one motion axis, the time axis and the main axis has been completed, and thus the at least one motion axis can be controlled to start moving based on the first coupling and the second coupling. However, in the case that the first coupling or the second coupling is not completed, the secondary coupling relationship between the at least one motion axis, the time axis and the main axis is not formed, and thus if the at least one motion axis is directly controlled to start moving, a serious position confusion will be caused. Therefore, after the deviation is corrected, it can be determined whether the first coupling and the second coupling are completed, and in the case that the first coupling or the second coupling is not completed, it is determined again whether the corresponding coupling condition of the at least one motion axis is met.

[0055] In an embodiment, the main axis and the time axis establish a cam relationship, the main axis is a driving shaft, and the time axis is a driven shaft. The cam relationship is a single-point cam relationship of 360 degrees. From 0 degree to 360 degree, when the main axis moves 360 degrees, the time axis moves 360 degrees together. When the next positioning is performed, the main axis continues to move from the starting position of 360 degrees to 720 degrees, and the time axis continues to move from the starting position of 0 degree to 360 degrees.

[0056] In an embodiment, the cam position relationship between the time axis and each motion axis is as follows: from 0 degree to 230 degree of the time axis, the cutting knife and the pressing plate move from the starting position to the pre-cutting position, and the roller feeding shaft and the belt shaft move from the 0 degree position to the sheet feeding position; from 230 degree to 360 degree of the time axis, the cutting knife and the pressing plate move from the pre-cutting position to the starting position, and the roller feeding shaft and the belt shaft stop.

[0057] In another embodiment of the motion control method provided in the present application, the coupling condition further includes a condition of determining whether to perform coupling according to a mark of the material.

[0058] Exemplarily, the first coupling between the at least one motion axis and the time axis as a driving shaft and the second coupling between the time axis and the main axis as a driving shaft can be performed according to whether the following coupling conditions are met: the time axis CAM_IN=TRUE; the roller feeding shaft CAM_IN=TRUE; the cutting shaft CAM_IN=TRUE; the pressing plate shaft CAM_IN=TRUE; the front belt CAM_IN=I_outfeed condition mark=1; the back belt CAM_IN=I_outfeed condition mark=2; the A-side belt CAM_IN=I_outfeed condition mark=3; the B-side belt CAM_IN=I_outfeed condition mark=4; C-side belt CAM_IN=I_Discharge condition flag=5.

[0059] For example, the system monitors the value of the input variable I_discharge condition flag in real time: when I_discharge condition flag = 1, the condition is true → the statement result is true → the CAM_IN signal of the front belt is activated (CAM_IN = true); when I_discharge condition flag ≠ 1, the condition is false → the statement result is false → the CAM_IN signal of the front belt is turned off (CAM_IN = false). For example, when CAM_IN=true, the front belt enters the electronic cam synchronization mode, establishes a motion relationship with the time axis, starts running, and can then guide the material to the front sorting channel.

[0060] For example, discharge condition flags = 1, 2, 3, 4, 5 may represent front-side qualified products, back-side qualified products, Class A products, Class B products, Class C products, etc., respectively. Here, discharge condition flags can be set according to the actual production process.

[0061] like Figure 5 As shown, Figure 5 This is a flowchart of a motion control method provided in another embodiment of this application; regarding the above motion control method, before step S110, there may be steps including but not limited to step S150.

[0062] Step S150: With the main axis and time axis in their original positions, determine the coupling conditions.

[0063] Understandably, before starting a cycle of motion control, it is possible to first determine whether the main axis and time axis are in their original positions, i.e., position 0. If the main axis and time axis are in their original positions, then the coupling condition can be determined.

[0064] Based on the motion control methods of the above embodiments, the following presents various embodiments of the operation control device, material cutting and processing equipment, and computer-readable storage medium of this application.

[0065] like Figure 6 As shown, Figure 6 This is a schematic diagram of an operation control device for executing an operation control method according to an embodiment of this application. The operation control device 600 implemented in this application includes: a processor 620, a memory 610, and a computer program stored in the memory 610 and executable on the processor 620, wherein... Figure 6 The example uses a processor 620 and a memory 610.

[0066] The processor 620 and the memory 610 can be connected via a bus or other means. Figure 6 Taking the example of a connection between China and Israel via a bus.

[0067] The memory 610, as a kind of non-transient computer readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs.In addition, the memory 610 can include high-speed random access memory, and can also include non-transient memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transient solid-state memory device.In some embodiments, the memory 610 can optionally include a memory 610 that is remotely arranged relative to the processor 620, and these remote memories 610 can be connected to the operation control device 600 through a network.The examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0068] Those skilled in the art can understand that, Figure 6 The device structure shown in the above-mentioned embodiments does not constitute a limitation on the operation control device 600, and can include more or fewer components than those shown in the figure, or combine certain components, or different component arrangements.

[0069] In Figure 6 In the operation control device 600 shown in the above-mentioned embodiments, the processor 620 can be used to call the control program stored in the memory 610, so as to realize the above-mentioned operation control method.In particular, the non-transient software programs and instructions required for the operation control method of the above-mentioned embodiments are stored in the memory 610, and when executed by the processor 620, the operation control method of the above-mentioned embodiments is executed.

[0070] It is worth noting that since the operation control device 600 of the embodiments of the present application can execute the operation control method of any one of the above-mentioned embodiments, the specific implementation and technical effects of the operation control device 600 of the embodiments of the present application can refer to the specific implementation and technical effects of the operation control method of any one of the above-mentioned embodiments.

[0071] In addition, one embodiment of the present application also provides a material cutting processing equipment, which includes the operation control device of the above-mentioned embodiments.

[0072] It is worth noting that since the equipment of the embodiments of the present application includes the operation control device of the above-mentioned embodiments, and the operation control device of the above-mentioned embodiments can execute the operation control method of any one of the above-mentioned embodiments, the specific implementation and technical effects of the equipment of the embodiments of the present application can refer to the specific implementation and technical effects of the operation control method of any one of the above-mentioned embodiments.

[0073] In addition, one embodiment of the present application also provides a computer readable storage medium, which stores computer executable instructions for executing the above-mentioned operation control method.Exemplarily, the computer executable instructions are used to execute the above-mentioned operation control method.Figure 1 , Figure 4 , Figure 5 .

[0074] It is worth noting that since the computer readable storage medium of the embodiments of the present application can perform the running control method of any of the above embodiments, the specific implementation and technical effects of the computer readable storage medium of the embodiments of the present application can refer to the specific implementation and technical effects of the running control method of any of the above embodiments.

[0075] Those of ordinary skill in the art can understand that all or some steps of the method disclosed above can be implemented as software, firmware, hardware and appropriate combinations thereof. Some or all physical components can be implemented as software executed by a processor such as a central processing unit, a digital signal processor or a microprocessor, or as hardware, or as an integrated circuit such as an application specific integrated circuit. Such software can be distributed on a computer readable medium, which can include computer storage media or non-transitory media and communication media or transitory media. As known to those of ordinary skill in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk DVD or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. In addition, as known to those of ordinary skill in the art, communication media generally includes computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and can include any information delivery medium.

[0076] In several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method can be implemented in other manners. For example, the apparatus embodiments described above are merely schematic. For example, the division of the units is only a logical function division. For another example, there can be another division manner for the actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between the units can be indirect couplings or communication connections through some interfaces, apparatuses or units, and can be in electrical, mechanical or other forms.

[0077] It should also be understood that the various embodiments provided by the embodiments of the present application can be combined in any manner to achieve different technical effects.

[0078] The embodiments of the present application are described in detail above with reference to the drawings, but the present application is not limited to the above embodiments. Within the scope of knowledge of those skilled in the art, various changes can be made without departing from the purpose of the present application.

Claims

1. A cam phase angle-based motion control method, characterized by, The method comprises: in response to corresponding coupling conditions of at least one motion axis being satisfied, respectively, first coupling the at least one motion axis with a time axis as a driven axis, and second coupling the time axis with a main axis as a driving axis, wherein the main axis is a linear axis, the at least one motion axis and the time axis are cyclic axes, the at least one motion axis comprises a roller conveyor belt servo axis for conveying materials, and the first coupling and the second coupling are both based on cam phase angle mapping relationship; obtaining a correction detection value, and correcting a movement distance of the materials according to the correction detection value, wherein the roller conveyor belt servo axis is used to move based on the movement distance of the materials after correction; controlling the at least one motion axis to start moving based on the first coupling and the second coupling.

2. The motion control method according to claim 1, characterized by, The at least one motion axis and the time axis are 360-degree cyclic axes, so that the at least one motion axis and the time axis are continuously coupled in the cyclic process.

3. The motion control method of claim 1, wherein, The at least one motion axis further comprises a conveyor belt servo axis, a cutting knife servo axis, and a pressing plate servo axis for conveying materials.

4. The motion control method of claim 1, wherein, The coupling conditions comprise conditions for determining whether to couple according to positions of the materials.

5. The motion control method of claim 1, wherein, The method further comprises: in the case where the first coupling or the second coupling is not completed, re-determining whether the corresponding coupling conditions of the at least one motion axis are satisfied, respectively.

6. The motion control method of claim 1, wherein, The coupling conditions further comprise conditions for determining whether to couple according to marks of the materials.

7. The motion control method of claim 1, wherein Before the response to the corresponding coupling conditions of the at least one motion axis being satisfied, respectively, the method further comprises: in the case where the main axis and the time axis are in the original position, determining the coupling conditions.

8. A running control device characterized by comprising: A computer program product comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the motion control method according to any one of claims 1 to 7.

9. A material cutting apparatus characterized by comprising: The operation control device according to claim 8.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer executable instructions for causing a computer to execute the motion control method according to any one of claims 1 to 7.

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