Control method, control system and control equipment of safety shaft

Abstract

The invention discloses a control method, a control system and control equipment of a safety shaft, and relates to the technical field of process control, and the control method comprises the steps that working signals of a safety door are detected, and the working signals comprise abnormal signals; if the working signal of the safety door is the abnormal signal, the safety shaft is controlled to stop moving; coordinate position data of the safety shaft at the stop moment are recorded, the coordinate position data comprise a first coordinate position and a second coordinate position, and the first coordinate position and the second coordinate position are coordinates corresponding to different moments in the preset movement track; when the safety shaft stops moving, abnormity processing is carried out on the shaft control system; and starting the safety shaft, and controlling the safety shaft to move from the first coordinate position to the second coordinate position. Therefore, the technical problems that when an existing safety door is abnormal, a large amount of time is needed for equipment reset and parameter calibration, and the efficiency and safety of an automatic process are affected are solved, and production safety, efficiency and stability are improved.

Description

Technical Field

[0001] This application relates to the field of process control technology, and in particular to a control method, control system and control equipment for a safety shaft. Background Technology

[0002] With the continuous advancement of industrial automation and the expansion of industrial scenarios, the use of safety axes to achieve automatic control of various processes has become a mainstream trend. In industrial production, safety axes, as a core module for process control, can not only accurately execute each specific process step such as bonding, drilling, and handling, but also, through linkage with actuators such as fixtures, cutting tools, and detection devices, transform automated control from a technical solution into actual production actions, providing key support for efficient and precise automated industrial production.

[0003] However, safety axes require the coordinated control of multiple stages and steps in the process flow, and their operational status directly determines the stability of the overall production. In actual production, safety axes inevitably experience operational abnormalities due to issues such as abnormal opening of safety doors, material jamming, and abnormal position data. Current methods for handling such abnormalities have significant limitations. Some methods directly cut off the main power supply to forcibly halt the safety axis's operation, while others only trigger an alarm signal and allow the safety axis to continue executing received motion commands. Both of these approaches lead to interruptions or loss of control of the overall process flow. Specifically, the former requires significant time for equipment reset and parameter calibration, while the latter may pose safety risks due to the continuous movement of the axis. Ultimately, this not only severely impacts production efficiency but may also cause material scrap or equipment damage, making it difficult to meet the dual demands of modern industry for production continuity and safety, thus affecting the efficiency and safety of automated processes.

[0004] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this application is to provide a control method, control system, and control device for a safety shaft, aiming to solve the technical problem that existing safety gates require a large amount of time for equipment reset and parameter calibration when malfunctioning, which affects the efficiency and safety of automated processes.

[0006] To achieve the above objectives, this application proposes a control method for a safety shaft, which is applied to a shaft control system including a safety shaft and a safety gate. The control method for the safety shaft includes: The operating signal of the safety door is detected, and the operating signal includes abnormal signals; If the working signal of the safety door is an abnormal signal, control the safety shaft to stop moving; Record the coordinate position data of the safety axis at the moment of stopping. The coordinate position data includes a first coordinate position and a second coordinate position. The first coordinate position and the second coordinate position are the coordinates corresponding to different moments in the preset motion trajectory. During the period when the safety shaft stops moving, the shaft control system is subjected to abnormal handling; Start the safety axis and control the safety axis to move from the first coordinate position to the second coordinate position.

[0007] In one embodiment, the step of controlling the safety shaft to stop moving when the operating signal of the safety door is an abnormal signal includes: Upon detecting the abnormal signal, in response to the abnormal signal, an abnormal control command for the safety axis is generated, the abnormal control command including an emergency stop sub-command; According to the emergency stop sub-command, a stop signal is sent to the safety axis, and the safety axis is controlled to stop moving.

[0008] In one embodiment, the anomaly control command further includes a data recording sub-command, wherein the step of recording the coordinate position data of the safety axis at the stopping moment includes: The first coordinate position and the second coordinate position are determined according to the data recording sub-instruction; Wherein, the first coordinate position is the real-time coordinate position of the safety axis at the moment of stopping, and the second coordinate position is the coordinate position of the safety axis relative to the next moment of the real-time position data according to the preset motion trajectory; The first coordinate position and the second coordinate position are stored in the preset storage module of the axis control system.

[0009] In one embodiment, prior to the step of activating the safety shaft, the method for controlling the safety shaft further includes: Determine whether the safety shaft experienced any abnormal movement during the period when the safety shaft was stationary; The step of activating the safety axis and controlling the safety axis to move from the first coordinate position to the second coordinate position includes: In the event of abnormal movement of the safety shaft, a third coordinate position of the safety shaft is determined, wherein the third position is the coordinate position of the safety shaft after the abnormal movement. The safety axis is activated to restore the third coordinate position to the first coordinate position, and the safety axis is controlled to move from the first coordinate position to the second coordinate position according to a preset motion trajectory; If the safety axis does not move, control the safety axis to move from the first coordinate position to the second coordinate position according to the preset motion trajectory.

[0010] In one embodiment, the step of determining whether the safety shaft experienced abnormal movement during the period of its cessation of movement includes: Compare the third coordinate position with the first coordinate position; If the third coordinate position is different from the first coordinate position, it is determined that the safety shaft has moved abnormally during the stop movement; If the changed coordinate position is the same as the first coordinate position, then it is determined that the safety shaft did not move during the stop movement.

[0011] In one embodiment, the step of activating the safety axis and controlling the safety axis to move from the first coordinate position to the second coordinate position further includes: If it is determined that the safety axis has moved abnormally during the stop movement, the coordinate difference between the third coordinate position and the first coordinate position is determined; When the third coordinate position does not conform to the preset motion trajectory, and the coordinate difference is within the preset anomaly threshold, an anomaly prompt message is output; In response to the user's confirmation of the abnormality prompt information, it is determined whether the abnormality of the safety axis is an active or passive abnormality; When the safety axis is actively moved, the third coordinate position is fitted with the preset motion trajectory, and the second coordinate position corresponding to the coordinate position after the movement of the safety axis is updated to obtain the fourth coordinate position. The fourth coordinate position is the coordinate position in the preset motion trajectory at the next moment determined in response to the user's active movement. Control the safety axis to move from the third coordinate position to the fourth coordinate position; In the event of passive displacement of the safety axis, the third coordinate position is restored to the first coordinate position, and the safety axis is controlled to move from the first coordinate position to the second coordinate position according to the preset motion trajectory.

[0012] In one embodiment, the control method for the safety shaft further includes: The fifth coordinate position of the safety axis during its movement is acquired in real time, wherein the fifth coordinate position is any dynamic position data of the safety axis during its movement; Compare the fifth coordinate position with the preset motion trajectory; If the fifth coordinate position of the safety axis is detected to be inconsistent with the preset motion trajectory, a position abnormality warning signal is generated and the position abnormality warning signal is output. In response to the position anomaly warning signal, a pre-stop command is sent to the safety axis, and the safety axis is controlled according to the pre-stop command to adjust the safety axis to obtain a sixth coordinate position, wherein the sixth coordinate position is the coordinate position after the safety axis is adjusted; If the sixth coordinate position matches the preset motion trajectory, the sixth coordinate position is used as the starting position and the movement follows the preset motion trajectory.

[0013] In one embodiment, the step of detecting the operating signal of the security door includes: The working signal of the safety door is detected in real time through a high-speed communication interface. The working signal includes abnormal signals and normal signals. The abnormal signal is generated when the high-speed communication interface continuously detects that the safety door is in an unlocked state for a preset duration, or when the safety door suddenly unlocks from a locked state without triggering the preset normal door opening command of the axis control system; the normal signal is generated when the high-speed communication interface detects that the safety door is in a fully locked state, and the duration of the locked state exceeds a preset stable duration, and no safety door unlocking trigger signal is received.

[0014] Furthermore, to achieve the above objectives, this application also proposes a safety shaft control system, which is applied to a shaft control system, the shaft control system including a safety shaft and a safety gate, and the safety shaft control system comprising: The detection module is used to detect the operating signal of the safety door, the operating signal including abnormal signals; The control module is used to control the safety shaft to stop moving when the working signal of the safety door is an abnormal signal; The recording module is used to record the coordinate position data of the safety axis at the moment of stopping. The coordinate position data includes a first coordinate position and a second coordinate position, which are the coordinates corresponding to different moments in the preset motion trajectory. A processing module is used to handle abnormalities in the axis control system during the period when the safety axis stops moving; The startup module is used to start the safety axis and control the safety axis to move from the first coordinate position to the second coordinate position.

[0015] In addition, to achieve the above objectives, this application may also propose a safety axis control device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the safety axis control method as described above.

[0016] In addition, to achieve the above objectives, this application may also propose a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and which, when executed by a processor, implements the steps of the safety axis control method described above.

[0017] In addition, to achieve the above objectives, this application may also provide a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the resource allocation method described above.

[0018] One or more technical solutions proposed in this application have at least the following technical effects: This application detects the working signal of the safety door, including abnormal signals; if the working signal of the safety door is an abnormal signal, it controls the safety axis to stop moving; it records the coordinate position data of the safety axis at the time of stopping, including a first coordinate position and a second coordinate position, which are the coordinates corresponding to different times in the preset motion trajectory; during the period when the safety axis stops moving, it performs abnormal handling on the axis control system; it starts the safety axis and controls the safety axis to move from the first coordinate position to the second coordinate position.

[0019] Compared to existing processes that directly cut off the main power supply to the equipment or only trigger an alarm signal to allow the safety axis to continue executing commands in response to safety axis malfunctions, this application addresses issues such as time-consuming equipment reset and parameter calibration, high error rates in manual operation, safety risks caused by continuous axis movement, material scrapping and equipment damage due to process interruption, and difficulty in meeting the dual requirements of production continuity and safety in modern industry. This application detects the safety gate's working signal, controls the safety axis to stop movement in case of anomalies, records the first and second coordinate positions in the preset motion trajectory at the moment of stop, handles the axis control system malfunction during the stop, restarts the safety axis, and controls it to move from the first coordinate position to the second coordinate position. This avoids situations where the entire machine is powered off during anomalies, and the axis continues to move after receiving an anomaly signal. It solves the problems of time-consuming equipment reset, high error rates in manual calibration, and personnel safety threats caused by continuous axis movement in existing technologies, achieving improved accuracy and safety in anomaly response. Furthermore, the design based on recording key coordinates in the preset trajectory and using this to continue the process avoids the shortcomings of existing technologies, such as complete process interruption and material scrapping. It eliminates the need to restart the production process from scratch; the process can be restored simply by resuming from the point of failure. In this way, problems such as low production efficiency, high safety risks, poor material utilization, and easy equipment damage have been gradually solved, ultimately achieving a multi-dimensional improvement in production safety, efficiency, stability, and material utilization, meeting the manufacturing industry's needs for safe and risk-free automated processes, uninterrupted production, controllable costs, and stable quality. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart illustrating an embodiment of the control method for the safety shaft of this application. Figure 2 This is a flowchart illustrating Embodiment 2 of the control method for the safety shaft in this application. Figure 3 This is a flowchart illustrating Embodiment 3 of the control method for the safety shaft of this application. Figure 4 This is a schematic diagram of the module structure of the control system for the safety shaft according to an embodiment of this application; Figure 5 This is a schematic diagram of the device structure of the hardware operating environment involved in the safety axis control method in the embodiments of this application.

[0023] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0024] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0025] To more clearly demonstrate the improvement logic of the technical solution of this application on the pain points of the prior art, before elaborating on the specific implementation details of this application, we will first provide a detailed explanation of the background technology and the core problems existing in the current industrial scenario for handling safety shaft anomalies: With the continuous advancement of industrial automation and the expansion of industrial scenarios, the use of safety axes to achieve automatic control of various processes has become a mainstream trend. In industrial production, safety axes, as a core module for process control, can not only accurately execute each specific process step such as bonding, drilling, and handling, but also, through linkage with actuators such as fixtures, cutting tools, and detection devices, transform automated control from a technical solution into actual production actions, providing key support for efficient and precise automated industrial production.

[0026] However, the safety shaft requires comprehensive control of multiple stages and steps in the process, and its operating status directly determines the stability of overall production. During actual machine operation, operators frequently need to handle abnormalities by opening the safety door. This manual intervention can occur irregularly, specifically when the safety door is opened improperly while the equipment is not properly stopped. Such situations directly lead to malfunctions in the safety shaft. Furthermore, the safety shaft may also malfunction due to material jamming, abnormal position data, or other issues. Currently, existing technologies primarily employ two solutions to address this abnormal scenario where the equipment is not properly stopped and the safety door is opened improperly: Option 1: Direct Power Cut-off Solution. When the equipment fails to stop normally and the operator improperly opens the safety door, the system will directly cut off the main power supply to the equipment, achieving overall protection by shutting down the entire machine and preventing risks caused by continuous movement of the safety shaft.

[0027] Option 2: Alarm and pause after movement. If the equipment fails to stop normally and the safety door is opened abnormally, the equipment will only issue an alarm signal to indicate the abnormality. At this time, the moving safety axis will not stop immediately, but will continue to execute the movement commands sent by the host computer until it reaches the preset target position and completes the node refreshed in the software. Only then will the equipment enter the pause state.

[0028] In practical applications, the two existing technical solutions mentioned above have revealed many unavoidable problems and security risks, as detailed below: (1) The direct power cut-off scheme has the problem of relying on manual intervention and being prone to errors. After the main power of the equipment is cut off, all key parameters must be recalibrated when restarting, such as the zero position of the safety axis. This calibration process relies entirely on manual operation. Operators need to manually adjust the equipment parameters and verify the position accuracy. Not only is the operation process cumbersome, but it is also easy to make mistakes due to differences in operating techniques and parameter memory deviations, resulting in the calibrated parameters not meeting the process requirements, which in turn affects the subsequent production accuracy. (2) Directly cutting off the main power supply will also seriously affect production efficiency and product quality. On the one hand, the entire reset process, from power failure to restart, and then to parameter calibration and material reloading, takes a lot of time, resulting in a long interruption of the production process. On the other hand, if the safety shaft is in a process link with extremely high requirements for process continuity, such as bonding or welding, a sudden cut-off of the main power supply will cause the process to be interrupted in the middle. For example, if the safety shaft stops suddenly during bonding, the material to be bonded will be scrapped due to uneven force and incomplete bonding, which will not only waste materials, but also affect the overall quality of the product due to the increase of defective products. (3) The alarm and pause procedure after execution poses a significant safety hazard. Although the equipment will issue an alarm signal when the safety door is abnormally opened, the alarm is only for warning purposes. The safety axis that is in motion will continue to execute the received motion instructions until the end point. After hearing the alarm, in order to deal with the abnormality quickly, the operator will often immediately put part of his body (such as his hand or arm) into the machine. At this time, the speed at which the person enters the machine may be faster than the speed of the safety axis, which can easily lead to a collision between the safety axis and the person, posing a serious threat to the personal safety of the operator. (4) In the event that the equipment has not stopped normally and the safety door has been opened abnormally, the operator may manually move the position of the safety shaft in order to clear material blockage and troubleshoot the fault. However, the existing technology does not record and correct the position of the shaft after manual intervention. When the equipment is restarted, the system will still control the movement of the safety shaft according to the original position command before the safety door was opened. This will cause the manually moved safety shaft to interfere with the position of other components (such as clamps and tools), which will lead to a collision and damage to some parts of the machine (such as shaft clamps, guide rails and drive motors), increasing equipment maintenance costs and downtime.

[0029] In summary, existing solutions for handling safety shaft anomalies cannot balance the needs of production continuity and operational safety. They also suffer from high reliance on manual labor, low efficiency, and susceptibility to equipment damage, making them unsuitable for the automation requirements of modern industry. A better technical solution is urgently needed to address these pain points.

[0030] The main solution of this application embodiment is: addressing the problems of insufficient safety, poor production continuity, high dependence on manual labor, and easy equipment damage in existing safety axis anomaly handling schemes, a safety axis-based anomaly handling scheme is provided, specifically including: detecting the working signal of the safety door, wherein the working signal includes an anomaly signal and a normal signal; when an anomaly signal is detected, generating an anomaly control command for the safety axis in response to the anomaly signal, the command including an emergency stop sub-command and a data recording sub-command; according to the emergency stop sub-command, immediately sending a stop signal to the safety axis to control the safety axis to stop all current movement, avoiding safety accidents caused by continuous movement; according to the data recording sub-command, collecting and storing the seat position at the moment the safety axis stops. The system records position data, including the first and second coordinate positions, along with motion command information prior to the anomaly. During the safety axis stoppage, operators are allowed to handle anomalies in the axis control system (such as clearing material blockages and troubleshooting). Simultaneously, it monitors in real-time for any manual movement of the safety axis; if such movement is detected, a position anomaly record is generated. Upon detecting a normal signal (safety door re-locked), the safety axis is activated in response. If a position anomaly record exists, the safety axis is first precisely reset to its pre-anomaly position based on the first coordinate position. Then, the safety axis moves from the first coordinate position to the second coordinate position, continuing the motion commands not completed before the anomaly, allowing the process flow to seamlessly continue from the breakpoint. This approach ensures safety by quickly stopping the axis during anomalies, avoids process interruptions through coordinate recording and precise continuation, reduces manual calibration, and balances production safety and continuity. It solves the technical problem of existing systems requiring significant time for equipment reset and parameter calibration during safety door anomalies, which impacts the efficiency and safety of automated processes.

[0031] To make the technical solutions and advantages of the embodiments of this application clearer, the exemplary embodiments of this application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not an exhaustive list of all embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0032] Based on this, this application provides a method for controlling a safety shaft. Please refer to [link to relevant documentation]. Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the safety axis control method of this application.

[0033] In this embodiment, the control method for the safety shaft includes steps S11 to S15: Step S11: Detect the operating signal of the safety door, including abnormal signals.

[0034] The operating signal of the safety door refers to the electrical signal generated in real time by the safety door through its own signal acquisition elements, such as electromagnetic sensors and limit switches, in the industrial control method of this application. This signal reflects the current open and locked state of the safety door and can be used to determine whether the safety door is in normal working condition.

[0035] Specifically, as a key protective component of the safety axis control system, the safety door's operating signal can include not only basic status information such as whether it is open / closed, but also compliance information such as whether the opening / closing action conforms to the system's preset rules.

[0036] For example, when the safety shaft is operating normally, the safety door must be closed and locked. At this time, the working signal must synchronously feed back details such as whether the locking mechanism is in place and whether the normal door opening command is triggered, so as to ensure that the system can distinguish between normal door opening and abnormal door opening, so as to provide accurate information on the current working status of the safety door.

[0037] The abnormal signal is used to characterize the signal generated when the safety door is not in normal working condition and the safety shaft cannot operate in order to ensure operational safety.

[0038] Specifically, this abnormal signal refers to the type of signal that the operating signal of the safety door does not conform to the system's preset safety operation rules and may cause operational risks to the safety shaft. It includes the following two categories: (1) Abnormal opening signal of safety door. If the safety door does not trigger a normal opening command, for example, if the opening permission is not entered through the human-machine interaction module or the safety axis pre-stop process is not completed, the system detects that the safety door has switched from the closed and locked state to the unlocked or open state. At this time, the signal generated by the safety door is an abnormal signal.

[0039] For example, if an operator forcibly opens the safety door without stopping the machine according to the procedure in order to deal with material jamming in an emergency, the electromagnetic sensor of the safety door will immediately detect that the locking mechanism has disengaged and send an abnormal signal of abnormal opening to the system.

[0040] (2) Safety door locking abnormal signal. Although the safety door is in the closed state, the system detects that its locking mechanism is not fully in place. For example, the electromagnetic lock is not engaged, the limit switch is not triggered, or the duration of the locking state does not reach the preset stable time. In this case, the signal generated by the safety door is also an abnormal signal.

[0041] For example, if the locking mechanism does not fully close after the security door is closed due to mechanical jamming, the system will generate such an abnormal signal if it detects that the door is in a semi-locked state by continuously monitoring the locking signal, thus avoiding subsequent security risks caused by the security door not being truly locked.

[0042] It should be noted that in this application, electromagnetic locking sensors or limit switches / photoelectric sensors can be installed at key locations on the safety door, such as the locking mechanism and the edge of the door, to detect the working status of the safety door. The electromagnetic locking sensor detects the on / off state of the safety door locking mechanism; for example, it outputs a high level when the electromagnetic lock is energized and a low level when it is de-energized. The limit switch / photoelectric sensor detects the physical opening / closing state of the safety door; for example, it triggers a closing signal when the door is closed and an opening signal when it is open. After the electromagnetic locking sensor or limit switch / photoelectric sensor detects the working signal of the safety door, it can be connected to the core module of the safety axis control system via a high-speed communication interface, such as an EtherCAT protocol interface, based on hardware components. This strictly controls data transmission delay and ensures that the working signal can be uploaded to the system in real time.

[0043] In one specific implementation, the step of detecting the working signal of the safety door includes: detecting the working signal of the safety door in real time through a high-speed communication interface. The working signal includes abnormal signals and normal signals. The abnormal signal is generated when the high-speed communication interface continuously detects that the safety door is in an unlocked state for a preset duration, or when the safety door suddenly unlocks from a locked state without triggering a preset normal opening command from the axis control system. The normal signal is generated when the high-speed communication interface detects that the safety door is in a fully locked state, and the duration of the locked state exceeds a preset stable duration, and no safety door unlocking trigger signal is received.

[0044] For example, a high-speed communication interface, such as the industrially common EtherCAT or Profinet protocol interfaces, ensures low signal transmission latency and strong real-time performance, serving as a data transmission channel to acquire the working signals of the safety door in real time. These working signals reflect the safety door's status, including normal and abnormal signals. Normal signals confirm that the safety door is in a safe and compliant state; abnormal signals confirm that the safety door is in a risky state.

[0045] Abnormal signals can be continuous abnormal operating signals from the safety door, meaning the high-speed communication interface continuously detects the safety door being unlocked, such as the electromagnetic lock not engaging or the mechanical lock not locking, and this unlocked state lasting for a preset duration, such as 2 or 3 seconds, to avoid misjudgment due to momentary interference. In addition, abnormal signals can also be sudden anomalies, where the safety door, originally locked, suddenly switches to unlocked mode, and this unlocking action does not trigger the pre-set normal opening command of the axis control system. For example, failure to enter a password via the operation panel or failure to complete compliant shutdown pre-operations could indicate unauthorized manual prying or accidental activation of the emergency switch.

[0046] For normal signals, the high-speed communication interface can clearly detect that the safety door is in a fully locked state, such as the electromagnetic lock being engaged and the mechanical lock being locked without any looseness. In addition, the duration of the fully locked state needs to be maintained for a preset stable duration, such as 3 seconds or 5 seconds, to ensure that the locked state is stable.

[0047] Step S12: If the working signal of the safety door is an abnormal signal, control the safety shaft to stop moving.

[0048] When the working signal of the safety door is determined to be an abnormal signal, such as when the safety door has not been locked for a preset time or has suddenly unlocked from the locked state without triggering a normal opening command, the control system of the safety shaft can send an emergency stop command to the drive module of the safety shaft.

[0049] It should be noted that this emergency stop command has the highest priority and can interrupt all motion commands currently being executed by the safety axis, such as bonding, drilling, and handling operations. Specifically, it can stop the safety axis in the shortest possible time by cutting off the drive power or triggering the mechanical braking device, and maintain the stability of the axis's current position during the stopping process to prevent positional displacement due to inertial slippage.

[0050] This establishes a direct protection mechanism for abnormal safety doors and stopped safety shafts. On the one hand, it prevents operators from colliding with the still-moving safety shaft when entering the machine after the safety door has been opened abnormally, fundamentally eliminating potential personal safety hazards. On the other hand, it prevents the safety shaft from continuing to perform process actions while the safety door is in an abnormal state, which could lead to material processing deviations, such as misalignment, drilling position shifts, or equipment idling losses, thus laying a safe foundation for subsequent abnormal handling and process continuation.

[0051] In one specific embodiment, if the operating signal of the safety door is an abnormal signal, the step of controlling the safety shaft to stop moving includes: in the event of detecting an abnormal signal, in response to the abnormal signal, generating an abnormal control command for the safety shaft, the abnormal control command including an emergency stop sub-command; according to the emergency stop sub-command, sending a stop signal to the safety shaft and controlling the safety shaft to stop moving.

[0052] Among them, the abnormal control command is a comprehensive control command generated by the safety axis control system after detecting an abnormal signal from the safety gate, in order to quickly block safety risks and ensure system safety. This abnormal control command may include an emergency stop sub-command, which has the highest priority and can be used to forcibly interrupt the execution of all current normal motion commands of the safety axis, ensuring that core safety actions such as emergency stops are implemented first.

[0053] When the safety shaft control system detects an abnormal signal from the safety door via the high-speed communication interface—for example, continuous unlocking for a preset time, sudden unlocking without a normal opening command—it can immediately respond to this abnormal state and automatically generate an abnormal control command for the safety shaft. Based on the generated emergency stop sub-command, the safety shaft control system sends a specific stop signal to the safety shaft's drive unit. Upon receiving this emergency stop sub-command, the drive unit immediately activates the braking mechanism, stopping all displacement and rotational movements of the safety shaft in the shortest possible time and maintaining it in its current position to prevent additional displacement due to inertia. From detecting the abnormal signal to the complete stop of the safety shaft, a seamless control link is formed. This avoids delays caused by manual intervention and ensures, through a hierarchical command design, that the stopping action is not interfered with by conventional motion commands. Ultimately, this achieves the safety protection goal of stopping the safety shaft immediately upon a safety door malfunction, improving the safety of the safety shaft control system during operation.

[0054] Step S13: Record the coordinate position data of the safety axis at the moment of stopping.

[0055] The coordinate position data includes a first coordinate position and a second coordinate position, which are the coordinates corresponding to different times in the preset motion trajectory.

[0056] Among them, the coordinate position data can be used to accurately describe the specific position of the safety axis in three-dimensional space or in the preset motion trajectory at the moment of stopping.

[0057] Specifically, the coordinate position data may include a first coordinate position, which represents the real-time physical position of the safety axis at the moment of its stop, and can be used to reflect the actual stopping point of the safety axis when the anomaly occurs.

[0058] The coordinate position data may also include a second coordinate position, which can be used to represent the target position that the safety axis needs to reach next in the preset motion trajectory before the abnormality occurs, and can be used to reflect the progress node before the process is interrupted.

[0059] Therefore, this coordinate position data covers the position reference of the interruption point and the continuation point of the safety axis, ensuring that after subsequent abnormal handling is completed, the safety axis can be accurately moved from the first coordinate position to the second coordinate position, realizing seamless continuation of the process flow.

[0060] In one specific implementation, the abnormal control command further includes a data recording sub-command. The step of recording the coordinate position data of the safety axis at the stopping moment includes: determining a first coordinate position and a second coordinate position according to the data recording sub-command; wherein, the first coordinate position is the real-time coordinate position of the safety axis at the stopping moment, and the second coordinate position is the coordinate position of the safety axis relative to the next moment of the real-time position data according to the preset motion trajectory; and storing the first coordinate position and the second coordinate position in a preset storage module of the axis control system.

[0061] When an abnormal signal is detected by the safety door, the safety axis control system can simultaneously record the coordinate position data of the safety axis at the moment of its stop. Specifically, the precise capture and reliable storage of critical position information can be achieved through the data recording sub-instruction in the abnormal control command.

[0062] Specifically, when the safety axis control system detects an abnormal signal from the safety door and generates an abnormal control command, the command includes not only an emergency stop sub-command but also a data recording sub-command. This deeply binds the safety axis's stopping action with its position recording action, ensuring that the stopping of the safety axis and the position recording are synchronized in time, thus avoiding position data deviations caused by delays.

[0063] The control system of the safety axis responds to the data recording sub-command and can determine the coordinate position data of the safety axis at the moment of stopping. This coordinate position data can include a first coordinate position and a second coordinate position. The first coordinate position refers to the real-time physical coordinates of the safety axis at the instant it comes to a complete stop. This data is directly acquired by a high-precision position detection device equipped with the safety axis, such as a linear scale or absolute encoder, and can accurately reflect the actual stopping position of the safety axis when the abnormality occurs. The second coordinate position is the next target coordinate after the first coordinate position based on the preset motion trajectory of the safety axis. This data is extracted from the motion trajectory database pre-stored in the axis control system and represents the next position node that the safety axis originally planned to reach before the process was abnormally interrupted.

[0064] After determining the first coordinate position and the second coordinate position, the safety axis control system can store the first coordinate position and the second coordinate position and their associated information, such as the time of the abnormality and the type of the safety door abnormality, together in a dedicated storage module preset by the axis control system. This storage module usually has a power failure data retention function, which can ensure that even if there is a brief power failure during the abnormality handling, the key coordinate data will not be lost, thus ensuring the integrity of the data.

[0065] Step S14: During the stop movement of the safety axis, perform abnormal handling on the axis control system.

[0066] When the safety shaft stops moving due to an abnormal safety gate signal, the safety shaft control system is in a state where the safety shaft is stationary and the process flow is suspended. At this time, a series of troubleshooting, repair and adjustment actions can be carried out around the shaft control system. The purpose is to eliminate the cause of the safety shaft stopping and to ensure that the system can operate stably after restarting.

[0067] Specifically, exception handling can mainly include the following operations: (1) Investigate the direct causes of the safety door malfunction.

[0068] Check if the security door is unable to lock properly due to mechanical obstruction, if the electromagnetic lock is malfunctioning and thus not locked, or if there is any accidental activation of the emergency opening device, and then perform targeted repairs. For example, remove obstructing foreign objects, replace damaged sensors or locks; (2) Check whether there are any associated abnormalities in the axis control system itself.

[0069] For example, whether there is a communication interruption during the transmission of abnormal signals from the safety door, whether there is a risk of positional deviation due to emergency stop when the safety shaft stops, or whether the drive module is overloaded due to sudden shaft stop, etc. The working status of the core components of the shaft control system is confirmed by a combination of system self-inspection and manual verification.

[0070] (3) Deal with interference factors that may affect subsequent connection.

[0071] For example, it can clear material jams caused by abnormal shaft stoppage, such as misaligned workpieces in the bonding process, stuck tools in the drilling process, and reset system protection parameters triggered by abnormalities, such as unlocking overload protection lockouts.

[0072] Since the safety axis has stopped moving, operators can safely enter the machine area for inspection and operation without worrying about risks from moving parts. Simultaneously, the handling process must be linked to previously recorded coordinate position data to prevent improper operation from altering the safety axis's initial coordinate position, ensuring accurate continuation from the recorded position upon subsequent restart. This efficient anomaly handling, prioritizing safety, eliminates the root cause of the safety axis's stoppage and clears obstacles for subsequent safety axis restarts and process flow continuation, making it a crucial link in ensuring production continuity and safety.

[0073] Step S15: Start the safety axis and control the safety axis to move from the first coordinate position to the second coordinate position.

[0074] After the anomaly handling is completed, the safety axis can be accurately restored from the point of abnormal interruption to the preset motion trajectory, ensuring that the production process is not interrupted. Specifically, after the anomaly handling of the axis control system is completed, the safety axis control system can respond to the start command, release the braking state of the safety axis, and re-energize it with drive power, so that the safety axis switches from a stationary state to a movable state; subsequently, the safety axis control system can retrieve the first coordinate position and the second coordinate position stored in step S13, and generate precise motion control commands based on these two coordinates.

[0075] In this application, the control system of the safety axis monitors the movement trajectory of the safety axis in real time through a position feedback device, ensuring that the deviation between its actual position and the commanded position is controlled within the allowable range of the process, thus avoiding machining accuracy problems caused by position offset. In addition, through the precise connection between the first coordinate position and the second coordinate position, the safety axis does not need to return to the initial origin to start again, but directly resumes the unfinished process from the breakpoint, which greatly reduces the time loss and material waste caused by anomalies. At the same time, strict position control and parameter reuse ensure the consistency of product quality and avoid machining deviations that may be caused by process restart.

[0076] This embodiment provides a control method for a safety axis. It detects the operating signal of a safety gate, including an abnormal signal. If the safety gate's operating signal is abnormal, the safety axis is stopped. The coordinate position data of the safety axis at the moment of stop is recorded. The coordinate position data includes a first coordinate position and a second coordinate position, which are coordinates corresponding to different moments in a preset motion trajectory. During the stop of the safety axis, the axis control system performs anomaly handling. The safety axis is then started and controlled to move from the first coordinate position to the second coordinate position. In this way, by detecting the safety gate's operating signal and distinguishing between abnormal and normal states, the system ensures accurate risk identification. Immediately stopping the safety axis during an anomaly avoids the safety hazard of continuous axis movement when the safety gate is abnormal. Recording the first and second coordinate positions provides a data benchmark for subsequent continuation. Handling the anomaly during the axis stop clears obstacles to restarting. Controlling the safety axis to move from the first coordinate position to the second coordinate position achieves seamless process continuation. Therefore, it ensures operational safety during anomalies, reduces production interruption time through coordinate recording and continuation, avoids material scrapping and parameter recalibration, and balances safety, production continuity, and efficiency.

[0077] Based on the first embodiment of this application, a second embodiment of this application is proposed. Please refer to [link to relevant documentation]. Figure 2 , Figure 2This is a flowchart illustrating a second embodiment of the safety shaft control method of this application. As an extension of the first embodiment, in this second embodiment, content that is the same as or similar to that in the first embodiment described above can be referred to the above description and will not be repeated hereafter. Based on this, the safety shaft hole control method may further include the following steps S21~S24: Step S21: Determine whether the safety shaft experiences any abnormal movement during the period when the safety shaft stops moving.

[0078] During the period between when the safety axis stops moving due to an abnormality and before restarting, the axis control system can continuously monitor the coordinate position of the safety axis through the position acquisition module and compare the real-time detected position data with the first coordinate position recorded in the steps (the initial position at the time of stopping).

[0079] Specifically, if the deviation between the two is within a preset threshold range, it is determined that the safety axis has not moved, indicating that the axis position was not disturbed during the abnormality handling process. If the deviation exceeds the threshold, it is determined that an abnormality has occurred, which may be due to operator accidentally touching the axis while handling the abnormality, material collision causing axis displacement, or minor slippage caused by brake device failure. In this way, unnoticed positional changes can be avoided to prevent trajectory deviations or equipment collisions during subsequent connections, ensuring that the safety axis can execute motion commands based on an accurate starting point after restarting, further improving the reliability and safety of the system.

[0080] In one specific implementation, the step of determining whether the safety shaft has undergone abnormal movement during the period of its stop movement includes: comparing the third coordinate position with the first coordinate position; if the third coordinate position is different from the first coordinate position, it is determined that the safety shaft has undergone abnormal movement during the period of its stop movement; if the changed coordinate position is the same as the first coordinate position, it is determined that the safety shaft has not undergone abnormal movement during the period of its stop movement.

[0081] The third coordinate position is the real-time coordinate position of the safety axis when it finally stabilizes after an anomaly occurs during the period of cessation of movement.

[0082] During the period when the safety axis stops moving, i.e., the abnormal handling phase, the axis control system can use the real-time acquired current position of the safety axis as the third coordinate position and compare it with the first coordinate position (the initial position at the time of stopping) recorded in step S13. The deviation value is used to determine whether an abnormal movement has occurred. The criteria for determining whether movement has occurred can be as follows: As an example of a possible scenario, for instance, if the preset threshold is ±0.5mm, and the deviation between the third coordinate position and the first coordinate position reaches 2mm (exceeding the threshold), this could be due to either the operator intentionally adjusting the safety axis to a more reasonable position for ease of operation when dealing with material blockage (a purposeful deviation), or it could be due to a large offset caused by an accidental collision of the tool with the axis (an unpurposed deviation). In either case, the system will uniformly classify this as an deviation and record the specific deviation value.

[0083] As an example of another possible scenario, for instance, a deviation of only 0.1mm (less than the ±0.5mm threshold) is more likely due to an operator accidentally touching the axis during the abnormal handling process, or slight displacement caused by environmental vibration (an unintentional disturbance). Because the deviation is extremely small and does not substantially affect the overall positional accuracy, the axis control system will determine that no disturbance has occurred and the movement can continue as planned without additional adjustments. In this case, the axis control system will still record this small deviation.

[0084] In this way, it can identify significant anomalies that may affect production accuracy, as well as filter out minor disturbances that do not affect the process. It takes into account the actual needs of manual adjustment and accidental touch interference in industrial scenarios, and provides a more flexible basis for judgment for the precise control of the safety axis.

[0085] Step S22: In the event of an abnormal movement of the safety shaft, determine the third coordinate position of the safety shaft. The third position is the coordinate position after the abnormal movement of the safety shaft.

[0086] After confirming that the safety axis has experienced abnormal movement, the axis control system can send a post-abnormality position lock acquisition command to the safety axis position acquisition module, requesting the module to stop real-time dynamic monitoring and instead accurately capture and lock the current stable position of the safety axis. This determines the final coordinates after the safety axis movement has stopped.

[0087] Specifically, during the data acquisition process, the axis control system can sample the position data multiple times and take the average value to avoid acquisition deviations caused by instantaneous vibrations, ensuring that the accuracy of the third coordinate position is consistent with that of the first coordinate position (typically ±0.001mm). Simultaneously, the system records the deviation values ​​between the third and first coordinate positions (e.g., X-axis deviation of 0.8mm, Y-axis deviation of 0.3mm) to clearly identify the direction and amount of position offset caused by the anomaly.

[0088] For example, in a specific control process, if the safety shaft was originally stopped at the first coordinate position (X=200.000mm, Y=150.000mm), during the abnormal handling, the operator manually moved the shaft to the position of X=200.800mm, Y=150.300mm to clear the obstructing material (i.e., abnormal movement). This new position can be accurately collected as the third coordinate position, and the deviation data of X-axis +0.8mm and Y-axis +0.3mm can be recorded.

[0089] Step S23: Activate the safety axis, restore the third coordinate position to the first coordinate position, and control the safety axis to move from the first coordinate position to the second coordinate position according to a preset motion trajectory.

[0090] After a safety axis malfunctions, the positional deviation can be corrected first, and then the normal process flow of the safety axis can be restored. Specifically, after starting the safety axis, it can be controlled to move precisely from the third coordinate position after the malfunction back to the first coordinate position where it initially stopped, eliminating the positional offset caused by the malfunction. After resetting to the first coordinate position, the safety axis can be controlled to move from the first coordinate position to the second coordinate position according to the original preset motion trajectory, ensuring that the process flow continues as planned.

[0091] In one specific implementation, the step of activating the safety axis and controlling it to move from the first coordinate position to the second coordinate position further includes: if it is determined that the safety axis has undergone anomaly during the period of cessation of movement, determining the coordinate difference between the third coordinate position and the first coordinate position; when the third coordinate position does not conform to the preset motion trajectory and the coordinate difference is within the preset anomaly threshold, outputting anomaly prompt information; in response to the user's confirmation operation of the above-mentioned anomaly prompt information, determining whether the anomaly of the safety axis is an active anomaly or a passive anomaly; in the case of active anomaly of the safety axis, fitting the third coordinate position with the preset motion trajectory, updating the second coordinate position corresponding to the coordinate position after the anomaly of the safety axis, and obtaining a fourth coordinate position, the fourth coordinate position being the coordinate position at the next moment in the preset motion trajectory determined in response to the user's active anomaly; controlling the safety axis to move from the third coordinate position to the fourth coordinate position; in the case of passive anomaly of the safety axis, restoring the third coordinate position to the first coordinate position, and controlling the safety axis to move from the first coordinate position to the second coordinate position according to the preset motion trajectory.

[0092] The fourth coordinate position is the target coordinate for the next moment, which is recalculated by combining the third coordinate position and the preset motion trajectory after the safety axis undergoes active change. It is based on the position that the user intentionally adjusted and adapts to the original trajectory logic to ensure that the actively adjusted motion can still meet the production requirements.

[0093] It should be noted that the difference between the third coordinate and the first coordinate can be calculated first. If the third coordinate deviates from the preset trajectory and the difference is within the anomaly threshold, a prompt is output. After user confirmation, it is determined whether the anomaly is active (human adjustment) or passive (accidental touch). In the case of active anomaly, the target coordinate for the next moment is updated to the fourth coordinate based on the fitting of the third coordinate and the preset trajectory. That is, after the user actively adjusts, the safety axis is controlled to move from the third coordinate to the fourth coordinate at the next position corresponding to the preset trajectory. In the case of passive anomaly, the third coordinate is first reset to the first coordinate, and then moved to the second coordinate according to the original trajectory.

[0094] Step S24: Without moving the safety axis, control the safety axis to move from the first coordinate position to the second coordinate position according to the preset motion trajectory.

[0095] If it is determined that the safety axis has not moved, that is, its position has not changed during the stop movement, the safety axis can be started directly and controlled to move from the recorded first coordinate position to the second coordinate position strictly according to the preset motion trajectory, seamlessly continuing the interrupted process flow without additional adjustments, ensuring that production proceeds accurately according to the original plan.

[0096] This embodiment provides a control method for a safety axis. By determining whether there is any abnormal movement during the safety axis's stop period, identifying the third coordinate position after the abnormal movement, and handling the abnormal movement accordingly, the system directly continues from the first coordinate to the second coordinate when there is no abnormal movement. Thus, by judging the abnormal movement and determining the third coordinate, subsequent movement deviations caused by undetected positional shifts are avoided. When there is active abnormal movement, the fourth coordinate is updated; when there is passive abnormal movement, the system is reset, further ensuring that the axis movement conforms to production requirements. In addition, by distinguishing between active and passive abnormal movements and handling them differently, the system is suitable for scenarios where manual adjustments are reasonable, and also solves the problem of accidental contact, without the need for a one-size-fits-all restart of the process. Direct continuation when there is no abnormal movement and precise handling when there is abnormal movement reduce unnecessary adjustment time, ensure that production quickly returns to normal, and balance safety and production continuity.

[0097] Based on the first embodiment of this application, a third embodiment of this application is proposed. Please refer to [link to third embodiment]. Figure 3 , Figure 3 This is a flowchart illustrating a third embodiment of the safety shaft control method of this application. As an extension of the first embodiment, in this third embodiment, content that is the same as or similar to that in the first embodiment described above can be referred to the above description and will not be repeated hereafter. Based on this, the safety shaft control method further includes steps S31 to S35: Step S31: Real-time acquisition of the fifth coordinate position of the safety axis during the motion process.

[0098] The fifth coordinate position is any dynamic position data of the safety axis during movement.

[0099] When the safety axis performs processes such as bonding and drilling, the axis control system can use high-precision position detection elements built into the axis, such as grating rulers and absolute encoders, to collect its current position at millisecond-level frequencies. This dynamic position data can be used as the fifth coordinate position. The fifth coordinate position is not a fixed point, but real-time data that is continuously updated with the movement of the safety axis. It can completely reflect the actual movement trajectory of the axis at every moment. For example, in the X / Y / Z three-axis linkage motion, the fifth coordinate position will record dynamic parameters such as "X=120.321mm, Y=95.678mm, Z=30.123mm" in real time, providing raw data support for subsequent trajectory comparison.

[0100] Step S32: Compare the fifth coordinate position with the preset motion trajectory.

[0101] The axis control system can first retrieve the preset motion trajectory of the safety axis from the preset database of the axis control system, that is, the standard path planned by the process, which includes the target coordinates corresponding to each time node. Then, through a special comparison algorithm, the fifth coordinate position collected in real time in step S31 is compared point by point with the target coordinates of the same time node in the preset trajectory.

[0102] For example, the target coordinates at a certain moment in the preset trajectory can be "X=120.300mm, Y=95.700mm", while the fifth coordinate position collected at the same time is "X=120.350mm, Y=95.650mm". The system will calculate the deviation values ​​of the two on the X-axis and Y-axis.

[0103] Step S33: If the fifth coordinate position of the safety axis is detected to be inconsistent with the preset motion trajectory, a position abnormality warning signal is generated and output.

[0104] When the axis control system calculates that the deviation between the fifth coordinate position and the preset trajectory exceeds the allowable deviation threshold (such as ±0.02mm), it can determine that the current coordinate position of the movement does not conform to the preset movement trajectory and immediately generate a position abnormality warning signal.

[0105] It should be noted that the positional anomaly warning signal can include deviation exceeding the threshold, and can also simultaneously include details such as the deviation direction (e.g., positive X-axis offset of 0.05mm), the current fifth coordinate position, and the timestamp of the anomaly occurrence, which are output through the human-machine interface of the axis control system (such as a touch screen or indicator light).

[0106] Step S34: In response to the position anomaly warning signal, a pre-stop command is sent to the safety axis, and the safety axis is controlled according to the pre-stop command to adjust the safety axis and obtain the sixth coordinate position.

[0107] The sixth coordinate position is the coordinate position after the safety axis has been adjusted.

[0108] Upon receiving a position anomaly warning signal, the axis control system can immediately respond and send a pre-stop command to the drive unit of the safety axis.

[0109] It should be noted that this pre-stop command differs from the emergency stop command. The pre-stop command does not cause the axis to lock instantly; instead, it controls the axis to decelerate slowly at a very low speed. Simultaneously, it generates a position adjustment command based on a preset trajectory standard path. During the axis's slow movement, the system continuously collects position data and adjusts the drive parameters until the safety axis's position returns to within the allowable deviation range of the preset trajectory. Thus, the sixth coordinate position of the safety axis is determined, which is the final position of the safety axis.

[0110] For example, if the fifth coordinate triggers an early warning due to an X-axis offset of 0.05mm, the adjusted shaft X-axis will return to the position with a deviation of 0.005mm. This position is the sixth coordinate position, ensuring a smooth adjustment process and avoiding material misalignment or equipment impact due to sudden stops.

[0111] Step S35: If the sixth coordinate position matches the preset motion trajectory, the sixth coordinate position is used as the starting position and the movement is performed according to the preset motion trajectory.

[0112] After determining the sixth coordinate position, the axis control system can perform a second comparison of the sixth coordinate position to confirm that its deviation from the preset motion trajectory is within the threshold. Then, the sixth coordinate position is set as the new starting position, and the motion parameters after that position in the preset trajectory are called to control the safety axis to start from the sixth coordinate position and continue to execute the subsequent process actions.

[0113] For example, if the sixth coordinate position corresponds to 1mm before the third hole position in the drilling process in the preset trajectory, the axis control system can control the safety axis to continue moving from that position to complete the drilling operation of the third hole, so as to achieve seamless production continuation after abnormality correction.

[0114] This embodiment can intervene in the early stage of the safety axis deviating from the trajectory by real-time monitoring of the motion trajectory, timely warning of deviations and adjustment and reset, so as to avoid processing errors or equipment collisions caused by continuous deviations, ensure motion accuracy and production safety, and reduce process interruptions caused by trajectory abnormalities, thereby improving production stability.

[0115] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the control method of the safety axis of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0116] This application also provides a control system for a safety shaft, which is applied to a shaft control system. This shaft control system includes a safety shaft and a safety gate. Please refer to [reference needed]. Figure 4The control system for this safety shaft includes: Detection module 41 is used to detect the working signal of the safety door, the working signal including abnormal signals; Control module 42 is used to control the safety shaft to stop moving when the working signal of the safety door is an abnormal signal; Recording module 43 is used to record the coordinate position data of the safety axis at the time of stopping. The coordinate position data includes a first coordinate position and a second coordinate position, which are the coordinates corresponding to different times in the preset motion trajectory. Processing module 44 is used to handle abnormalities in the axis control system during the period when the safety axis stops moving; The startup module 45 is used to start the safety axis and control the safety axis to move from the first coordinate position to the second coordinate position.

[0117] The safety axis control system provided in this application, employing the safety axis control method described in the above embodiments, can solve the technical problem that existing bonding processes cannot adapt to the local deformation differences of FPC boards, resulting in poor bonding effects. Compared with the prior art, the beneficial effects of the safety axis control system provided in this application are the same as those of the safety axis control method described in the above embodiments, and other technical features of the safety axis control system are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0118] This application provides a safety axis control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the safety axis control method in Embodiment 1 above.

[0119] The following is for reference. Figure 5 The diagram illustrates a structural schematic of a control device suitable for implementing the safety axis embodiments of this application. The control device for the safety axis in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5The control device for the safety axis shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0120] like Figure 5 As shown, the control device for the safety axis may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the control device for the safety axis. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. The communication device 1009 allows the control device of the safety axis to communicate wirelessly or wiredly with other devices to exchange data. Although the figures show control devices for the safety axis with various systems, it should be understood that it is not required to implement or have all of the systems shown. More or fewer systems may be implemented alternatively.

[0121] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0122] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0123] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0124] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the safety axis control method described in the above embodiments.

[0125] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0126] The aforementioned computer-readable storage medium may be included in the control device of the safety axis; or it may exist independently and not be assembled into the control device of the safety axis.

[0127] The aforementioned computer-readable storage medium carries one or more programs that, when executed by a safety axis control device, cause the safety axis control device to: partition the flexible printed circuit board to be bonded into multiple sub-bonding areas; detect the bonding height of each sub-bonding area for the bonding process; perform height compensation on each sub-bonding area based on the bonding height to determine a target bonding height corresponding to each sub-bonding area; and bond a target adhesive layer to the surface of the corresponding sub-bonding area based on the target bonding height, until each sub-bonding area is bonded to obtain a complete bonded board.

[0128] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0129] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0130] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0131] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described safety axis control method. This solves the technical problem that existing bonding processes cannot adapt to local deformation differences in FPC boards, resulting in poor bonding performance. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the safety axis control method provided in the above embodiments, and will not be repeated here.

[0132] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the safety axis control method described above.

[0133] The computer program product provided in this application can solve the technical problem that existing bonding technology cannot adapt to the local deformation differences of FPC boards, resulting in poor bonding effect. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the safety axis control method provided in the above embodiments, and will not be repeated here.

[0134] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method for controlling a safety shaft, characterized in that, The control method for the safety shaft is applied to a shaft control system, which includes a safety shaft and a safety gate, comprising: The operating signal of the safety door is detected, and the operating signal includes abnormal signals; If the working signal of the safety door is an abnormal signal, control the safety shaft to stop moving; Record the coordinate position data of the safety axis at the moment of stopping. The coordinate position data includes a first coordinate position and a second coordinate position. The first coordinate position and the second coordinate position are the coordinates corresponding to different moments in the preset motion trajectory. During the period when the safety shaft stops moving, the shaft control system is subjected to abnormal handling; Start the safety axis and control the safety axis to move from the first coordinate position to the second coordinate position.

2. The control method for the safety shaft according to claim 1, characterized in that, The step of controlling the safety shaft to stop moving when the working signal of the safety door is an abnormal signal includes: Upon detecting the abnormal signal, in response to the abnormal signal, an abnormal control command for the safety axis is generated, the abnormal control command including an emergency stop sub-command; According to the emergency stop sub-command, a stop signal is sent to the safety axis, and the safety axis is controlled to stop moving.

3. The control method for the safety shaft according to claim 2, characterized in that, The anomaly control command also includes a data recording sub-command, wherein the step of recording the coordinate position data of the safety axis at the stopping moment includes: The first coordinate position and the second coordinate position are determined according to the data recording sub-instruction; Wherein, the first coordinate position is the real-time coordinate position of the safety axis at the moment of stopping, and the second coordinate position is the coordinate position of the safety axis relative to the next moment of the real-time position data according to the preset motion trajectory; The first coordinate position and the second coordinate position are stored in the preset storage module of the axis control system.

4. The control method for the safety shaft according to claim 1, characterized in that, Prior to the step of activating the safety shaft, the control method for the safety shaft further includes: Determine whether the safety shaft experienced any abnormal movement during the period when the safety shaft was stationary; The step of activating the safety axis and controlling the safety axis to move from the first coordinate position to the second coordinate position includes: In the event of abnormal movement of the safety shaft, a third coordinate position of the safety shaft is determined, wherein the third position is the coordinate position of the safety shaft after the abnormal movement. The safety axis is activated to restore the third coordinate position to the first coordinate position, and the safety axis is controlled to move from the first coordinate position to the second coordinate position according to a preset motion trajectory; If the safety axis does not move, control the safety axis to move from the first coordinate position to the second coordinate position according to the preset motion trajectory.

5. The control method for the safety shaft according to claim 4, characterized in that, The step of determining whether the safety shaft has experienced abnormal movement during the period when the safety shaft is stationary includes: Compare the third coordinate position with the first coordinate position; If the third coordinate position is different from the first coordinate position, it is determined that the safety shaft has moved abnormally during the stop movement; If the changed coordinate position is the same as the first coordinate position, then it is determined that the safety shaft did not move during the stop movement.

6. The control method for the safety shaft according to claim 5, characterized in that, The step of activating the safety axis and controlling the safety axis to move from the first coordinate position to the second coordinate position further includes: If it is determined that the safety axis has moved abnormally during the stop movement, the coordinate difference between the third coordinate position and the first coordinate position is determined; When the third coordinate position does not conform to the preset motion trajectory, and the coordinate difference is within the preset anomaly threshold, an anomaly prompt message is output; In response to the user's confirmation of the abnormality prompt information, it is determined whether the abnormality of the safety axis is an active or passive abnormality; When the safety axis is actively moved, the third coordinate position is fitted with the preset motion trajectory, and the second coordinate position corresponding to the coordinate position after the movement of the safety axis is updated to obtain the fourth coordinate position. The fourth coordinate position is the coordinate position in the preset motion trajectory at the next moment determined in response to the user's active movement. Control the safety axis to move from the third coordinate position to the fourth coordinate position; In the event of passive displacement of the safety axis, the third coordinate position is restored to the first coordinate position, and the safety axis is controlled to move from the first coordinate position to the second coordinate position according to the preset motion trajectory.

7. The control method for the safety shaft according to claim 1, characterized in that, The control method for the safety shaft also includes: The fifth coordinate position of the safety axis during its movement is acquired in real time, wherein the fifth coordinate position is any dynamic position data of the safety axis during its movement; Compare the fifth coordinate position with the preset motion trajectory; If the fifth coordinate position of the safety axis is detected to be inconsistent with the preset motion trajectory, a position abnormality warning signal is generated and the position abnormality warning signal is output. In response to the position anomaly warning signal, a pre-stop command is sent to the safety axis, and the safety axis is controlled according to the pre-stop command to adjust the safety axis to obtain a sixth coordinate position, wherein the sixth coordinate position is the coordinate position after the safety axis is adjusted; If the sixth coordinate position matches the preset motion trajectory, the sixth coordinate position is used as the starting position and the movement follows the preset motion trajectory.

8. The control method for the safety shaft according to any one of claims 1 to 7, characterized in that, The step of detecting the working signal of the safety door includes: The working signal of the safety door is detected in real time through a high-speed communication interface. The working signal includes abnormal signals and normal signals. The abnormal signal is generated when the high-speed communication interface continuously detects that the safety door is in an unlocked state for a preset duration, or when the safety door suddenly unlocks from a locked state without triggering the preset normal door opening command of the axis control system; the normal signal is generated when the high-speed communication interface detects that the safety door is in a fully locked state, and the duration of the locked state exceeds a preset stable duration, and no safety door unlocking trigger signal is received.

9. A control system for a safety shaft, characterized in that, The control system for the safety shaft is applied to the shaft control system, which includes a safety shaft and a safety door, comprising: The detection module is used to detect the operating signal of the safety door, the operating signal including abnormal signals; The control module is used to control the safety shaft to stop moving when the working signal of the safety door is an abnormal signal; The recording module is used to record the coordinate position data of the safety axis at the moment of stopping. The coordinate position data includes a first coordinate position and a second coordinate position, which are the coordinates corresponding to different moments in the preset motion trajectory. A processing module is used to handle abnormalities in the axis control system during the period when the safety axis stops moving; The startup module is used to start the safety axis and control the safety axis to move from the first coordinate position to the second coordinate position.

10. A control device for a safety shaft, characterized in that, The control device for the safety axis includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the control method for the safety axis as described in any one of claims 1 to 8.

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