Chain drive motion control method, apparatus, and electronic device

Abstract

This application relates to the field of chain drive control technology and provides a chain drive motion control method, device, and electronic device. The chain drive motion control method of this application includes obtaining the pitch circle radius and tooth angle of the sprocket driving the chain meshing transmission, and obtaining the target linear transmission amount that the chain currently needs to achieve; based on the pitch circle radius and tooth angle, calculating the transmission relationship between a single chain link and the sprocket during the meshing transmission process, wherein the transmission relationship is a correspondence between the sprocket rotation angle and the chain transmission amount; based on the target linear transmission amount and the transmission relationship, determining the target sprocket rotation angle corresponding to the chain moving the target linear transmission amount; controlling the sprocket to rotate the target sprocket rotation angle, so that the chain completes the transmission of the target linear transmission amount. The chain drive motion control method of this application can improve the chain drive control accuracy to meet the needs of high-precision production control.

Description

Technical Field

[0001] This application relates to the field of chain drive control technology, and in particular to a chain drive motion control method, device and electronic equipment. Background Technology

[0002] Chain drive mechanisms are widely used in fields such as machinery manufacturing due to their advantages of stable power transmission and strong adaptability, such as the loading process of laser cutting equipment. The core of this chain drive mechanism consists of a rotating sprocket and a chain hinged at both ends. During operation, power is transmitted through the meshing of the sprocket teeth and the chain links, converting the rotational motion of the sprocket into the linear motion of the chain, thereby realizing material conveying.

[0003] In related technologies, chain drive control typically treats the chain drive process as an ideal state. An ideal state means that the constant angular velocity of the sprocket rotation allows the chain to achieve a constant linear velocity, and the sprocket rotation angle can be calculated based on a fixed transmission ratio to complete the conveying process.

[0004] However, the actual chain drive process has a polygonal effect, which causes fluctuations in the instantaneous transmission ratio. That is, the meshing point between the chain link and the sprocket tooth changes continuously during the meshing process. Even if the sprocket rotates at a constant speed, the instantaneous linear velocity of the chain still fluctuates, causing deviations in conveying accuracy and making it difficult to meet the requirements of high-precision production. Summary of the Invention

[0005] In view of this, this application aims to propose a chain drive motion control method to improve the control accuracy of chain drives and meet the needs of high-precision production.

[0006] To achieve the above objectives, the technical solution of this application is implemented as follows:

[0007] A chain drive motion control method, the chain drive motion control method comprising:

[0008] The pitch circle radius of the sprocket that drives the chain meshing transmission, the tooth angle of the sprocket, and the target linear transmission amount that the chain currently needs to achieve are obtained;

[0009] Based on the pitch circle radius and the tooth angle, calculate the transmission relationship between a single link of the chain and the sprocket during the meshing process, wherein the transmission relationship is the correspondence between the sprocket rotation angle and the chain transmission amount;

[0010] Based on the target chain linear transmission amount and the transmission relationship, determine the target sprocket rotation angle corresponding to the chain moving the target chain linear transmission amount;

[0011] Controlling the rotation angle of the target sprocket to enable the chain to complete the linear transmission of the target chain.

[0012] Furthermore, the calculation of the transmission relationship between a single link of the chain and the sprocket during the meshing process, based on the pitch circle radius and the tooth angle, includes:

[0013] Based on the tooth angle and the pitch circle radius, determine the relationship between the equivalent rotation radius of the chain and the rotation angle of the sprocket during the meshing transmission process of the single chain link and the sprocket;

[0014] Based on the relationship between the equivalent rotation radius and the rotation angle of the sprocket, the formula for calculating the chain transmission amount is determined, and the transmission relationship is obtained.

[0015] Furthermore, the relationship between the equivalent radius of rotation of the chain and the rotation angle of the sprocket includes:

[0016] ;

[0017] in, Let r be the equivalent radius of rotation, and r be the radius of the pitch circle. The rotation angle of the sprocket. The inter-tooth angle; .

[0018] Furthermore, the formula for calculating the chain transmission amount includes:

[0019] ;

[0020] in, x The amount of chain transmission during the engagement and transmission process of the individual chain link with the sprocket.

[0021] Furthermore, the target chain linear transmission amount is the linear transmission amount that the chain transmits to the load via the sprocket starting from a preset zero position.

[0022] The step of determining the target sprocket rotation angle corresponding to the target chain linear transmission amount based on the target chain linear transmission amount and the transmission relationship includes:

[0023] Obtain the chain pitch of the chain, wherein the chain pitch characterizes the length of a single link of the chain;

[0024] Based on the target linear transmission amount of the chain and the chain pitch, calculate the length of the complete chain links that the chain needs to move from the preset zero position to the target linear transmission amount, as well as the remaining chain link length;

[0025] Using the remaining link length as the chain transmission amount of a single link, and substituting it into the transmission relationship, the sprocket rotation angle corresponding to the remaining link length is obtained;

[0026] Based on the sprocket rotation angle corresponding to the remaining link length and the complete link length, determine the target sprocket rotation angle corresponding to the linear transmission amount of the chain movement to the target chain.

[0027] Wherein, the sum of the length of the complete link and the length of the remaining link is equal to the linear transmission amount of the target chain.

[0028] Furthermore, the chain includes a preset number of links, wherein each link includes a preset zero-position link, and each link periodically drives with the preset zero-position link as the starting point.

[0029] When the preset zero link of the chain passes through the preset zero position, it indicates that the chain is in the preset zero state. When the chain is in the preset zero state, the linear displacement of the chain is reset to 0, and the sprocket rotation angle is... ;

[0030] The step of calculating the complete link length and remaining link length required for the chain to move the target chain linear transmission amount from the preset zero position state, based on the target chain linear transmission amount and the chain pitch, includes:

[0031] Based on the target linear transmission amount of the chain, the chain pitch, and the preset quantity, it is determined whether the chain can achieve the transmission of the target linear transmission amount of the chain within one transmission cycle, wherein the transmission cycle is the cycle corresponding to one revolution of the chain;

[0032] When the chain is capable of transmitting the target linear transmission amount within one transmission cycle, the number of complete chain links that the chain needs to pass through to achieve the target linear transmission amount is determined based on the target linear transmission amount and the chain pitch.

[0033] The length of the complete chain link is obtained by multiplying the number of complete chain links by the chain pitch.

[0034] The difference between the target chain linear transmission amount and the length of the complete chain link is calculated to obtain the length of the remaining chain link.

[0035] Furthermore, the chain drive motion compensation method also includes:

[0036] If the chain cannot achieve the target linear transmission amount within one transmission cycle, the number of complete transmission cycles required to achieve the target linear transmission amount is determined based on the chain pitch, the preset quantity, and the target linear transmission amount.

[0037] Based on the number of complete transmission cycles, determine the sprocket rotation angle required for the sprocket to achieve the transmission of the number of complete transmission cycles, and determine the remaining transmission amount required to achieve the target chain linear transmission amount in addition to the transmission of the complete transmission cycles.

[0038] Based on the remaining transmission amount and the chain pitch, calculate the sprocket rotation angle corresponding to the chain moving the remaining transmission amount from the preset zero position state.

[0039] Based on the sprocket rotation angles traversed by the sprocket to achieve the number of complete transmission cycles, and the sprocket rotation angles corresponding to the remaining transmission amount moved by the chain from the preset zero position, the target sprocket rotation angle corresponding to the linear transmission amount of the target chain is determined.

[0040] Compared with related technologies, this application has at least the following advantages:

[0041] The chain drive motion control method described in this application analyzes the meshing transmission process of a single chain link and sprocket to accurately determine the corresponding relationship between the chain transmission amount and the sprocket rotation angle during the meshing process, i.e., the transmission relationship formula. Furthermore, in sprocket control, the sprocket rotation is precisely controlled based on this transmission relationship formula. By not treating the chain drive as an ideal chain drive process but rather meticulously analyzing it, the adverse effects of polygonal effects on the chain drive control accuracy can be reduced, thereby improving the chain drive control accuracy and ultimately facilitating the meeting of high-precision production requirements.

[0042] Meanwhile, in the chain drive motion control method of this application, by analyzing the cause of chain linear velocity fluctuation due to polygon effect during the meshing process of a single chain link, the relationship between the equivalent rotation radius and the rotation angle is determined, and then the chain transmission amount is calculated. The transmission relationship determined in this way can better fit the actual transmission process, thereby improving the calculation accuracy of the target sprocket rotation angle.

[0043] Another objective of this application is to provide a chain drive motion control device, the chain drive motion control device comprising:

[0044] The acquisition module is used to acquire the pitch circle radius of the sprocket that meshes with the chain and drives the chain transmission, the tooth angle of the sprocket, and the current required target chain linear transmission amount;

[0045] The calculation module is used to calculate the transmission relationship between a single link of the chain and the sprocket during the meshing process based on the pitch circle radius and the tooth angle, wherein the transmission relationship is the correspondence between the sprocket rotation angle and the chain transmission amount;

[0046] The sprocket rotation angle determination module is used to determine the target sprocket rotation angle corresponding to the linear transmission amount of the target chain and the transmission relationship based on the linear transmission amount of the target chain.

[0047] The control module is used to control the rotation angle of the target sprocket so that the chain can complete the transmission of the target amount of power.

[0048] The chain drive motion control device described in this application can achieve precise control of the chain drive process, thereby improving the accuracy of chain drive control and meeting the needs of high-precision production.

[0049] Another object of this application is to provide an electronic device comprising:

[0050] One or more processors;

[0051] Storage device for storing one or more programs;

[0052] When the one or more programs are executed by the one or more processors, the one or more processors implement the above-described chain drive motion control method.

[0053] Another objective of this application is to provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described chain drive motion control method.

[0054] The electronic device and computer-readable storage medium described in this application, by running a corresponding computer program to implement the above-mentioned chain drive motion control method, can achieve precise control of the chain drive process, thereby improving the accuracy of chain drive control and meeting the needs of high-precision production. Attached Figure Description

[0055] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0056] Figure 1 This is an example diagram of the chain drive structure in the chain drive motion control method described in the embodiments of this application;

[0057] Figure 2 This is a schematic flowchart of the chain drive motion control method described in the embodiments of this application;

[0058] Figure 3 This is a schematic diagram of the transmission process of the chain drive structure in the embodiments of this application;

[0059] Figure 4 This is a curve showing the relationship between the linear velocity of the chain and the rotation angle of the sprocket during the meshing of a single chain link in an embodiment of this application.

[0060] Figure 5 This is a flowchart illustrating the process of determining the rotation angle of the target sprocket during short-distance transmission in the chain drive motion control method described in the embodiments of this application.

[0061] Figure 6 This is a flowchart illustrating the process of determining the rotation angle of the target sprocket during long-distance transmission in the chain drive motion control method described in the embodiments of this application.

[0062] Figure 7 This is a schematic diagram of the chain drive motion control device described in the embodiments of this application;

[0063] Figure 8 This is a schematic diagram illustrating the structure of the electronic device described in the embodiments of this application;

[0064] Explanation of reference numerals in the attached figures:

[0065] 710. Acquisition Module; 720. Calculation Module; 730. Sprocket Rotation Angle Determination Module; 740. Control Module;

[0066] 810, Processor; 820, Memory. Detailed Implementation

[0067] To make the technical solution and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0068] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0069] Furthermore, it should be noted that in the description of this application, if terms such as "upper," "lower," "inner," or "outer" appear, indicating orientation or positional relationship, these are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In addition, if terms such as "first" or "second" appear, they are also used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0070] Furthermore, in the description of this application, unless otherwise expressly defined, the terms "installation," "connection," "joining," and "connector" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application in light of the specific circumstances.

[0071] In this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0072] The present application will now be described in detail through exemplary embodiments. However, it should be understood that, without further description, elements, structures, and features in one embodiment may be advantageously incorporated into other embodiments.

[0073] An embodiment of the first aspect of this application provides a chain drive motion control method that can analyze the meshing transmission process of a single chain link and a sprocket, accurately determine the corresponding relationship between the chain transmission amount and the sprocket rotation angle during the meshing process, i.e., the transmission relationship formula, and precisely control the sprocket rotation based on the transmission relationship formula in sprocket control. By not treating the chain drive as an ideal chain drive process, but rather analyzing the chain drive process in detail, the adverse effects of polygonal effects on the chain drive control accuracy can be reduced, thereby improving the chain drive control accuracy.

[0074] In related technologies, chain drive mechanisms are frequently used in fields such as mechanical manufacturing to achieve power transmission and material conveying. For example, chain drive mechanisms are commonly used for loading materials during laser cutting. Chain drive mechanisms can be used as follows: Figure 1 As shown. Figure 1 In the example, the chain drive mechanism includes a sprocket that rotates in a preset direction (e.g., clockwise / counterclockwise) and a chain connected end to end.

[0075] The chain is composed of multiple links hinged together sequentially (the first link is hinged to the second and last links at both ends), and the sprocket has several teeth evenly distributed along its circumference. During operation, power is transmitted through the meshing of the sprocket teeth and the chain links. For example, in a laser cutting machine for uncoiling rolled plates, the control equipment drives the sprocket to rotate, causing the sprocket teeth to mesh sequentially with the chain links, generating continuous traction force and driving the chain to move along a predetermined path. This converts the rotational motion of the sprocket into the linear conveying motion of the chain, thereby moving the material linearly to the subsequent processing stage.

[0076] In related technologies, during the coordination of chain drive mechanisms with subsequent process steps, the control equipment typically treats the chain drive process as an ideal transmission process when driving the sprocket. Specifically, in an ideal transmission process, when the sprocket rotates at a constant angular velocity, the chain generates a constant linear velocity, ensuring a constant instantaneous transmission ratio (the ratio of the chain's linear velocity to the sprocket's angular velocity). Thus, the control equipment can calculate the sprocket's rotation angle using the conversion relationship between angular velocity and linear velocity (transmission ratio) and the required transmission amount. The control equipment then drives the sprocket to rotate by that angle, thereby completing the material conveying process.

[0077] However, in actual transmission, due to the polygonal effect of chain drives, the instantaneous transmission ratio is not constant but fluctuates slightly during transmission. The polygonal effect of chain drives refers to the fact that as the chain moves around the sprocket, the engagement point between the chain link and the teeth on the sprocket changes continuously during the meshing process. This causes the linear velocity of the chain to be unequal at every instant. Even if the sprocket rotates at a constant angular velocity, the instantaneous linear velocity of the chain will still change continuously, resulting in non-uniformity in speed and motion.

[0078] This can lead to significant errors when driving the sprocket to rotate and transport materials to subsequent processing equipment, resulting in low accuracy. In related technologies, to reduce the accuracy problems caused by the polygon effect, the number of teeth on the sprocket is typically increased to make the polygon closer to a circle, or a chain with a smaller pitch is used to mitigate the polygon effect.

[0079] However, these measures still result in polygonal effects in the actual transmission process, and errors still exist, making it difficult to achieve the requirements of high precision.

[0080] In view of this, in order to overcome the shortcomings of related technologies, the chain drive motion control method in this embodiment combines... Figure 2 In terms of overall design, it includes the following steps S210-S240.

[0081] Step S210: Obtain the pitch circle radius of the sprocket that drives the chain meshing transmission, the tooth angle of the sprocket, and the target linear transmission amount that the chain currently needs to achieve.

[0082] Specifically, refer to Figure 1 and Figure 3 Pitch circle radius ( Figure 1 (Indicated by r) Also called the pitch circle radius, it is the radius of an imaginary circle on the sprocket, such as... Figure 1 As shown.

[0083] The tooth angle of the sprocket ( Figure 1 China and Israel (As shown) refers to the included angle between two adjacent teeth on the sprocket. Wherein, Z represents the number of teeth on the sprocket.

[0084] It is worth noting that the pitch circle radius and the tooth angle of the sprocket can be preset manually and stored in the memory. When executing step S210, the preset pitch circle radius and tooth angle can be directly retrieved from the memory.

[0085] The target linear transmission amount of the chain is the distance the chain needs to move in subsequent processes. This distance is the distance transmitted by the linear motion portion of the chain. For example, if a subsequent process requires the transmission of 10cm of material (the target linear transmission amount of the chain is 10cm), it means that after the chain engages with the sprocket, the linear motion of the chain needs to produce a corresponding movement distance of 10cm.

[0086] Step S220: Based on the pitch circle radius and tooth angle, calculate the transmission relationship between a single chain link and the sprocket during the meshing transmission process.

[0087] The transmission relationship is the correspondence between the sprocket rotation angle and the chain transmission amount. This chain transmission amount refers to the linear displacement of the chain.

[0088] Specifically, during the meshing transmission process between a single chain link and a sprocket, the rotation angle of the sprocket (in terms of...) (indicated) That is, the sprocket rotates at the angle when the chain link and the teeth begin to mesh. When the chain link and the tooth are fully engaged, the sprocket rotates at an angle of [missing information]. Approaching When one chain link is engaged, the next chain link begins to engage with the sprocket, thus entering the next chain link engagement process with the sprocket.

[0089] Specifically, during the process from the start of engagement between each chain link and the sprocket to the completion of engagement, the engagement point constantly changes, causing the equivalent radius of rotation of the chain to constantly change, which in turn affects the angular velocity of the sprocket. Figure 3 China and Israel When (represented) is constant, the linear velocity of the link ( Figure 3 China and Israel This means that the instantaneous velocity of the chain's linear motion is constantly changing (i.e., the angular velocity of the sprocket and the linear velocity of the chain are not in a constant proportional relationship), which in turn causes the linear displacement of the chain per unit time to change even when the angular velocity is constant.

[0090] The relationship between the linear velocity of the chain link and the rotation angle of the sprocket is shown in the curve below. Figure 4 As shown. During one period, the average linear velocity of the chain links is... At the junction of the two cycles, point J, a certain degree of impact will occur due to the second-order discontinuity. It is worth noting that... Figure 4 The curve to the right of point J is only used to illustrate second-order discontinuity. For the transmission process of a single link, the curve to the right of point J does not actually exist. Approaching At that time, the next tooth begins to mesh with the next link. (at this time) The sprocket rotation angle during the engagement of the next tooth and the next link becomes... .

[0091] In step S220, based on the pitch circle radius r and the tooth angle... First, analyze the meshing transmission process between a single chain link and the sprocket to find the corresponding relationship between the sprocket rotation angle and the chain transmission amount. Then, transmission control can be performed based on this relationship.

[0092] Step S230: Based on the target chain linear transmission amount and transmission relationship, determine the target sprocket rotation angle corresponding to the target chain linear transmission amount.

[0093] Step S240: Control the rotation angle of the target sprocket so that the chain completes the linear transmission of the target chain.

[0094] Specifically, after obtaining the transmission relationship between a single chain link and the sprocket, in step S230, based on the target chain linear transmission amount, that is, based on the desired chain linear displacement, and combined with the transmission relationship, the target sprocket rotation angle required to complete the desired chain linear displacement can be calculated.

[0095] Thus, in step S240, by controlling the rotation angle of the sprocket to the target sprocket, the chain can complete the linear displacement of the target chain linear transmission amount, thereby realizing transmission.

[0096] Through steps S210-S240, by analyzing the meshing transmission process of a single chain link and sprocket, the corresponding relationship between the chain transmission amount and the sprocket rotation angle during the meshing process is precisely determined, i.e., the transmission relationship formula. Furthermore, in sprocket control, the sprocket rotation is precisely controlled based on this transmission relationship formula. By not treating the chain drive as an ideal chain drive process but rather meticulously analyzing the chain drive process, the adverse effects of the polygon effect on the chain drive control accuracy can be reduced, thereby improving the chain drive control accuracy.

[0097] Continue by Figures 1-3 and combined Figure 5 As shown, in some exemplary embodiments, the above step S220, which calculates the transmission relationship between a single link of the chain and the sprocket during the meshing transmission process based on the pitch circle radius and the tooth angle, may specifically include the following steps S221 and S222.

[0098] Step S221: Based on the tooth angle and pitch circle radius, determine the relationship between the equivalent rotation radius of the chain and the rotation angle of the sprocket during the meshing transmission of a single chain link and the sprocket.

[0099] Specifically, because the engagement point changes continuously during the meshing transmission between the chain link and the sprocket, the rotation radius of the chain link changes continuously rather than remaining constant at the aforementioned pitch circle radius r. Therefore, the equivalent rotation radius... This represents the actual instantaneous rotation radius during the meshing transmission of the chain link and sprocket; this is the equivalent rotation radius. It changes continuously as the rotation angle of the sprocket changes.

[0100] In some embodiments, the relationship between the equivalent radius of rotation of the chain and the rotation angle of the sprocket includes the following formula:

[0101] (Formula 1).

[0102] in, Let r be the equivalent radius of rotation (also known as the transmission ratio, which is the ratio of the linear velocity of the chain to the angular velocity of the sprocket), and r be the pitch circle radius. The rotation angle of the sprocket. It is the tooth angle.

[0103] Specifically, since the linear velocity of the chain is the linear velocity in the tangential direction when the chain link meshes with the sprocket, the relationship between the angular velocity of the sprocket and the linear velocity of the chain is as follows: .

[0104] The sprocket has an angular velocity As the chain rotates, the contact point (meshing point) between the chain and the sprocket constantly changes, causing the tangential component of the chain speed (i.e., the linear speed of the chain) to change. ) Periodic changes, and .

[0105] Therefore, the equivalent radius of rotation .

[0106] Furthermore, in order to demonstrate the equivalent rotation radius The rationality of the calculation formula is based on the explanation in the above embodiments that, during the meshing transmission process between a single chain link and the sprocket, the average linear velocity of the chain link in one cycle is... .

[0107] According to the formula for the equivalent radius of rotation, the average value of the equivalent radius of rotation is calculated as follows:

[0108]

[0109] Therefore, the average linear velocity of the chain links in one cycle is Q.E.D.

[0110] Formula 1 above can accurately determine the dynamic change law of the equivalent rotation radius in the core process of a single chain link, providing an accurate basis for the calculation of subsequent transmission relationships, improving the accuracy of the determination of subsequent transmission relationships, and thus improving the calculation accuracy of chain drive control.

[0111] Step S222: Based on the relationship between the equivalent rotation radius and the rotation angle of the sprocket, determine the calculation formula for the chain transmission amount and obtain the transmission relationship.

[0112] Specifically, after calculating the relationship between the equivalent radius of rotation and the sprocket rotation angle, the formula for calculating the chain transmission amount can be determined. This allows us to calculate the relationship between the chain transmission amount and the sprocket rotation angle, thus obtaining the transmission relationship formula.

[0113] In some embodiments, the formula for calculating the amount of chain transmission during the meshing and transmission of a single chain link with a sprocket may specifically include the following formula two:

[0114] (Formula 2)

[0115] in, This refers to the amount of chain transmission during the meshing and transmission process of a single chain link with a sprocket.

[0116] In other words, during the meshing and transmission process between a single chain link and a sprocket, the relationship between the amount of chain transmission and the rotation angle of the sprocket is as follows: Conversely, the formula for calculating the rotation angle of the sprocket is as follows: Formula 3:

[0117] (Formula 3).

[0118] This yields the corresponding relationship between the sprocket rotation angle and the chain transmission amount during the meshing and rotation of a single chain link and sprocket, which is Equation 3 above. Equation 3 allows for precise calculation of the chain transmission amount during the meshing of a single chain link, effectively offsetting the instantaneous transmission deviation caused by the polygon effect, thereby further improving the accuracy of transmission control.

[0119] Through the above steps S221 and S222, the cause of chain linear velocity fluctuation under polygonal effect is first analyzed, the relationship between the equivalent rotation radius and the rotation angle is determined, and then the chain transmission amount is calculated. The transmission relationship determined in this way can better fit the actual transmission process, thereby improving the calculation accuracy of the target sprocket rotation angle.

[0120] Furthermore, the chain is composed of multiple links connected end to end, and the transmission of the chain is essentially a periodic meshing transmission process between multiple links and sprockets. In this embodiment, in order to describe the movement process of the chain, each link of the chain is numbered. Assume that the chain consists of N+1 links, starting from the preset zero link, the links are numbered sequentially as: 0, 1, 2, 3, ... N.

[0121] Then, the circumference B of the chain is: Where P is the chain pitch. (Refer to...) Figure 3 Chain pitch .

[0122] In this design, the preset zero-position link is a pre-defined link. When the preset zero-position link reaches the preset zero position, it signifies the end of one revolution of chain transmission and the beginning of the next revolution. For the chain, when the preset zero-position link is at the preset zero position, the linear displacement of the chain is 0. As the chain engages, the linear displacement continuously increases. When the preset zero-position link reaches the preset zero position again, the linear displacement of the chain is reset to 0. In this embodiment, this movement of the chain is referred to as canonical motion.

[0123] Based on the transmission relationship between a single chain link and a sprocket in the above study, the linear transmission displacement of the chain can be obtained. The relationship is expressed by the following formula:

[0124] (Formula 4).

[0125] in, i is the number of the chain link that is currently engaged with the sprocket (that is, the chain link that is in the state between not engaged and fully engaged; the chain link that is already fully engaged with the sprocket is not considered to be in the process of engaging with the sprocket).

[0126] on the contrary, By substituting the linear transmission displacement of the chain into the formula, the rotation angle of the sprocket corresponding to the chain link currently meshing with the sprocket can be obtained.

[0127] Additionally, refer to Figure 3 The preset zero link can specifically be Figure 3 The link with connection number i=0 shown in the figure has a preset zero position that can be specifically... Figure 3 The proximity switch position is determined by a proximity baffle plate on a preset zero-position link. When the proximity baffle plate reaches the position of the proximity switch, it can be recognized by the proximity switch to detect that the preset zero-position link is located at the preset zero position.

[0128] And when the preset zero link is in the preset zero position, for the link that is about to mesh with the sprocket (such as...) Figure 3 (Link N-4 in the chain), at this point the sprocket rotates at an angle... .

[0129] In actual chain drive control, the target linear transmission amount of the chain refers to the linear transmission amount that the chain transmits to the load via the sprocket starting from a preset zero position.

[0130] The preset zero-position state refers to the state in which the preset zero-position chain link is located at the preset zero position. That is, taking the state when the chain is not driving as the initial state, the linear transmission amount of the chain from the initial state to the desired target material position is the target chain linear transmission amount.

[0131] For example, if the chain needs to transmit 1m from the initial state, the target linear transmission distance of the chain is 1m. The target sprocket rotation angle is the angle of rotation required to achieve the 1m transmission from this initial state.

[0132] Continue by Figure 2-5 and combined Figure 6 As shown, in some exemplary embodiments, in step S230 above, determining the target sprocket rotation angle corresponding to the target chain linear transmission amount based on the target chain linear transmission amount and transmission relationship may specifically include the following steps S231-S234.

[0133] Step S231: Obtain the chain pitch of the chain.

[0134] The chain pitch P represents the length of a single link in the chain.

[0135] Step S232: Based on the target chain linear transmission amount and chain pitch, calculate the length of the complete chain links required for the chain to move from the preset zero position to the target chain linear transmission amount, as well as the remaining chain link length.

[0136] The sum of the length of the complete link and the length of the remaining link equals the linear transmission amount of the target chain.

[0137] It is worth noting that the target linear transmission displacement of the chain may or may not exceed the chain's circumference. If it exceeds the chain's circumference, the linear transmission displacement of the chain will be reset to 0.

[0138] Therefore, in step S232, based on the target chain linear transmission amount and chain pitch, the complete chain link length and remaining chain link length required for the chain to move from the preset zero position to the target chain linear transmission amount are calculated. Specifically, this may include:

[0139] Based on the target linear transmission amount, chain pitch, and preset quantity, it is determined whether the chain can achieve the target linear transmission amount within one transmission cycle. The transmission cycle is the period corresponding to one revolution of the chain; that is, if the target linear transmission amount exceeds the chain circumference, it indicates that the chain cannot achieve the target linear transmission amount within one transmission cycle.

[0140] When the linear transmission amount of the target chain does not exceed the chain circumference, it characterizes the ability of the chain to achieve the linear transmission amount of the target chain within one transmission cycle.

[0141] If the chain can achieve the target linear transmission amount within one transmission cycle, the number of complete chain links required for the chain to traverse the target linear transmission amount is determined based on the target linear transmission amount and the chain pitch. Specifically, the quotient of the target linear transmission amount and the chain pitch is calculated, and then rounded down to the nearest integer to obtain the number of complete chain links. For example, if the target linear transmission amount ÷ the chain pitch = 1.8, then the number of complete chain links is 1.

[0142] Next, the product of the number of complete chain links and the chain pitch is calculated to obtain the length of the complete chain links. Then, the difference between the target chain linear transmission amount and the length of the complete chain links is calculated to obtain the length of the remaining chain links.

[0143] This method accurately determines the number of complete chain links and the length of remaining chain links for the target transmission volume within a single transmission cycle. By anchoring to a preset zero-position state, the transmission volume and rotation angle are aligned with the reference, avoiding adverse effects caused by initial position deviations. At the same time, the calculation process within a single transmission cycle is refined to ensure the accuracy of rotation angle calculations in short-to-medium stroke conveying scenarios.

[0144] Step S233: Using the remaining link length as the chain transmission amount of a single link, substitute it into the transmission relationship to obtain the sprocket rotation angle corresponding to the remaining link length.

[0145] Specifically, the length of a complete link is achieved by the complete rotation process of the number of complete links, and the sprocket rotation angle corresponding to the length of the complete link is the number of complete links multiplied by the tooth angle.

[0146] The remaining link length is achieved by the partial transmission of one link. Therefore, it is necessary to determine the transmission relationship based on the above step S220 and calculate the corresponding sprocket rotation angle.

[0147] Therefore, in step S233, by substituting the remaining link length as the chain transmission amount of a single link into Formula 3 above, the sprocket rotation angle after a single link has completed the transmission of the remaining link length can be obtained. For example, the result calculated in step S233 .

[0148] Alternatively, if the chain can achieve the target linear transmission amount within one transmission cycle, this target linear transmission amount is the linear transmission displacement of the chain. Taking this linear transmission displacement as X and the number of complete chain links as i, substituting these values ​​into Formula 4 above, the sprocket rotation angle in the final state can also be obtained. Then, in step S234, based on the sprocket rotation angle in the final state... By combining the number of complete chain links, the rotation angle of the target sprocket corresponding to the linear transmission amount of the target chain can be calculated.

[0149] Step S234: Determine the target sprocket rotation angle corresponding to the target chain linear transmission amount based on the sprocket rotation angle corresponding to the remaining chain link length and the complete chain link length.

[0150] Specifically, in step S233, the rotation angle of the sprocket corresponding to the chain link that is meshing with the sprocket when the target linear transmission amount of the chain is completed can be obtained. Thus, based on the sprocket rotation angle and the length of the complete chain link, the target sprocket rotation angle corresponding to the target linear transmission amount of the chain movement can be obtained.

[0151] Specifically, step S233 calculates... This refers to the rotation angle of the sprocket corresponding to the chain link currently engaged with the sprocket when the target linear transmission amount of the chain is achieved. For example, it is... Its initial sprocket rotation angle is Therefore, the chain link currently engaged with the sprocket should be rotated: For example, it should be rotated .

[0152] Therefore, the target sprocket rotation angle calculated in step S232 should be equal to: .

[0153] For example, when the number of complete chain links is 1, the rotation angle of the target sprocket should be equal to... That is, the sprocket starts rotating from the preset zero position. This allows for the complete linear transmission of the target chain.

[0154] In other words, in order to achieve the linear transmission of the target chain, starting from the preset zero position, the linear transmission of the target chain can be achieved by rotating the target sprocket by a certain angle.

[0155] Through steps S231-S234, the target transmission quantity is decomposed into the complete link length and the remaining link length. Only the rotation angle corresponding to the remaining link length is calculated using the transmission relationship formula corresponding to the individual link engagement process. The complete link length is directly matched to a fixed rotation angle (no need for repeated calculation). This simplifies the calculation process and improves control response speed, while also covering the entire stroke of the target transmission quantity, avoiding accumulated errors caused by link discreteness, and thus improving control accuracy under long strokes and arbitrary target transmission quantities.

[0156] For example, in actual laser cutting, cutting is usually performed at multiple material locations, such as at the target chain linear transmission amount 1, target chain linear transmission amount 2, and target chain linear transmission amount 3.

[0157] By following steps S231-S234 as described above, calculate the target sprocket rotation angle corresponding to each target chain linear transmission amount 1-3. Then, control the sprocket motor to move according to the rotation angle of each target sprocket to achieve material feeding.

[0158] Continue by Figure 1-5 and combined Figure 6 As shown, when the linear transmission amount of the target chain exceeds the chain circumference, it will cause the chain to pass through multiple preset zero states. When the preset zero state is reached, the linear displacement of the chain will be reset to 0, and the transmission of the next cycle will begin.

[0159] Therefore, when determining the target chain displacement based on the target chain linear transmission amount, and then determining the chain rotation angle based on the target chain displacement, the target chain linear transmission amount cannot be directly substituted as the chain's linear transmission displacement into the above formula four for calculation. .

[0160] Therefore, in some exemplary embodiments, the chain drive motion compensation method further includes the following steps S610-S640.

[0161] Step S610: If the chain cannot achieve the target linear transmission amount within one transmission cycle, determine the number of complete transmission cycles required to achieve the target linear transmission amount based on the chain pitch, preset quantity, and target linear transmission amount.

[0162] Step S620: Based on the number of complete transmission cycles, determine the sprocket rotation angle required for the sprocket to achieve the transmission of the number of complete transmission cycles, and determine the remaining transmission amount required to achieve the target linear transmission amount of the chain in addition to the transmission of the complete transmission cycles.

[0163] Specifically, in steps S610 and S620, the chain circumference can be determined based on the chain pitch and the number of chain links (i.e., the preset number). The quotient of the target chain linear transmission amount and the chain circumference is calculated and rounded down to obtain the number of complete transmission cycles.

[0164] Then, calculate the product of the number of complete transmission cycles and the circumference of the chain. Subtract this product from the target linear transmission amount of the chain to obtain the remaining transmission amount.

[0165] Step S630: Based on the remaining transmission amount and chain pitch, calculate the sprocket rotation angle corresponding to the remaining transmission amount when the chain moves from the preset zero position.

[0166] Specifically, in step S630, the remaining transmission amount is substituted into Formula 4 as the linear displacement X of the chain to calculate the sprocket rotation angle corresponding to the chain link currently engaging with the sprocket when completing the remaining transmission amount. Then, the quotient of the remaining transmission amount divided by the chain pitch is calculated to determine the number of complete chain links corresponding to the remaining transmission amount. This number is then multiplied by the tooth angle. Based on the product of these two factors and the sprocket rotation angle, the sprocket rotation angle corresponding to the remaining transmission amount at which the chain begins to move from the preset zero position can be obtained.

[0167] Step S640: Based on the sprocket rotation angles traversed during the number of complete transmission cycles and the sprocket rotation angles corresponding to the remaining transmission amount of the chain moving from the preset zero position, determine the target sprocket rotation angle corresponding to the linear transmission amount of the chain moving the target chain.

[0168] Specifically, in step S640, based on the number of complete transmission cycles, the sprocket rotation angle corresponding to the complete transmission cycle can be determined first. Then, in step S240, the chain rotation is controlled to allow the chain to complete the number of complete transmission cycles and return to the preset zero position.

[0169] Then, based on the sprocket rotation angle corresponding to the remaining transmission amount of the chain moving from the preset zero position as determined in step S630, and then rotating accordingly, the transmission process of the target chain linear transmission amount can be completed.

[0170] Therefore, the target sprocket rotation angle determined in step S640 should be: the sprocket rotation angle corresponding to the chain rotating M times (M is the number of complete transmissions), plus the sprocket rotation angle corresponding to the remaining transmission amount, to obtain the target sprocket rotation angle.

[0171] Through steps S610-S640, precise control of long-stroke conveying can be achieved without repeatedly calculating the transmission relationship within the complete cycle. Only the remaining transmission amount needs to be accurately calculated, which can ensure the accuracy of long-stroke conveying and also help improve control efficiency.

[0172] An embodiment of the second aspect of this application provides a chain drive motion control device, referring to... Figure 7 The chain drive motion control device includes an acquisition module 710, a calculation module 720, a sprocket rotation angle determination module 730, and a control module 740.

[0173] The aforementioned acquisition module 710 is used to acquire the pitch circle radius and tooth angle of the sprocket that meshes with and drives the chain, as well as the currently required target linear transmission amount of the chain. The aforementioned calculation module 720 is used to calculate the transmission relationship between a single chain link and the sprocket during the meshing process, based on the pitch circle radius and tooth angle. This transmission relationship is a correspondence between the sprocket rotation angle and the chain transmission amount. The aforementioned sprocket rotation angle determination module 730 is used to determine the target sprocket rotation angle corresponding to the target linear transmission amount of the chain movement, based on the target linear transmission amount and the transmission relationship. The aforementioned control module 740 is used to control the sprocket rotation by the target sprocket rotation angle, enabling the chain to complete the transmission of the target amount of transmission.

[0174] Specifically, in the implementation of the chain drive motion control device of this embodiment, the above-mentioned modules can be existing module products with data transmission, storage or computing functions.

[0175] In practical applications, the specific implementation process of the functions of each module in the chain drive motion control device of this embodiment can be found in the relevant descriptions in the above method embodiments, and will not be repeated here.

[0176] The chain drive motion control device in this embodiment improves the accuracy of chain drive control by determining and analyzing the transmission relationship during the meshing process of a single chain link and then precisely controlling the chain drive process based on this transmission relationship.

[0177] An embodiment of the third aspect of this application provides an electronic device, referring to... Figure 8 , Figure 8 The illustrated electronic device includes a processor 810 and a memory 820. The processor 810 and the memory 820 are connected, for example, via a bus. Optionally, the electronic device may also include a transceiver. It should be noted that in practical applications, the transceiver is not limited to one unit, and the structure of this electronic device does not constitute a limitation on the embodiments of this application.

[0178] The memory 820 is used to store application code that executes the solution of this application, and its execution is controlled by the processor 810. The processor 810 is used to execute the application code stored in the memory 820 to implement the content shown in the foregoing method embodiments.

[0179] The electronic device in this embodiment controls the rotation of the sprocket by executing the chain drive motion control method in the above method embodiment, thereby achieving precise control of the chain drive process, improving the accuracy of chain drive control, and meeting the needs of high-precision production.

[0180] An embodiment of the fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when run on a computer, enables the computer to execute the corresponding content in the foregoing method embodiments. The storage medium may be a read-only memory, a magnetic disk, or an optical disk, etc.

[0181] The above are merely some embodiments of this application and are not intended to limit this application. The technical features or structures in the foregoing different embodiments can be arbitrarily combined to form other specific technical solutions as needed. For those skilled in the art, this application can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the protection scope of the claims of this application.

Claims

1. A chain drive motion control method characterized by, The chain drive motion control method includes: The pitch circle radius of the sprocket that drives the chain meshing transmission, the tooth angle of the sprocket, and the target linear transmission amount that the chain needs to achieve are obtained. The target linear transmission amount is the linear transmission amount that the chain transmits to the load through the sprocket starting from the chain being in a preset zero position. Based on the pitch circle radius and the tooth angle, calculate the transmission relationship between a single link of the chain and the sprocket during the meshing process, wherein the transmission relationship is the correspondence between the sprocket rotation angle and the chain transmission amount; Based on the target chain linear transmission amount and the transmission relationship, determine the target sprocket rotation angle corresponding to the chain moving the target chain linear transmission amount; Controlling the rotation angle of the target sprocket to enable the chain to complete the linear transmission of the target chain; The calculation of the transmission relationship between a single link of the chain and the sprocket during the meshing process, based on the pitch circle radius and the tooth angle, includes: Based on the tooth angle and the pitch circle radius, determine the relationship between the equivalent radius of rotation of the chain and the rotation angle of the sprocket during the meshing transmission of the single chain link and the sprocket; Based on the relationship between the equivalent rotation radius and the rotation angle of the sprocket, the calculation formula for the chain transmission amount is determined, and the transmission relationship is obtained. The relationship between the equivalent radius of rotation of the chain and the rotation angle of the sprocket includes: ； wherein, is the equivalent radius of rotation, r is the pitch circle radius, is the angle of rotation of the sprocket, is the inter-tooth angle; ; The formula for calculating the chain transmission amount includes: ； Where x is the amount of chain transmission during the meshing and transmission process between the single chain link and the sprocket.

2. Chain drive motion control method according to claim 1, characterized in that, The step of determining the target sprocket rotation angle corresponding to the target chain linear transmission amount based on the target chain linear transmission amount and the transmission relationship includes: Obtain the chain pitch of the chain, wherein the chain pitch characterizes the length of a single link of the chain; Based on the target linear transmission amount of the chain and the chain pitch, calculate the length of the complete chain links that the chain needs to move from the preset zero position to the target linear transmission amount, as well as the remaining chain link length; Using the remaining link length as the chain transmission amount of a single link, and substituting it into the transmission relationship, the sprocket rotation angle corresponding to the remaining link length is obtained; Based on the sprocket rotation angle corresponding to the remaining link length and the complete link length, determine the target sprocket rotation angle corresponding to the linear transmission amount of the chain movement to the target chain. Wherein, the sum of the length of the complete link and the length of the remaining link is equal to the linear transmission amount of the target chain.

3. Chain drive motion control method according to claim 2, characterized in that, The chain includes a predetermined number of links, wherein each link includes a predetermined zero-position link, and each link periodically drives with the predetermined zero-position link as the starting point. When the preset zero link of the chain passes through the preset zero position, it indicates that the chain is in the preset zero state. When the chain is in the preset zero state, the linear displacement of the chain is reset to 0, and the sprocket rotation angle is... ; The step of calculating the complete link length and remaining link length required for the chain to move the target chain linear transmission amount from the preset zero position state, based on the target chain linear transmission amount and the chain pitch, includes: Based on the target linear transmission amount of the chain, the chain pitch, and the preset quantity, it is determined whether the chain can achieve the transmission of the target linear transmission amount of the chain within one transmission cycle, wherein the transmission cycle is the cycle corresponding to one revolution of the chain; When the chain is capable of transmitting the target linear transmission amount within one transmission cycle, the number of complete chain links that the chain needs to pass through to achieve the target linear transmission amount is determined based on the target linear transmission amount and the chain pitch. The length of the complete chain link is obtained by multiplying the number of complete chain links by the chain pitch. The difference between the target chain linear transmission amount and the length of the complete chain link is calculated to obtain the length of the remaining chain link.

4. A chain drive motion control method according to claim 3, characterized in that, The chain drive motion control method further includes: If the chain cannot achieve the target linear transmission amount within one transmission cycle, the number of complete transmission cycles required to achieve the target linear transmission amount is determined based on the chain pitch, the preset quantity, and the target linear transmission amount. Based on the number of complete transmission cycles, determine the sprocket rotation angle required for the sprocket to achieve the transmission of the number of complete transmission cycles, and determine the remaining transmission amount required to achieve the target chain linear transmission amount in addition to the transmission of the complete transmission cycles. Based on the remaining transmission amount and the chain pitch, calculate the sprocket rotation angle corresponding to the chain moving the remaining transmission amount from the preset zero position state. Based on the sprocket rotation angles traversed by the sprocket to achieve the number of complete transmission cycles, and the sprocket rotation angles corresponding to the remaining transmission amount moved by the chain from the preset zero position, the target sprocket rotation angle corresponding to the linear transmission amount of the target chain is determined.

5. A chain drive motion control device characterized by, The chain drive motion control device includes: The acquisition module is used to acquire the pitch circle radius of the sprocket that meshes with the chain and drives the chain transmission, the tooth angle of the sprocket, and to acquire the target linear transmission amount of the chain, wherein the target linear transmission amount of the chain is the linear transmission amount that the chain transmits to the load through the sprocket starting from the chain being in a preset zero position. The calculation module is used to calculate the transmission relationship between a single link of the chain and the sprocket during the meshing process based on the pitch circle radius and the tooth angle, wherein the transmission relationship is the correspondence between the sprocket rotation angle and the chain transmission amount; The sprocket rotation angle determination module is used to determine the target sprocket rotation angle corresponding to the linear transmission amount of the target chain and the transmission relationship based on the linear transmission amount of the target chain. The control module is used to control the rotation angle of the target sprocket so that the chain can complete the linear transmission of the target chain. The calculation of the transmission relationship between a single link of the chain and the sprocket during the meshing process, based on the pitch circle radius and the tooth angle, includes: Based on the tooth angle and the pitch circle radius, determine the relationship between the equivalent rotation radius of the chain and the rotation angle of the sprocket during the meshing transmission process of the single chain link and the sprocket; Based on the relationship between the equivalent rotation radius and the rotation angle of the sprocket, the calculation formula for the chain transmission amount is determined, and the transmission relationship is obtained. The relationship between the equivalent radius of rotation of the chain and the rotation angle of the sprocket includes: ； in, Let r be the equivalent radius of rotation, and r be the radius of the pitch circle. The rotation angle of the sprocket. The inter-tooth angle; ; The formula for calculating the chain transmission amount includes: ； Where x is the amount of chain transmission during the meshing and transmission process between the single chain link and the sprocket.

6. An electronic device, comprising: include: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the chain drive motion control method as described in any one of claims 1-4.

7. A computer-readable storage medium having stored thereon a computer program, characterized in that, When the computer program is executed by the processor, it implements the chain drive motion control method as described in any one of claims 1-4.

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