Path planning method for continuous printing on non-circular workpiece, control method, device, electronic apparatus, medium, and program

Abstract

The invention provides a path planning method and device for continuous printing on a non-circular workpiece, a control method and device, electronic equipment, a medium and a program. The path planning method comprises the following steps: acquiring geometric parameters of a non-circular workpiece; according to the geometric parameters, the printing stroke of the single workpiece is determined; based on the geometric parameters and the printing stroke, motion parameters used for controlling multi-axis coordinated motion in the printing process are obtained, and the motion parameters comprise a first electronic cam curve used for defining the position relation between a main shaft and a workpiece rotating shaft; and the second electronic cam curve is used for defining the position relation between the main shaft and the workpiece lifting shaft.

Description

Technical Field

[0001] This application relates to the field of printing technology, and more particularly to a path planning method, control method, apparatus, electronic device, medium, and program for continuous printing on non-circular workpieces. Background Technology

[0002] When printing on the surface of non-circular workpieces, such as rounded rectangular workpieces, due to their complex surface geometry, existing transfer printing technologies can only perform single-sided transfer printing. That is, after printing one side, the machine needs to be stopped to adjust the workpiece position or change the printing surface before printing the next side. This segmented printing method results in low production efficiency and cannot meet the needs of large-scale industrial production. Summary of the Invention

[0003] In view of this, this application provides a solution for continuous printing on non-circular workpieces.

[0004] In a first aspect, this application provides a path planning method for continuous printing on non-circular workpieces, comprising the following steps:

[0005] Obtain the geometric parameters of a non-circular workpiece;

[0006] Based on the geometric parameters, the printing stroke of a single workpiece is determined, wherein the printing stroke is the distance that the pressing point needs to move to complete printing on the surface of the non-circular workpiece, and the pressing point is the contact point between the pressing roller and the non-circular workpiece.

[0007] Based on the geometric parameters and the printing stroke, motion parameters for controlling multi-axis coordinated motion during the printing process are obtained, including:

[0008] A first electronic cam curve for defining the positional relationship between the spindle and the workpiece rotation axis; and

[0009] A second electronic cam curve is used to define the positional relationship between the spindle and the workpiece lifting axis;

[0010] During the printing process, the workpiece rotation axis and the workpiece lifting axis are coordinated and controlled by the first electronic cam curve and the second electronic cam curve, so that:

[0011] (1) During the printing process, the pressing point moves at a constant speed along the target printing path;

[0012] (2) During the printing process, the normal pressure between the pressure roller and the non-circular workpiece remains constant.

[0013] Optionally, the step of obtaining motion parameters for controlling multi-axis coordinated motion during the printing process based on the geometric parameters and the printing stroke includes:

[0014] Based on the geometric parameters and the printing stroke, a mathematical model is established to describe the non-circular workpiece motion trajectory that needs to be executed during the printing process to make the pressing point move along the target printing path.

[0015] The motion parameters are obtained based on the mathematical model.

[0016] Optionally, the step of establishing a mathematical model based on the geometric parameters and the printing stroke to describe the non-circular workpiece motion trajectory required to move the pressing point along the target printing path during the printing process includes:

[0017] Based on the geometric characteristics of the non-circular workpiece, the workpiece surface contour corresponding to the printing stroke is divided into multiple geometric segments;

[0018] For each geometric segment, a piecewise mathematical model is established based on the geometric parameters and the geometric characteristics of the segment.

[0019] The mathematical model is composed of all piecewise mathematical models.

[0020] Optionally, the input parameters of the mathematical model are the cumulative travel distance of the pressing point along the target printing path, and the output parameters are the rotation angle of the corresponding workpiece rotation axis and the position coordinates of the workpiece lifting axis.

[0021] Secondly, this application provides a control method for continuous printing on non-circular workpieces, comprising the following steps:

[0022] Obtain the geometric parameters and target printing speed of non-circular workpieces;

[0023] The motion parameters for controlling the motion of the non-circular workpiece during the printing process are obtained based on the method described in any one of the first aspects;

[0024] The spindle speed is determined based on the target printing speed.

[0025] Based on the motion parameters and the speed of the spindle, the workpiece rotation axis, workpiece lifting axis, and film pulling axis are controlled to move in a coordinated manner to achieve continuous printing on the surface of a rounded rectangular can at the target printing speed.

[0026] Thirdly, this application provides a control device for continuous printing on non-circular workpieces, comprising:

[0027] Acquisition unit, which is used to acquire the geometric parameters of non-circular workpieces;

[0028] A printing stroke determination unit is used to determine the printing stroke of a single workpiece based on the geometric parameters, wherein the printing stroke is the movement distance required for the pressing point to complete printing on the surface of the non-circular workpiece, and the pressing point is the contact point between the pressing roller and the non-circular workpiece.

[0029] A motion parameter unit, used to obtain motion parameters for controlling multi-axis coordinated motion during the printing process based on the geometric parameters and the printing stroke, the motion parameters including:

[0030] A first electronic cam curve for defining the positional relationship between the spindle and the workpiece rotation axis; and

[0031] A second electronic cam curve is used to define the positional relationship between the spindle and the workpiece lifting axis;

[0032] During the printing process, the workpiece rotation axis and the workpiece lifting axis are coordinated and controlled by the first electronic cam curve and the second electronic cam curve, so that:

[0033] (1) During the printing process, the pressing point moves at a constant speed along the target printing path;

[0034] (2) During the printing process, the normal pressure between the pressure roller and the non-circular workpiece remains constant.

[0035] Fourthly, this application provides a control device for continuous printing on non-circular workpieces, comprising:

[0036] The acquisition module is used to acquire the geometric parameters and target printing speed of non-circular workpieces;

[0037] The control device described in the third aspect;

[0038] The speed module is used to determine the spindle speed based on the target printing speed.

[0039] The control module is used to control the coordinated movement of the workpiece rotation axis, workpiece lifting axis and film pulling axis according to the motion parameters and the speed of the spindle, so as to achieve continuous printing on the surface of the rounded rectangular can at the target printing speed.

[0040] Fourthly, this application provides an electronic device, including: a processor, a communication interface, a memory, and a bus, wherein the processor, the communication interface, and the memory communicate with each other through the bus;

[0041] The memory is used to store at least one executable instruction that causes the processor to perform an operation corresponding to the method of any one of the first aspects, or an operation corresponding to the method of the second aspect.

[0042] Fifthly, this application provides a computer-readable storage medium storing computer instructions that, when executed by a processor, cause the processor to perform the method as described in any one of the first aspects, or the method as described in the second aspect.

[0043] In a sixth aspect, this application provides a computer program product, including computer instructions that instruct a computing device to perform an operation corresponding to the method described in any of the first aspects, or an operation corresponding to the method described in the second aspect.

[0044] As can be seen from the above technical solutions, the path planning scheme for continuous printing on non-circular workpieces provided in this application only requires inputting the geometric parameters of the non-circular workpiece to automatically generate the first electronic cam curve and the second electronic cam curve, eliminating the need for complex testing, debugging, or manual programming, thus significantly improving production preparation efficiency. Furthermore, when changing to workpieces of different specifications, only updating the geometric parameters is required to quickly generate a new electronic cam curve, achieving rapid changeover and improving production flexibility and adaptability.

[0045] The control scheme provided in this application for continuous printing on non-circular workpieces coordinates the movement of the film-pulling shaft, the workpiece rotation shaft, and the workpiece lifting shaft by controlling motion parameters to ensure that the pressing point moves along the target printing path; and ensures that the movement speed of the pressing point is equal to the target printing speed by controlling the speed of the spindle, thereby achieving high-precision continuous printing on the surface of non-circular workpieces. Attached Figure Description

[0046] Figure 1 This is a flowchart of a path planning method for continuous printing on a non-circular workpiece based on an exemplary embodiment of this application.

[0047] Figure 2 This is a flowchart of a path planning method for continuous printing on a rounded rectangular workpiece based on an exemplary embodiment of this application.

[0048] Figure 3 This is a flowchart of a control method for continuous printing on a non-circular workpiece based on an exemplary embodiment of this application.

[0049] Figure 4 This is a schematic diagram of a non-circular workpiece transfer device.

[0050] Figure 5 This is a schematic diagram of the crimping point on a straight segment.

[0051] Figure 6 This is a schematic diagram of the crimping point on the arc segment.

[0052] Figure 7This is a schematic diagram of a rounded rectangular workpiece located at the initial factor position.

[0053] List of reference numerals in the attached diagram:

[0054] 11: Workpiece rotation axis (11);

[0055] 12: Workpiece lifting shaft (12);

[0056] 13: Film pulling shaft (13);

[0057] 14: Transfer film (14);

[0058] 15: Pressing roller (15);

[0059] 16: Thrust spring (16);

[0060] 21: Workpiece to be printed;

[0061] 22: Rounded rectangular workpiece. Detailed Implementation

[0062] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art should fall within the protection scope of the embodiments of this application.

[0063] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Where there is no conflict between the embodiments, the following embodiments and features can be combined with each other. The steps in the following method embodiments are for illustrative purposes only and are not intended to limit the invention.

[0064] When printing on the surface of non-circular workpieces, such as rounded rectangular workpieces, due to their complex surface geometry, existing transfer printing technologies can only perform single-sided transfer printing. That is, after printing one side, the machine needs to be stopped to adjust the workpiece position or change the printing surface before printing the next side. This segmented printing method results in low production efficiency and cannot meet the needs of large-scale industrial production.

[0065] In view of this, this application provides a solution for continuous printing on non-circular workpieces.

[0066] The specific implementation of each embodiment of this application will be described in detail below with reference to the accompanying drawings.

[0067] Example 1

[0068] Example 1 provides a path planning method for continuous printing on non-circular workpieces. For example... Figure 1 As shown, the path planning method in this embodiment includes the following steps:

[0069] S101: Obtain the geometric parameters of a non-circular workpiece.

[0070] For example, taking a rounded rectangular workpiece as an example, its geometric parameters include the length L of the rounded rectangular workpiece, the width H of the rounded rectangular workpiece, and the radius R of the rounded corners.

[0071] S103: Determine the printing stroke of a single workpiece based on the geometric parameters, wherein the printing stroke is the distance required for the pressing point to complete printing on the surface of the non-circular workpiece, and the pressing point is the contact point between the pressing roller 15 and the non-circular workpiece.

[0072] Taking a rounded rectangular workpiece with full circumference printing on its side surface as an example, the printing stroke is the perimeter of the rounded rectangular outline.

[0073] S105: Based on the geometric parameters and the printing stroke, motion parameters for controlling multi-axis coordinated motion during the printing process are obtained, the motion parameters including:

[0074] A first electronic cam curve for defining the positional relationship between the spindle and the workpiece rotation axis 11; and

[0075] The second electronic cam curve is used to define the positional relationship between the main spindle and the workpiece lifting shaft 12;

[0076] During the printing process, the workpiece rotation axis 11 and the workpiece lifting axis 12 are coordinated and controlled by the first electronic cam curve and the second electronic cam curve, so that:

[0077] (1) During the printing process, the pressing point moves at a constant speed along the target printing path;

[0078] (2) During the printing process, the normal pressure between the pressure roller 15 and the non-circular workpiece remains constant.

[0079] Figure 3 This is a schematic diagram of the transfer device. Figure 3 As shown, the workpiece to be printed is fixed on the workpiece rotating shaft by a fixture, and the rotation center of the workpiece rotating shaft is perpendicular to the paper surface. The entire workpiece rotating shaft is mounted on the load of the workpiece lifting shaft. When the workpiece lifting shaft moves up and down, it drives the workpiece rotating shaft and the workpiece to be printed on it to move in the vertical direction.

[0080] The rotation center of the pressure roller 15 is located directly above the rotation center of the workpiece rotation axis 11. The pressure roller 15 is a driven roller, without a drive motor; its position in space is fixed, and it can only passively rotate around its own axis. A thrust spring 16 applies normal pressure, pressing the pattern on the transfer film 14 onto the surface of the workpiece. During the transfer process, the film-pulling shaft 13 drives the film to move, and the film drives the pressure roller 15 to rotate. The pressure roller 15 has no translational movement other than rotation, forming a contact point between the pressure roller 15 and the workpiece. The workpiece rotation axis 11 and the workpiece lifting axis 12 are coordinated and controlled by the first and second electronic cam curves. On the one hand, this ensures that the contact point moves precisely along the target printing path of the non-circular workpiece and maintains a constant speed, ensuring accurate printing position and uniform printing speed. On the other hand, the lifting motion of the workpiece lifting axis 12 compensates for the curvature changes of the non-circular workpiece surface, ensuring that the pressure roller 15 and the workpiece surface always maintain a constant normal pressure, thereby ensuring the uniformity and consistency of printing quality.

[0081] In this embodiment, only the geometric parameters of the non-circular workpiece need to be input to automatically generate the first and second electronic cam curves, eliminating the need for complex testing, debugging, or manual programming, thus significantly improving production preparation efficiency. Furthermore, when changing to workpieces of different specifications, only updating the geometric parameters is required to quickly generate new electronic cam curves, enabling rapid changeover and improving production flexibility and adaptability.

[0082] In some implementations, step S105 includes:

[0083] S1051: Based on the geometric parameters and the printing stroke, establish a mathematical model to describe the non-circular workpiece motion trajectory that needs to be executed during the printing process to make the pressing point move along the target printing path.

[0084] S1053: Based on the mathematical model, the first electronic cam curve and the second electronic cam curve are obtained.

[0085] In some implementations, the input parameters of the mathematical model are the cumulative travel distance of the pressing point along the target printing path, and the output parameters are the rotation angle of the corresponding workpiece rotation axis 11 and the position coordinates of the workpiece lifting axis 12.

[0086] In this embodiment, by establishing a mathematical model, the printing requirement of the pressing point moving along the target printing path is transformed into a coordinated motion control problem of the workpiece rotation axis 11 and the workpiece lifting axis 12. The mathematical model establishes a precise mathematical relationship between the cumulative travel distance of the pressing point and the workpiece motion parameters (rotation angle and lifting position), making the complex non-circular workpiece printing process calculable, predictable, and precisely controllable.

[0087] In some implementations, step S1051 includes:

[0088] S1051A: Based on the geometric characteristics of the non-circular workpiece, the workpiece surface contour corresponding to the printing stroke is divided into multiple geometric segments, including straight line segments and arc segments.

[0089] Taking a rounded rectangular workpiece with full circumference printing on its side surface as an example, the workpiece surface contour is divided into 12 geometric segments, including 8 straight line segments and 4 arc segments. Each straight line edge of the rounded rectangular workpiece is divided into two straight line segments with its midpoint as the boundary, such as... Figure 5 As shown.

[0090] S1051B: For each geometric segment, based on the geometric parameters and the geometric characteristics of the segment, establish a segmented mathematical model corresponding to the segment, wherein the mathematical model is composed of all segmented mathematical models.

[0091] In this embodiment, by dividing the workpiece surface contour into multiple geometric segments and establishing segmented mathematical models for each segment, appropriate mathematical description methods can be adopted for segments with different geometric features, thereby improving the accuracy and applicability of the mathematical model and simplifying the mathematical modeling process for complex contours.

[0092] In some implementations, step S1053 includes:

[0093] S1053A: Discretize the printing stroke along its length into a preset number of discrete points.

[0094] S1053B: For each discrete point, based on the mathematical model, calculate the rotation angle of the corresponding workpiece rotation axis 11 and the position coordinates of the workpiece lifting axis 12.

[0095] S1053C: Determine the correspondence between the cumulative travel distance of the pressing point along the target printing path and the spindle.

[0096] In this embodiment, the main shaft can be a film stretching shaft 13 or a virtual main shaft.

[0097] The film-pulling shaft 13 drives the film to move, which in turn drives the pressure roller 15 to rotate. The rotation of the pressure roller 15 causes the pressing point to move along the target printing path. In the embodiment where the main shaft is the film-pulling shaft 13, there is a direct correspondence between the cumulative travel distance Dw of the pressing point and the displacement of the film-pulling shaft 13. Based on the transmission relationship between the film-pulling shaft 13 and the pressure roller 15, a mapping relationship between the position of the film-pulling shaft 13 and the cumulative travel distance Dw of the pressing point is established: Dw = film-pulling shaft displacement × transmission coefficient.

[0098] The transmission coefficient is determined by the frictional transmission ratio or mechanical transmission ratio between the film and the pressing roller 15. This correspondence allows us to obtain the spindle position value for each discrete point.

[0099] The virtual spindle is a logical position counter and does not correspond to an actual physical axis. In implementations where the spindle is virtual, both the virtual spindle and the contact point move at a constant speed, and there is a linear correspondence between them. Therefore, we can obtain: Dw = Virtual spindle position × k, where k is the linear coefficient. Through this linear relationship, the spindle position value corresponding to each discrete point can be obtained.

[0100] S1053D: Based on the calculation results of all discrete points and the correspondence between the cumulative travel distance of the pressing point along the target printing path and the main shaft, motion parameters for controlling the multi-axis coordinated motion during the printing process are obtained.

[0101] In an embodiment where the main spindle is a film-stretching shaft 13, the motion parameters include a first electronic cam curve for defining the positional relationship between the main spindle and the workpiece rotation axis 11, and a second electronic cam curve for defining the positional relationship between the main spindle and the workpiece lifting axis 12.

[0102] In this embodiment, the film-pulling shaft 13 serves as the actual physical drive shaft, directly driving the film to move. Multi-axis coordinated control can be achieved with only two electronic cam curves, reducing the hardware configuration requirements and cost of the control system.

[0103] In an embodiment where the spindle is a virtual spindle, the motion parameters include a first electronic cam curve for defining the positional relationship between the spindle and the workpiece rotation axis 11, a second electronic cam curve for defining the positional relationship between the spindle and the workpiece lifting axis 12, and a third electronic cam curve for defining the positional relationship between the virtual spindle and the film stretching axis 13.

[0104] Based on the calculation results of all discrete points and the correspondence between the cumulative travel distance of the pressing point along the target printing path and the spindle, the correspondence between the spindle position and the workpiece rotation axis rotation angle θ and the workpiece lifting axis position coordinate Z is obtained. Using the spindle position as input (horizontal axis) and the workpiece rotation axis rotation angle θ as output (vertical axis), the (spindle position, θ) data of all discrete points are connected to form a curve and interpolated to obtain the first electronic cam curve. Similarly, using the spindle position as input (horizontal axis) and the workpiece lifting axis position coordinate Z as output (vertical axis), the (spindle position, Z) data of all discrete points are connected to form a curve and interpolated to obtain the second electronic cam curve. In this embodiment, each point of the electronic cam curve is calculated based on a precise mathematical model. A smooth transition is generated between discrete points through an interpolation algorithm, ensuring the positional and trajectory accuracy throughout the entire motion process and avoiding the accuracy degradation problems caused by machining errors, assembly errors, and wear in traditional mechanical cams.

[0105] The method provided in this embodiment uses the spindle position as the input variable for the electronic cam curve, establishing a multi-axis coordinated control mode driven by the spindle. In this mode, with the spindle position as the unified input variable, the movements of the workpiece rotation axis and the workpiece lifting axis completely follow the spindle. A deterministic positional correspondence is established between the three axes, avoiding timing deviations or speed mismatches that may occur in independent control modes. This ensures that the pressing point always moves precisely along the target printing path during the printing process. The control system only needs to drive the spindle to run at the set speed; the workpiece rotation axis and the workpiece lifting axis automatically follow by querying their respective electronic cam curves. This eliminates the need for complex multi-axis coordination algorithms or real-time calculations, reducing the complexity and computational burden of the control system and improving its real-time response performance. When it is necessary to change the printing speed, only the spindle's running speed needs to be adjusted; the electronic cam curve remains unchanged, and the workpiece rotation axis and the workpiece lifting axis automatically adjust their speed proportionally, achieving flexible speed adjustment.

[0106] Example 2

[0107] Example 2 provides a path planning method for continuous printing on the surface of a rounded rectangular can, such as... Figure 2 As shown, it includes the following steps:

[0108] S201: Obtain the geometric parameters of the rounded rectangular tank, including the length L, width H, and corner radius R of the rounded rectangular workpiece. Figure 7 As shown.

[0109] S202: Determine the printing stroke on the surface of the rounded rectangular can based on the geometric parameters.

[0110] Taking a rounded rectangular workpiece with full circumference printing on its side surface as an example, the printing stroke is the perimeter of the rounded rectangle outline: .

[0111] S203: Based on the geometric features of the rounded rectangular can, the workpiece surface contour corresponding to the printing stroke is divided into multiple geometric segments, where each rounded corner is a geometric segment, and each straight edge is divided into two straight segments with the midpoint as the boundary.

[0112] Taking a rounded rectangular workpiece with full circumference printing on its side surface as an example, the workpiece surface contour is divided into 12 geometric segments, including 8 straight line segments and 4 circular arc segments. For example... Figure 5 As shown, starting from the starting point N (midpoint of the long side), in a counterclockwise direction, the segments are: first straight line segment NA, second circular arc segment AB, third straight line segment BC, fourth straight line segment CD, fifth circular arc segment DE, sixth straight line segment EF, seventh straight line segment FG, eighth circular arc segment GH, ninth straight line segment HI, tenth straight line segment IJ, eleventh circular arc segment JK, and twelfth straight line segment KN.

[0113] By dividing the complex rounded rectangle path into 12 geometric segments with distinct geometric characteristics, the complexity of mathematical modeling is greatly simplified, making it easier to model and calculate them separately.

[0114] S204: For each geometric segment, based on the geometric parameters and the geometric characteristics of that segment, establish a segmented mathematical model corresponding to that segment. The input parameter of the segmented mathematical model is the cumulative travel distance Dw of the pressing point along the target printing path, and the output parameter is the rotation angle of the corresponding workpiece rotation axis 11. And the position coordinate Z of the workpiece lifting shaft 12.

[0115] (1) The mathematical model of the first line segment NA is:

[0116] Rotation angle of the workpiece's rotating axis: =arcTan(Dw / ( +0.5*H))

[0117] The workpiece moves downwards along the lifting axis: Z = ( +0.5*H) / cos )-D1

[0118] (2) The mathematical model of the second circular arc segment AB is:

[0119] Rotation angle of the workpiece's axis:

[0120] =arcTan((T*Cos(f) ) / (Cosk2+T*Sin(f)));

[0121] The workpiece lifting shaft moves downward:

[0122] Z= )-D1

[0123] (3) The mathematical model of the third line segment BC is:

[0124] Rotation angle of the workpiece's axis:

[0125] =arcTan(( +0.5*L) / ( 0.5*H-(Dw-(0.5*LR)-(0.5* *R)+R)));

[0126] The workpiece lifting shaft moves downward:

[0127] Z= ( +0.5*L) / COS ;

[0128] (4) The mathematical model of the fourth line segment CD is:

[0129] Rotation angle of the workpiece's axis:

[0130] =0.5* +arcTan((Dw-(0.5*L-R+0.5* *R+0.5*HR)) / ( +0.5*L))

[0131] The workpiece lifting shaft moves downward:

[0132] Z=( +0.5*L) / cos( )-D1

[0133] (5) The mathematical model of the fifth arc segment DE is:

[0134] Rotation angle of the workpiece's axis:

[0135] =arcTan-((T*COS(f)+cos(k5)) / (sin(k5)+Tsin(f)));

[0136] The workpiece lifting shaft moves downward:

[0137] Z= )-D1

[0138] (6) The mathematical model of the sixth line segment EF is:

[0139] Rotation angle of the workpiece's axis:

[0140] = -arcTan(((0.5*LR)-(Dw- -(H-2*R)-(0.5*LR))-R) / ( +0.5*H));

[0141] The workpiece lifting shaft moves downward:

[0142] Z=( +0.5*H) / cos( )-D1

[0143] (7) The mathematical model of the seventh line segment FG is:

[0144] Rotation angle of the workpiece's axis:

[0145] =arcTan((Dw-(0.5*L-R+0.5* *R+0.5*H-R+0.5*HR +0.5* *R+0.5*LR)) / ( +0.5*H));

[0146] The workpiece lifting shaft moves downward:

[0147] Z=( +0.5*H) / cos( )-D1;

[0148] (8) The mathematical model of the eighth arc segment GH is:

[0149] Rotation angle of the workpiece's axis:

[0150] =arcTan((Sin(k8)-Tcos(f)) / (cos(k8)-Tsin(f)))

[0151] The workpiece lifting shaft moves downward:

[0152] Z= )-D1

[0153] (9) The mathematical model of the ninth line segment HI is:

[0154] Rotation angle of the workpiece's axis:

[0155] = +arcTan((0.5*H-(Dw-(0.5*L-R+0.5* *R+0.5*H-R+0.5*HR +0.5* *R+0.5*L-R+0.5*L-R+0.5* *R))+R) / (0.5*L));

[0156] The workpiece lifting shaft moves downward:

[0157] Z= ( +0.5*L) / cos )-D1

[0158] (10) The mathematical model of the tenth line segment IJ is:

[0159] Rotation angle of the workpiece's axis:

[0160] =1.5* +arcTan((Dw-(0.5*L-R+0.5* *R+0.5*H-R+0.5*HR +0.5* *R+0.5*L-R+0.5*L-R+0.5* *R +0.5*HR)) / (R+0.5*L));

[0161] The workpiece lifting shaft moves downward:

[0162] Z= ( +0.5*L) / cos )-D1;

[0163] (11) The mathematical model of the eleventh circular arc segment JK is:

[0164] Rotation angle of the workpiece's axis:

[0165] =arcTan(((cos(f)-Tcos(k11))) / (Tsin(k11)-sin(f)));

[0166] The workpiece lifting shaft moves downward:

[0167] Z= )-D1

[0168] (12) The mathematical model of the twelfth straight line segment KN is:

[0169] Rotation angle of the workpiece's axis:

[0170] =1.5* +arcTan((R+0.5H) / (0.5*L-Dw-(0.5*L-R+0.5* *R+0.5*H-R+0.5*HR +0.5* *R+0.5*L-R+0.5*L-R+0.5* *R +0.5*H-R+0.5*H-R+0.5* *R)+R));

[0171] The workpiece lifting shaft moves downward:

[0172] Z= ( +0.5*H) / sin

[0173] In the mathematical models of the above geometric segments:

[0174] Dw is used to characterize the cumulative travel distance of the crimp point along the target printing path;

[0175] L is used to characterize the length of a rounded rectangular workpiece, such as Figure 7 As shown;

[0176] H is used to characterize the width of a rounded rectangular workpiece, such as Figure 7 As shown;

[0177] R is used to characterize the fillet radius of a rounded rectangular workpiece, such as Figure 7 As shown;

[0178] The roller radius used to characterize the pressing roller 15, such as Figure 7 express;

[0179] D1 is used to characterize the distance between the rotation center O of the workpiece rotation axis 11 and the roller center O' of the pressure roller 15 when the workpiece is in the initial position, such as... Figure 7 express;

[0180] = ;

[0181] T= / (R+ )

[0182] f = arcTan((0.5*HR) / (0.5LR));

[0183] k2=(Dw-(0.5*LR)) / R;

[0184] k5=(Dw-(0.5*LR)-0.5* *R-(H-2*R) / R

[0185] k8=(Dw-(0.5*L-R+0.5* *R+0.5*H-R+0.5*HR +0.5* *R+0.5*L-R+0.5*LR)) / R

[0186] K11=(Dw-(0.5*L-R+0.5* π*R+0.5*H-R+0.5*HR +0.5* π*R+0.5*L-R+0.5*L-R+0.5* π *R+0.5*H-R+0.5*HR)) / R.

[0187] By establishing a mathematical model, the printing requirement of the pressing point moving along the target printing path is transformed into a coordinated motion control problem of the workpiece rotation axis 11 and the workpiece lifting axis 12. The mathematical model establishes a precise mathematical relationship between the cumulative travel distance of the pressing point and the workpiece motion parameters (rotation angle and lifting position), making the complex printing process of non-circular workpieces calculable, predictable, and precisely controllable.

[0188] S205: Discretize the printing stroke along its length into a preset number of discrete points.

[0189] For example, the total length of the printing stroke can be discretized into 10,000 equally spaced discrete points.

[0190] By discretizing the continuous printing stroke into 10,000 uniformly distributed discrete points, the conversion from theoretical model to actual control data was achieved. By reasonably setting the number of discrete points, control accuracy was ensured while also taking into account the PLC's storage capacity and real-time performance.

[0191] S206: For each discrete point, based on the mathematical model, calculate the rotation angle of the corresponding workpiece rotation axis 11 and the position coordinates of the workpiece lifting axis 12.

[0192] For each discrete point, perform the following steps:

[0193] S2061: Determine the cumulative travel distance Dw of the discrete point along the printing path, where the cumulative travel distance is the total distance the discrete point moves along the target printing path from the starting point N.

[0194] S2062: Compare the cumulative travel distance Dw of the discrete point along the printing path with preset conditions to determine the segmented mathematical model corresponding to the current discrete point.

[0195] The judgment conditions are shown in Table 1:

[0196] The range of cumulative travel distance Dw Corresponding geometric segment mathematical model 0 ≤ Dw ≤ 0.5*LR Mathematical model of the first straight line segment 0.5*L-R<Dw≤0.5*L-R+0.5* *R Mathematical model of the second arc segment 0.5*L-R+0.5* *R<Dw≤0.5*L +0.5* *R+0.5*H-2*R Mathematical model of the third straight segment 0.5*L +0.5* *R+0.5*H-2*R<Dw≤0.5*L +0.5* *R+H-3*R Mathematical model of the fourth line segment 0.5*L +0.5* *R+H-3*R <Dw≤0.5*L + *R+H -3*R Mathematical model of the fifth arc segment 0.5*L + *R+H -3*R <Dw≤L + *R+H -4*R Mathematical model of the sixth line segment L + *R+H -4*R <Dw≤ 1.5*L + *R+H -5*R Mathematical model of the seventh line segment 1.5*L + *R+H -5*R <Dw≤1.5*L +1.5* *R+H -5*R Mathematical model of the eighth arc segment 1.5*L +1.5* *R+H -5*R <Dw≤1.5*L +1.5* *R+1.5*H -6*R Mathematical model of the ninth line segment 1.5*L +1.5* *R+1.5*H -6*R <Dw≤1.5*L +1.5* *R+2*H -7*R Mathematical model of the tenth line segment 1.5*L +1.5* *R+2*H -7*R <Dw≤1.5*L +2* *R+2*H -7*R Mathematical model of the eleventh circular arc segment 1.5*L +2* *R+2*H -7*R <Dw≤2*L +2* *R+2*H -8*R Mathematical model of the twelfth line segment

[0197] Table 1

[0198] S2063: Based on the cumulative travel distance Dw along the printing stroke for each discrete point and the corresponding piecewise mathematical model, calculate the rotation angle of the workpiece rotation axis 11 corresponding to the cumulative travel distance Dw along the printing stroke for each discrete point. And the position coordinate Z of the workpiece lifting shaft 12.

[0199] S207: Determine the correspondence between the cumulative travel distance of the pressing point along the target printing path and the spindle.

[0200] In this embodiment, the main shaft can be a film stretching shaft 13 or a virtual main shaft.

[0201] The film-pulling shaft drives the film to move, which in turn drives the pressure roller to rotate. The rotation of the pressure roller causes the pressing point to move along the target printing path. In embodiments where the main shaft is the film-pulling shaft, there is a direct correspondence between the cumulative travel distance Dw of the pressing point and the displacement of the film-pulling shaft. Based on the transmission relationship between the film-pulling shaft and the pressure roller, a mapping relationship between the position of the film-pulling shaft and the cumulative travel distance Dw of the pressing point is established: Dw = film-pulling shaft displacement × transmission coefficient. The transmission coefficient is determined by the frictional transmission ratio or mechanical transmission ratio between the film and the pressure roller. Through this correspondence, the main shaft position value corresponding to each discrete point can be obtained.

[0202] The virtual spindle is a logical position counter and does not correspond to an actual physical axis. In implementations where the spindle is virtual, both the virtual spindle and the contact point move at a constant speed, and there is a linear correspondence between them. Therefore, we can obtain: Dw = Virtual spindle position × k, where k is the linear coefficient. Through this linear relationship, the spindle position value corresponding to each discrete point can be obtained.

[0203] S208: Based on the calculation results of all discrete points, the motion parameters used to control the multi-axis coordinated motion during the printing process are obtained.

[0204] In an embodiment where the spindle is a film-stretching shaft, the motion parameters include a first electronic cam curve for defining the positional relationship between the spindle and the workpiece rotation axis, and a second electronic cam curve for defining the positional relationship between the spindle and the workpiece lifting axis.

[0205] In this embodiment, the film-pulling shaft serves as the actual physical drive shaft, directly driving the film to move. Multi-axis coordinated control can be achieved with only two electronic cam curves, reducing the hardware configuration requirements and costs of the control system.

[0206] In an embodiment where the spindle is a virtual spindle, the motion parameters include a first electronic cam curve for defining the positional relationship between the spindle and the workpiece rotation axis, a second electronic cam curve for defining the positional relationship between the spindle and the workpiece lifting axis, and a third electronic cam curve for defining the positional relationship between the virtual spindle and the film stretching axis.

[0207] During the printing process, the workpiece rotation axis 11 and the workpiece lifting axis 12 are coordinated and controlled by the first electronic cam curve and the second electronic cam curve, so that:

[0208] (1) During the printing process, the pressing point moves at a constant speed along the target printing path;

[0209] (2) During the printing process, the normal pressure between the pressure roller 15 and the non-circular workpiece remains constant.

[0210] Example 3

[0211] Example 3 provides a control method for continuous printing on non-circular workpieces, such as... Figure 3 As shown, it includes the following steps:

[0212] S301: Obtain the geometric parameters and target printing speed of the non-circular workpiece;

[0213] S303: Obtain motion parameters based on the methods provided in each embodiment of Example 1 or Example 2;

[0214] S305: Obtain the spindle speed based on the target printing speed;

[0215] In the embodiment where the main shaft is a film-pulling shaft, the speed of the film-pulling shaft is calculated from the target printing speed based on the transmission relationship between the film-pulling shaft and the pressing point.

[0216] In the implementation where the spindle is a virtual spindle, the speed of the virtual spindle is calculated from the target printing speed based on the linear correspondence between the virtual spindle and the pressing point.

[0217] S307: Based on the motion parameters and the speed of the spindle, control the coordinated movement of the workpiece rotation axis 11, the workpiece lifting axis 12, and the film pulling axis 13 to achieve continuous printing on the surface of the rounded rectangular can at the target printing speed.

[0218] In an embodiment where the main shaft is a film-pulling shaft, the workpiece rotation axis and the workpiece lifting axis are controlled to move in coordination with the film-pulling shaft according to the first electronic cam curve and the second electronic cam curve; by controlling the speed of the film-pulling shaft, the pressing point moves along the target printing path at the target printing speed.

[0219] In an embodiment where the spindle is a virtual spindle, the workpiece rotation axis, workpiece lifting axis, and film pulling axis are controlled to move in coordination with the virtual spindle according to the first electronic cam curve, the second electronic cam curve, and the third electronic cam curve; by controlling the speed of the virtual spindle, the pressing point moves along the target printing path at the target printing speed.

[0220] In this embodiment, the motion parameters are controlled to coordinate the movement of the film-pulling shaft, the workpiece rotation shaft, and the workpiece lifting shaft, ensuring that the pressing point moves along the target printing path; by controlling the speed of the spindle, the movement speed of the pressing point is ensured to be equal to the target printing speed, thereby achieving high-precision continuous printing on the surface of a non-circular workpiece.

[0221] Example 4

[0222] Example 4 provides a path planning method apparatus for continuous printing on non-circular workpieces, comprising:

[0223] Acquisition unit, which is used to acquire the geometric parameters of non-circular workpieces;

[0224] A printing stroke determination unit is used to determine the printing stroke of a single workpiece according to the geometric parameters, wherein the printing stroke is the movement distance required for the pressing point to complete printing on the surface of the non-circular workpiece, and the pressing point is the contact point between the pressing roller 15 and the non-circular workpiece.

[0225] A motion parameter unit, used to obtain motion parameters for controlling multi-axis coordinated motion during the printing process based on the geometric parameters and the printing stroke, the motion parameters including:

[0226] A first electronic cam curve for defining the positional relationship between the spindle and the workpiece rotation axis 11; and

[0227] The second electronic cam curve is used to define the positional relationship between the main spindle and the workpiece lifting shaft 12;

[0228] During the printing process, the workpiece rotation axis 11 and the workpiece lifting axis 12 are coordinated and controlled by the first electronic cam curve and the second electronic cam curve, so that:

[0229] (1) During the printing process, the pressing point moves at a constant speed along the target printing path;

[0230] (2) During the printing process, the normal pressure between the pressure roller 15 and the non-circular workpiece remains constant.

[0231] It should be noted that the information interaction and execution process between the units in the path planning device for continuous printing on non-circular workpieces described above are based on the same concept as the aforementioned path planning method embodiment for continuous printing on non-circular workpieces. For details, please refer to the description in the aforementioned production control method embodiment of the industrial production line, and will not be repeated here.

[0232] Example 5

[0233] Example 5 provides a control device for continuous printing on non-circular workpieces, comprising:

[0234] The acquisition module is used to acquire the geometric parameters and target printing speed of non-circular workpieces;

[0235] The control device described in Example 4;

[0236] The speed module is used to determine the spindle speed based on the target printing speed.

[0237] The control module is used to control the coordinated movement of the workpiece rotation axis 11, the workpiece lifting axis 12, and the film pulling axis 13 according to the motion parameters and the speed of the spindle, so as to achieve continuous printing on the surface of the rounded rectangular can at the target printing speed.

[0238] It should be noted that the information interaction and execution process between the modules in the control device for continuous printing on non-circular workpieces described above are based on the same concept as the aforementioned control method embodiment for continuous printing on non-circular workpieces. For details, please refer to the description in the aforementioned production control method embodiment for industrial production lines, and will not be repeated here.

[0239] Example 6

[0240] Example 6 provides an electronic device. The specific embodiments of this application do not limit the specific implementation of the electronic device. The electronic device provided in this application includes: a processor, a communications interface, memory, and a bus. Wherein:

[0241] The processor, communication interface, and memory communicate with each other via a bus.

[0242] A communication interface is used to communicate with other electronic devices or servers.

[0243] The processor is used to execute programs, specifically the relevant steps in the aforementioned embodiment 1, the relevant steps in the aforementioned embodiment 2, or the relevant steps in the aforementioned embodiment 3.

[0244] Specifically, the program may include program code, which includes computer operation instructions.

[0245] The processor may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0246] Memory is used to store programs. Memory may include high-speed RAM, and may also include non-volatile memory, such as at least one disk drive.

[0247] Specifically, the program can be used to cause the processor to execute the relevant steps in the aforementioned embodiment 1, or the relevant steps in the aforementioned embodiment 2, or the relevant steps in the aforementioned embodiment 3.

[0248] The specific implementation of each step in the program can be found in the corresponding descriptions of the steps and units in the above method embodiments, and will not be repeated here. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the devices and modules described above can be referred to the corresponding process descriptions in the foregoing method embodiments, and will not be repeated here.

[0249] Example 7

[0250] Example 7 provides a computer-readable storage medium storing instructions for causing a machine to perform the relevant methods in Example 1, or the relevant methods in Example 2, or the relevant methods in Example 3. Specifically, a system or apparatus equipped with a storage medium storing software program code that implements the functions of the methods in Example 2, or the methods in Example 3, or the methods in Example 4, and causing the computer (or CPU or MPU) of the system or apparatus to read and execute the program code stored in the storage medium.

[0251] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of this application.

[0252] Storage media embodiments for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.

[0253] Example 8

[0254] Example 8 provides a computer program product including computer instructions that instruct a computing device to perform any corresponding operation in the method of any of the embodiments of Example 1, or to perform any corresponding operation in the method of any of the embodiments of Example 2, or to perform any corresponding operation in the method of any of the embodiments of Example 3.

[0255] It should be noted that, depending on the implementation needs, the various components / steps described in the embodiments of this application can be broken down into more components / steps, or two or more components / steps or parts of the operation of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of this application.

[0256] The methods described in the embodiments of this application can be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium (such as a CD-ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or as computer code downloaded over a network that is originally stored in a remote recording medium or a non-transitory machine-readable medium and will be stored in a local recording medium. Thus, the methods described herein can be processed by software stored on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It is understood that the computer, processor, microprocessor controller, or programmable hardware includes storage components (e.g., RAM, ROM, flash memory, etc.) capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods described herein. Furthermore, when a general-purpose computer accesses code used to implement the methods shown herein, the execution of the code transforms the general-purpose computer into a dedicated computer for executing the methods shown herein.

[0257] It should be noted that not all steps and modules in the above processes and system structure diagrams are mandatory; some steps or modules can be omitted as needed. The execution order of each step is not fixed and can be adjusted as required. The system structure described in the above embodiments can be a physical structure or a logical structure. That is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or they may be jointly implemented by certain components in multiple independent devices.

[0258] In this patent application, nouns and pronouns relating to people are not limited to specific genders.

[0259] In the above embodiments, the hardware modules can be implemented mechanically or electrically. For example, a hardware module may include permanent, dedicated circuitry or logic (such as a dedicated processor, FPGA, or ASIC) to perform the corresponding operations. The hardware module may also include programmable logic or circuitry (such as a general-purpose processor or other programmable processor), which can be temporarily configured by software to perform the corresponding operations. The specific implementation method (mechanical, dedicated, permanent circuitry, or temporarily configured circuitry) can be determined based on cost and time considerations.

[0260] The present invention has been shown and described in detail above with reference to the accompanying drawings and preferred embodiments. However, the present invention is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art will know that more embodiments of the present invention can be obtained by combining the code review methods in the different embodiments above. These embodiments are also within the protection scope of the present invention.

Claims

1. A path planning method for continuous printing on non-circular workpieces, characterized in that, Includes the following steps: Obtain the geometric parameters of a non-circular workpiece; Based on the geometric parameters, the printing stroke of a single workpiece is determined, wherein the printing stroke is the distance required for the pressing point to complete printing on the surface of the non-circular workpiece, and the pressing point is the contact point between the pressing roller (15) and the non-circular workpiece. Based on the geometric parameters and the printing stroke, motion parameters for controlling multi-axis coordinated motion during the printing process are obtained, including: The first electronic cam curve is used to define the positional relationship between the spindle and the workpiece rotation axis (11); as well as The second electronic cam curve is used to define the positional relationship between the spindle and the workpiece lifting axis (12); During the printing process, the workpiece rotation axis (11) and the workpiece lifting axis (12) are coordinated and controlled by the first electronic cam curve and the second electronic cam curve, so that: (1) During the printing process, the pressing point moves at a constant speed along the target printing path; (2) During the printing process, the normal pressure between the pressure roller (15) and the non-circular workpiece remains constant.

2. The path planning method as described in claim 1, characterized in that, The steps for obtaining motion parameters for controlling multi-axis coordinated motion during the printing process, based on the geometric parameters and the printing stroke, include: Based on the geometric parameters and the printing stroke, a mathematical model is established to describe the non-circular workpiece motion trajectory that needs to be executed during the printing process to make the pressing point move along the target printing path. The motion parameters are obtained based on the mathematical model.

3. The path planning method as described in claim 2, characterized in that, Based on the geometric parameters and the printing stroke, the steps of establishing a mathematical model to describe the non-circular workpiece motion trajectory required to move the pressing point along the target printing path during the printing process include: Based on the geometric characteristics of the non-circular workpiece, the workpiece surface contour corresponding to the printing stroke is divided into multiple geometric segments; For each geometric segment, a piecewise mathematical model is established based on the geometric parameters and the geometric characteristics of the segment. The mathematical model is composed of all piecewise mathematical models.

4. The path planning method as described in claim 3, characterized in that, The input parameters of the mathematical model are the cumulative travel distance of the pressing point along the target printing path, and the output parameters are the rotation angle of the corresponding workpiece rotation axis (11) and the position coordinates of the workpiece lifting axis (12).

5. A control method for continuous printing on non-circular workpieces, characterized in that, Includes the following steps: Obtain the geometric parameters and target printing speed of non-circular workpieces; The motion parameters for controlling the movement of the non-circular workpiece during the printing process are obtained based on the method of any one of claims 1-4. The spindle speed is determined based on the target printing speed. Based on the motion parameters and the speed of the spindle, the workpiece rotation axis (11), workpiece lifting axis (12) and film pulling axis (13) are controlled to move in a coordinated manner to achieve continuous printing on the surface of the rounded rectangular can at the target printing speed.

6. A control device for continuous printing on non-circular workpieces, characterized in that, include: Acquisition unit, which is used to acquire the geometric parameters of non-circular workpieces; A printing stroke determination unit is used to determine the printing stroke of a single workpiece according to the geometric parameters, wherein the printing stroke is the movement distance required for the pressing point to complete printing on the surface of the non-circular workpiece, and the pressing point is the contact point between the pressing roller (15) and the non-circular workpiece. A motion parameter unit, used to obtain motion parameters for controlling multi-axis coordinated motion during the printing process based on the geometric parameters and the printing stroke, the motion parameters including: The first electronic cam curve is used to define the positional relationship between the spindle and the workpiece rotation axis (11); as well as The second electronic cam curve is used to define the positional relationship between the spindle and the workpiece lifting axis (12); During the printing process, the workpiece rotation axis (11) and the workpiece lifting axis (12) are coordinated and controlled by the first electronic cam curve and the second electronic cam curve, so that: (1) During the printing process, the pressing point moves at a constant speed along the target printing path; (2) During the printing process, the normal pressure between the pressure roller (15) and the non-circular workpiece remains constant.

7. A control device for continuous printing on non-circular workpieces, characterized in that, include: The acquisition module is used to acquire the geometric parameters and target printing speed of non-circular workpieces; The control device as described in claim 6; The speed module is used to determine the spindle speed based on the target printing speed. The control module is used to control the coordinated movement of the workpiece rotation axis (11), the workpiece lifting axis (12) and the film pulling axis (13) according to the motion parameters and the speed of the spindle, so as to achieve continuous printing on the surface of the rounded rectangular can at the target printing speed.

8. An electronic device, comprising: The processor, the communication interface, the memory, and the bus are connected, and the processor, the communication interface, and the memory communicate with each other via the bus. The memory is used to store at least one executable instruction that causes the processor to perform an operation corresponding to the method of any one of claims 1 to 4, or an operation corresponding to the method of claim 5.

9. A computer-readable storage medium storing computer instructions that, when executed by a processor, cause the processor to perform the method as claimed in any one of claims 1 to 4, or the method as claimed in claim 5.

10. A computer program product comprising computer instructions that instruct a computing device to perform an operation corresponding to the method of any one of claims 1 to 4, or an operation corresponding to the method of claim 5.

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