Processing equipment, control method and device thereof and storage medium

Abstract

The invention is suitable for the technical field of automation control, and provides machining equipment, a control method and device of the machining equipment and a storage medium. The control method comprises the steps that after it is determined that the hand wheel stops moving, the total distance ST of the moving shaft from moving starting to moving ending is obtained, and the product M of the pulse equivalent and the multiplying power of the hand wheel is obtained; if the hand wheel stops moving, the final distance corresponding to the fact that the motion shaft moves to the speed of zero in the current motion state is smaller than the target distance, and the result contains a score, controlling the motion shaft to move for T11 time, and then changing the current motion state of the motion shaft, and enabling the motion shaft to move to the target distance within the T12 time, and reducing the speed to zero. According to the control method provided by the embodiment of the invention, the machining precision can be improved.

Description

Technical Field

[0001] This application belongs to the field of automation control technology, and in particular relates to a processing equipment and its control method, device and storage medium. Background Technology

[0002] In CNC machining equipment, the handwheel is an important operating device. The handwheel mainly includes an axis selection switch, a rate control switch, and a pulse generator. The axis selection switch is used to select the servo axis, the rate control switch is used to adjust the feed rate and the servo axis displacement per unit time, and the pulse generator is responsible for controlling the precise movement of the servo axis.

[0003] In scenarios involving servo axis motion control, the system moves the servo axis to the target position based on the pulse count and pulse equivalent (i.e., the displacement corresponding to a single pulse) of the handwheel. The system distance is calculated as: system distance = pulse count × pulse equivalent × multiplier. If the pulse equivalent × multiplier is an integer, the system distance will also be an integer because the pulse count is an integer. Turning the handwheel will change the pulse count, and the system will control the servo axis movement. In practical applications, after stopping the handwheel turning, the servo axis may decelerate to zero but sometimes fail to reach the target position, leading to reduced machining accuracy. Summary of the Invention

[0004] Embodiments of this application provide a processing equipment, a control method, an apparatus, and a storage medium thereof, which can improve processing accuracy.

[0005] In a first aspect, embodiments of this application provide a method for controlling a processing device, the processing device including a handwheel and a motion shaft; The control method includes: After confirming that the handwheel has stopped moving, obtain the total distance traveled by the motion axis from the start of movement to the end of movement. S T And obtain the product of the pulse equivalent and the multiplication factor of the handwheel. M ; If the handwheel stops moving, the final distance traveled by the moving shaft until its speed reaches zero in its current state is less than the target distance, and If the result includes a score, then the motion axis is controlled to move. T 11 Time, and then change the current motion state of the motion axis, so that the motion axis in T 12 Within a given time, the speed decreases to zero as the target distance is reached. in, T 11 +T 12 ≤T 1, T1 represents the maximum permissible time for the motion shaft to decelerate from its current speed to zero when the handwheel stops moving, and the maximum permissible speed of the motion shaft is from a speed of zero. T 11 The speed achieved by time.

[0006] In one possible implementation of the first aspect, the control method further includes: If the handwheel stops moving, and the time taken for the moving shaft to reach zero speed in its current state is greater than the maximum allowable time, and If the result contains a score, then change the motion speed parameter of the motion axis so that the motion axis in T Within 1 hour, the target distance is reached and the speed is reduced to zero; Alternatively, if when the handwheel stops moving, the time taken for the motion shaft to reach zero speed in the current motion state is greater than the maximum allowable time, and If the result includes a score, then the motion axis is controlled in... T Decelerate to zero within 1 hour.

[0007] In one possible implementation of the first aspect, if the handwheel stops moving, the time taken for the motion shaft to move to zero speed in the current motion state is greater than the maximum allowable time, and If the result contains a score, then change the motion speed parameter of the motion axis so that the motion axis in T Moving to the target distance within 1 time and reducing speed to zero, specifically including: If the handwheel stops moving, and the time taken for the moving shaft to reach zero speed in its current state is greater than the maximum allowable time, and If the result includes a fraction, then increase the maximum jerk of the motion axis so that the motion axis in T It moves to the target distance within 1 hour and its speed decreases to zero.

[0008] In one possible implementation of the first aspect, after determining that the handwheel has stopped moving, the total distance traveled by the motion axis from the start of movement to the end of movement is obtained. S T And obtain the product of the pulse equivalent and the multiplication factor of the handwheel. M ,include: If in If the pulses of the handwheel remain the same within a certain time, the handwheel is determined to have stopped moving. After determining that the handwheel has stopped moving, obtain the total distance traveled by the motion axis from the start of movement to the end of movement. S TAnd obtain the product of the pulse equivalent and the multiplication factor of the handwheel. M .

[0009] In one possible implementation of the first aspect, if the handwheel stops moving, the final distance traveled by the motion shaft from its current motion state to zero speed is less than the target distance, and If the result includes a score, then the motion axis is controlled to move. T 11 Time, and then change the current motion state of the motion axis, so that the motion axis in T 12 Moving to the target distance within a given time and reducing speed to zero includes: If the handwheel stops moving, the final distance traveled by the moving shaft from its current state to zero speed is less than the target distance, and If the result includes a score, then the motion axis is controlled to move. T 11 Time, and then adjust the current motion state of the motion axis to deceleration motion, so that the motion axis in T 12 Within a given time, the vehicle moves to the target distance and its speed decreases to zero.

[0010] In one possible implementation of the first aspect, the control method further includes: If the handwheel stops moving, the final distance traveled by the moving shaft from its current state to zero speed is less than the target distance, and If the result is an integer, then the motion axis is in its current motion state. T It moves to the target distance within 1 hour and its speed decreases to zero.

[0011] Secondly, embodiments of this application provide a control device for a processing equipment, the processing equipment including a handwheel and a motion shaft; The control device includes: After confirming that the handwheel has stopped moving, obtain the total distance traveled by the motion axis from the start of movement to the end of movement. S T And obtain the product of the pulse equivalent and the multiplication factor of the handwheel. M Data acquisition module; If the handwheel stops moving, the final distance traveled by the moving shaft until its speed reaches zero in its current state is less than the target distance, and If the result includes a score, then the motion axis is controlled to move. T 11 Time, and then change the current motion state of the motion axis, so that the motion axis in T12 A module for processing the results of a vehicle moving to the target distance within a given time and whose speed decreases to zero. in, T 11 +T 12 ≤T 1, T 1 represents the maximum permissible time for the motion shaft to decelerate from its current speed to zero when the handwheel stops moving, and the maximum permissible speed of the motion shaft is from a speed of zero. T 11 The speed achieved by time.

[0012] Thirdly, embodiments of this application provide a processing apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the control method described in any of the first aspects above.

[0013] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the control method described in any of the first aspects above.

[0014] Fifthly, embodiments of this application provide a computer program product that, when running on a terminal device, causes the terminal device to execute the control method described in any of the first aspects above.

[0015] The beneficial effects of the embodiments of this application are: After confirming that the handwheel has stopped moving, obtain the total distance traveled by the motion axis from the start to the end of the motion. S T And obtain the product of the pulse equivalent and the multiplier of the handwheel. M When the handwheel stops moving, the final distance traveled by the moving shaft from its current state to zero speed is less than the target distance, and The result includes a score, indicating that the motion axis, decelerating to zero in its current motion state, cannot reach the target position and therefore cannot reach the target distance. T 12 for T Deduct from 1 T 11 The reserved adjustment time allows for movement of the motion axis. T 11 After a certain time, change the current motion state of the motion axis so that the motion axis is in T 12Within a given time, the axis moves to the target distance and its speed decreases to zero, thus ensuring that the axis stops at the target position and reaches the target distance, thereby improving machining accuracy. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic flowchart of a control method for a processing equipment provided in an embodiment of this application; Figure 2 This is a flowchart illustrating step A1 of the control method for processing equipment provided in an embodiment of this application; Figure 3 This is a flowchart illustrating a control method for a processing device provided in another embodiment of this application; Figure 4 This is a flowchart illustrating a control method for a processing device provided in another embodiment of this application; Figure 5 This is a flowchart illustrating a control method for a processing device provided in another embodiment of this application; Figure 6 This is a schematic diagram of the structure of the control device of the processing equipment provided in one embodiment of this application; Figure 7 This is a schematic diagram of the structure of the data acquisition module of the control device of the processing equipment provided in one embodiment of this application; Figure 8 This is a schematic diagram of the structure of a processing device provided in one embodiment of this application. Detailed Implementation

[0018] To make the technical problem to be solved, the technical solution and the beneficial effects of this application clearer, the following is in conjunction with the appendix. Figures 1 to 8 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

[0019] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0020] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0021] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0022] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0023] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0024] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0025] The embodiments of this application provide a control method for a processing equipment, which can be applied to CNC machining equipment.

[0026] The aforementioned processing equipment includes a handwheel and a motion shaft.

[0027] The motion axis can be a servo axis or a machining axis.

[0028] Handwheels are used to control motion axes. Handwheels are an important operating device for machining equipment (such as CNC machining equipment).

[0029] The handwheel may include an axis selection switch, a rate control switch, and a pulse generator. The axis selection switch is used to select the motion axis (such as a servo axis). The rate control switch is used to adjust the feed rate and the displacement of the motion axis per unit time. The pulse generator is used to control the precise movement of the motion axis.

[0030] Figure 1 This is a schematic flowchart of a control method for a processing equipment provided in one embodiment of this application. (Reference) Figure 1 The control method for the processing equipment provided in the embodiments of this application includes steps A1 to A2.

[0031] Step A1: After confirming that the handwheel has stopped moving, obtain the total distance traveled by the motion axis from the start of the movement to the end of the movement. S T And obtain the product of the pulse equivalent and the multiplier of the handwheel. M .

[0032] In order to determine the movement state of the handwheel, the control system of the processing equipment can directly communicate with the handwheel to obtain the movement state of the handwheel in real time, thereby determining whether the handwheel is in a stopped state.

[0033] When the handwheel starts moving, it outputs a pulse signal to control the movement of the motion shaft. When the handwheel stops moving, the motion shaft also stops moving. The motion of the motion shaft follows a speed planning model (either a seven-segment S-shaped speed planning model or a T-shaped speed planning model), and the total distance traveled can be determined based on this model. S T .

[0034] The pulse equivalent of a handwheel refers to the distance traveled by the axis corresponding to a single pulse; that is, the distance the handwheel travels to control the axis with one pulse. The product of the handwheel's pulse equivalent and the multiplier is... M This is the distance traveled by the motion axis corresponding to a single pulse. The total distance traveled by the motion axis corresponding to all pulses = number of pulses × pulse equivalent × multiplier.

[0035] product M It is determined by the characteristics of the handwheel itself. Different types of handwheels have different product values. M They may differ. Specifically, communication can be established with the handwheel to obtain the pulse equivalent and multiplier of the handwheel, thereby determining the product. M Of course, the product M It can also be pre-stored and read directly from the storage component.

[0036] Figure 2 This is a flowchart illustrating step A1 of the control method for a processing device provided in an embodiment of this application. (See reference) Figure 2 Step A1 above may include steps A11 to A12.

[0037] Step A11, if in If the pulses detected in the handwheel remain the same within a certain time, the handwheel is determined to have stopped moving.

[0038] Specifically, continuously monitor the pulse of the handwheel; if... If the pulses detected on the handwheel remain constant within a given time period, it indicates that the handwheel has stopped moving.

[0039] In practical applications, the control systems of machining equipment (such as CNC systems) typically employ real-time communication with short clock cycles. The pulses from the handwheel are input to the control system via I / O signals (Input / Output signals). However, pulse changes do not occur in every clock cycle during handwheel movement; they may only occur after several clock cycles. Based on this, a maximum time is set. The timing is used to detect whether the handwheel has stopped moving. If the handwheel's pulse is at its maximum duration... If there is no change inside, it means that the handwheel has stopped moving.

[0040] Step A12: After confirming that the handwheel has stopped moving, obtain the total distance traveled by the motion axis from the start of the movement to the end of the movement. S T And obtain the product of the pulse equivalent and the multiplier of the handwheel. M .

[0041] As mentioned earlier, the total distance can be determined based on the velocity planning model of the motion axis. S T By establishing communication with the handwheel, the pulse equivalent and multiplier of the handwheel can be obtained, thereby determining the product. M .

[0042] Step A2: If, when the handwheel stops moving, the final distance traveled by the moving shaft from its current state to zero speed is less than the target distance, and... If the result includes a fraction, then the motion axis is controlled. T 11 Time, and then change the current motion state of the motion axis, so that the motion axis is in T 12 Within a given time, the vehicle moves to the target distance and its speed decreases to zero.

[0043] When the handwheel stops moving, the final distance traveled by the moving shaft from its current state to zero speed is less than the target distance. The final distance can be determined based on the speed and acceleration in the current state. The target distance corresponds to the actual target position being processed.

[0044] in, T 11+T 12 ≤T 1, T 1 represents the maximum permissible time for the moving shaft to decelerate from its current speed to zero when the handwheel stops moving. T 11 It limits the maximum permissible speed of the motion axis. The maximum permissible speed of the motion axis is from a speed of zero. T 11 The speed that time reaches, T 12 for T Deduct from 1 T 11 Adjustment time reserved later.

[0045] The result includes a score, i.e. The result is not an integer, but the distance traveled by the axle after the handwheel stops must be an integer. Therefore, after the handwheel stops, the axle needs to travel an additional distance. S’ The movement reaches the target distance, making The result is an integer.

[0046] Control the movement of the motion axis T 11 Time can specifically change the current motion speed parameters (such as acceleration) of the motion axis, or maintain the current motion speed parameters of the motion axis.

[0047] Controlling the motion axis T 11 After a certain period of time, changing the current motion state of the motion axis can specifically involve adjusting the current motion state of the motion axis (e.g., uniform motion) to decelerated motion, so that the motion axis... T 12 Within a given time, the vehicle moves to the target distance and its speed decreases to zero.

[0048] The seven-segment S-shaped speed planning model can smooth the movement of the motion axis and avoid machine tool vibration. The embodiments of this application will be described using the seven-segment S-shaped speed planning model as an example. T 1 is 0.8 T 1.

[0049] For a seven-segment S-shaped velocity programming model, what is the longest time required for the velocity of the motion axis to return to zero? T 1 corresponds to: the initial acceleration of the motion axis is at its maximum acceleration and just enters the deceleration phase. After the deceleration phase is completed, the speed can reach the maximum speed.

[0050] In the initial stage of controlling the motion axis with the handwheel, both the velocity and acceleration of the motion axis are zero. Based on the symmetry of the seven-segment S-shaped velocity programming model: like The maximum acceleration that the motion axis can actually reach during motion. Then the maximum speed that the actual motion can reach like Then the maximum speed of the motion axis during the entire motion process is Otherwise, the maximum speed that the motion axis can reach during the entire motion is ; like The motion axis can reach its maximum acceleration during actual movement. Then the maximum speed that the actual motion can reach ;like Then the maximum speed of the motion axis during the entire motion process is Otherwise, the maximum speed that the motion axis can reach during the entire motion is .

[0051] After the handwheel stops moving, the motion axis should stop moving quickly. However, if the displacement of the handwheel is too large and the set motion speed parameter is too small, the motion axis will still have a distance to travel after the handwheel stops moving, and it will take some time for the motion axis to decelerate directly from the current speed to zero. Because the seven-segment S-shaped speed planning model plans the motion length based on the target distance of the motion axis at initialization, it will cause the motion axis to fail to reach the target position after decelerating directly to zero, and the actual distance traveled after stopping will not be an integer. To avoid these situations, the motion state of the motion axis needs to be adjusted.

[0052] Assume the speed of the motion axis in the current cycle is acceleration is The distance the motion axis has traveled is Calculate the speed of the motion axis from the current cycle. The displacement required for direct deceleration to zero Therefore, the distance the motion axis needs to travel is The actual distance the motion axis still needs to travel after the handwheel stops moving. Calculate the velocity of the motion axis from the current cycle. and acceleration Exercise Time required and compare and Size.

[0053] like This indicates that the time required for the motion axis to travel to the target distance is less than the maximum allowable time. Due to the use The maximum permissible speed of the motion axis is limited, meaning that the time taken for the motion axis to decelerate directly to zero from any speed between zero and the maximum permissible speed is less than or equal to... .

[0054] Assuming the current speed of the motion axis is exactly the maximum permissible speed, the time required for the motion axis to decelerate directly from its current speed to zero is: However, the distance traveled during deceleration to zero is insufficient to reach the target distance. In this case, the motion state of the motion axis needs to be adjusted. Specifically, the motion state of the motion axis needs to be changed from deceleration to uniform motion at the current speed. The time taken to move the axis is then adjusted so that it decelerates back to zero. The time taken for the axis to move is then exactly [time missing]. The position is exactly the target position, thus completing the target distance. If the distance traveled by the motion axis after decelerating to zero reaches the target distance, then there is no need to adjust the motion state of the motion axis.

[0055] Assuming the current speed of the motion axis is less than the maximum permissible speed, the time required for the motion axis to decelerate directly to zero is less than... Furthermore, the distance traveled cannot reach the target distance; assuming the time required for the motion axis to decelerate directly from its current speed to zero is... ,because So there is actually a surplus. The time, and First, calculate whether the distance traveled by the motion axis from its current speed to zero can reach the target distance. If it cannot, then due to the remaining... The time required for the motion axis to change from deceleration to acceleration followed by deceleration back to zero is such that the current speed is less than the maximum permissible speed. The motion time can then be precisely achieved. The position is exactly the target position, thus completing the target distance. If the distance traveled by the motion axis from the current speed to zero can reach the target distance, then there is no need to adjust the motion state of the motion axis.

[0056] Based on the above, after confirming that the handwheel has stopped moving, the total distance traveled by the motion axis from the start to the end of its motion is obtained. S T And obtain the product of the pulse equivalent and the multiplier of the handwheel. M When the handwheel stops moving, the final distance traveled by the moving shaft from its current state to zero speed is less than the target distance, and The result includes a score, indicating that the motion axis, decelerating to zero in its current motion state, cannot reach the target position and therefore cannot reach the target distance. T 12 for T Deduct from 1 T 11 The reserved adjustment time allows for movement of the motion axis. T 11 After a certain time, change the current motion state of the motion axis so that the motion axis is in T 12 Within a given time, the axis moves to the target distance and its speed decreases to zero, thus ensuring that the axis stops at the target position and reaches the target distance, thereby improving machining accuracy.

[0057] Figure 3 This is a schematic flowchart illustrating a control method for a processing equipment according to another embodiment of this application. (Reference) Figure 3 The control method for the above-mentioned processing equipment may also include step B1.

[0058] Step B1: If, when the handwheel stops moving, the time taken for the moving shaft to reach zero speed in its current state is greater than the maximum allowable time, and If the result contains a fraction, then change the motion speed parameter of the motion axis so that the motion axis... T It moves to the target distance within 1 hour and its speed decreases to zero.

[0059] The time taken for the motion axis to move from its current state to zero speed is greater than the maximum allowable time, i.e. It is necessary to change the motion speed parameters of the motion axis, specifically by increasing the maximum acceleration of the motion axis, so that the motion axis in... T It moves to the target distance within 1 hour and its speed decreases to zero.

[0060] For example, within the velocity planning model, increasing the maximum jerk of the motion axis, such as by increasing the maximum jerk... Increase by 1.5 times, recalculate. ;like Then the subsequent motion of the motion axis is based on The acceleration is carried out.

[0061] Figure 4 This is a schematic flowchart of a control method for a processing device provided in another embodiment of this application. (See reference) Figure 4 The control method for the above-mentioned processing equipment may also include step C1.

[0062] Step C1: If, when the handwheel stops moving, the time taken for the moving shaft to reach zero speed in its current state is greater than the maximum allowable time, and If the result includes a fraction, then the motion axis is controlled in... T Decelerate to zero within 1 hour.

[0063] exist In this case, the maximum jerk will be within the velocity planning model. Even after increasing by 1.5 times, it still exists. This indicates that increasing the jerk still does not meet the requirements. This situation usually occurs when the maximum acceleration is set. and maximum jerk If the acceleration is too small, the motion axis can only be controlled to decelerate directly to zero, prioritizing the motion time condition. In this case, increasing the acceleration and jerk within the speed planning model is insufficient; to allow the motion axis to reach the target distance, the maximum acceleration of the equipment must be increased externally. and maximum jerk parameter.

[0064] Figure 5 This is a schematic flowchart of a control method for a processing device provided in another embodiment of this application. (See reference) Figure 5 The control method for the above-mentioned processing equipment may also include step D1.

[0065] Step D1: If, when the handwheel stops moving, the final distance traveled by the moving shaft until its speed reaches zero in its current state is less than the target distance, and... If the result is an integer, then the motion axis remains in its current motion state. T It moves to the target distance within 1 hour and its speed decreases to zero.

[0066] The result is an integer, indicating that the movement of the motion axis is synchronized with the movement of the handwheel. When the handwheel stops moving, the motion axis also stops moving, and the motion axis is exactly at the target position, completing the target distance.

[0067] In the embodiments of this application, a maximum time is set for the motion axis to return to zero speed. According to velocity planning models (such as the seven-segment S-shaped velocity planning model), the longest time required for the velocity to reach zero corresponds to the initial acceleration being at its maximum and just entering the deceleration phase. After the deceleration phase is completed, the velocity can reach its maximum speed. Under this condition... T 11 Calculate the maximum speed that the entire motion can actually reach using time as a constraint; reserve time. T 12 The time allotted for the motion axis to return to zero after its initial velocity and initial acceleration for the current cycle have both reached zero indicates a difference between the final distance traveled by the motion axis and the target distance; this difference represents the additional distance the axis needs to travel. The displacement of the motion axis when it decelerates to zero is calculated using the initial parameters of the current cycle. The additional distance that needs to be run is And the actual displacement that still needs to be moved Then recalculate the motion of the motion axis. The time required for displacement is used to control the motion axis, which can make the deceleration curve of the motion axis smooth, and the actual displacement after the motion is completed is also an integer multiple of the pulse equivalent × the multiplier, which can improve the machining accuracy.

[0068] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0069] Corresponding to the method described in the above embodiments, Figure 6 This diagram illustrates the structure of the xxx device provided in the embodiments of this application. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0070] refer to Figure 6 The control device for the processing equipment provided in the embodiments of this application includes a data acquisition module 1A and a result processing module 2A.

[0071] Data acquisition module 1A is used to: after determining that the handwheel has stopped moving, acquire the total distance traveled by the motion axis from the start to the end of the motion. S T And obtain the product of the pulse equivalent and the multiplier of the handwheel. M .

[0072] Result processing module 2A is used to: if, when the handwheel stops moving, the final distance traveled by the motion axis in its current motion state until its speed reaches zero is less than the target distance, and If the result includes a fraction, then the motion axis is controlled. T 11 Time, and then change the current motion state of the motion axis, so that the motion axis is in T 12 The result processing module for moving to the target distance within a time limit and reducing the speed to zero.

[0073] in, T 11 +T 12 ≤T 1, T 1 represents the maximum permissible time for the moving shaft to decelerate from its current speed to zero when the handwheel stops moving. The maximum permissible speed of the moving shaft is from its initial speed of zero. T 11 The speed achieved by time.

[0074] Figure 7 This is a schematic diagram of the data acquisition module of the control device for a processing equipment according to an embodiment of this application. (Reference) Figure 7 The data acquisition module 1A mentioned above may include a detection submodule 11A and a data acquisition submodule 12A.

[0075] Detection submodule 11A is used for: if in If the pulses detected in the handwheel remain the same within a certain time, the handwheel is determined to have stopped moving.

[0076] The data acquisition submodule 12A is used to: after determining that the handwheel has stopped moving, acquire the total distance traveled by the motion axis from the start to the end of the motion. S T And obtain the product of the pulse equivalent and the multiplier of the handwheel. M .

[0077] The above-mentioned result processing module 2A is also used to: if, when the handwheel stops moving, the time taken for the motion shaft to move to zero speed in its current motion state is greater than the maximum allowable time, and If the result contains a fraction, then change the motion speed parameter of the motion axis so that the motion axis... T It moves to the target distance within 1 hour and its speed decreases to zero.

[0078] The above-mentioned result processing module 2A is also used to: if, when the handwheel stops moving, the time taken for the motion shaft to move to zero speed in its current motion state is greater than the maximum allowable time, and If the result includes a fraction, then the motion axis is controlled in... T Decelerate to zero within 1 hour.

[0079] The above-mentioned result processing module 2A is also used to: if when the handwheel stops moving, the final distance traveled by the motion shaft to zero speed in its current motion state is less than the target distance, and If the result is an integer, then the motion axis remains in its current motion state. T It moves to the target distance within 1 hour and its speed decreases to zero.

[0080] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0081] Figure 8 This is a schematic diagram of the structure of a processing device provided in one embodiment of this application. Figure 8 As shown, the processing equipment 8 in this embodiment includes: at least one processor 80 ( Figure 8Only one is shown in the diagram), memory 81, and computer program 82 stored in memory 81 and executable on at least one processor 80; when processor 80 executes computer program 82, it implements the steps in the various method embodiments described above.

[0082] The processing equipment 8 may include, but is not limited to, a processor 80 and a memory 81. Those skilled in the art will understand that... Figure 8 This is merely an example of processing equipment and does not constitute a limitation on the processing equipment. It may include more or fewer components than shown in the figure, or combinations of certain components, or different components. For example, it may also include input / output devices, network access devices, buses, etc.

[0083] The processor 80 can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0084] In some embodiments, memory 81 may be an internal storage unit of the processing equipment 8, such as a hard disk or memory of the processing equipment. In other embodiments, memory 81 may be an external storage device of the processing equipment, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., provided on the processing equipment. Furthermore, memory 81 may include both internal and external storage units of the processing equipment. Memory 81 is used to store operating systems, applications, bootloaders, data, and other programs, such as program code for computer programs. Memory 81 may also be used to temporarily store data that has been output or will be output.

[0085] For example, computer program 82 may be divided into one or more modules / units, one or more of which are stored in memory 81 and executed by processor 80 to complete this application. One or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of computer program 82 in processing equipment 8.

[0086] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0087] If the aforementioned integrated units are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. This computer program can be stored in a computer-readable storage medium; when executed by a processor, the computer program can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. Computer-readable media include: any entity or device capable of carrying computer program code to a device / terminal equipment, recording media, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0088] Embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.

[0089] The embodiments of this application provide a computer program product that, when run on a terminal device, enables the terminal device to implement the steps in the various method embodiments described above.

[0090] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0091] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0092] In the embodiments provided in this application, it should be understood that the disclosed apparatus / devices and methods can be implemented in other ways. For example, the apparatus / device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0093] The units described above as separate components may or may not be physically separate. Similarly, the components shown as units may or may not be physical units; they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0094] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A control method for processing equipment, characterized in that, The processing equipment includes a handwheel and a motion shaft; The control method includes: After confirming that the handwheel has stopped moving, obtain the total distance traveled by the motion axis from the start of movement to the end of movement. S T And obtain the product of the pulse equivalent and the multiplication factor of the handwheel. M ; If the handwheel stops moving, the final distance traveled by the moving shaft until its speed reaches zero in its current state is less than the target distance, and If the result includes a score, then the motion axis is controlled to move. T 11 Time, and then change the current motion state of the motion axis, so that the motion axis in T 12 Within a given time, the speed decreases to zero as the target distance is reached. in, T 11 +T 12 ≤T 1, T 1 represents the maximum permissible time for the motion shaft to decelerate from its current speed to zero when the handwheel stops moving, and the maximum permissible speed of the motion shaft is from a speed of zero. T 11 The speed achieved by time.

2. The control method as described in claim 1, characterized in that, The control method further includes: If the handwheel stops moving, and the time taken for the moving shaft to reach zero speed in its current state is greater than the maximum allowable time, and If the result contains a score, then change the motion speed parameter of the motion axis so that the motion axis in T Within 1 hour, the target distance is reached and the speed is reduced to zero; Alternatively, if when the handwheel stops moving, the time taken for the motion shaft to reach zero speed in the current motion state is greater than the maximum allowable time, and If the result includes a score, then the motion axis is controlled in... T Decelerate to zero within 1 hour.

3. The control method as described in claim 2, characterized in that, If the handwheel stops moving, and the time taken for the moving shaft to reach zero speed in its current state is greater than the maximum allowable time, and If the result contains a score, then change the motion speed parameter of the motion axis so that the motion axis in T Moving to the target distance within 1 time and reducing speed to zero, specifically including: If the handwheel stops moving, and the time taken for the moving shaft to reach zero speed in its current state is greater than the maximum allowable time, and If the result includes a fraction, then increase the maximum jerk of the motion axis so that the motion axis in T It moves to the target distance within 1 hour and its speed decreases to zero.

4. The control method as described in claim 1, characterized in that, After determining that the handwheel has stopped moving, the total distance traveled by the motion axis from the start to the end of its motion is obtained. S T And obtain the product of the pulse equivalent and the multiplication factor of the handwheel. M ,include: If in If the pulses of the handwheel remain the same within a certain time, the handwheel is determined to have stopped moving. After determining that the handwheel has stopped moving, obtain the total distance traveled by the motion axis from the start of movement to the end of movement. S T And obtain the product of the pulse equivalent and the multiplication factor of the handwheel. M .

5. The control method as described in claim 1, characterized in that, If the handwheel stops moving, the final distance traveled by the moving shaft from its current state to zero speed is less than the target distance. If the result includes a score, then the motion axis is controlled to move. T 11 Time, and then change the current motion state of the motion axis, so that the motion axis in T 12 Moving to the target distance within a given time and reducing speed to zero includes: If the handwheel stops moving, the final distance traveled by the moving shaft from its current state to zero speed is less than the target distance, and If the result includes a score, then the motion axis is controlled to move. T 11 Time, and then adjust the current motion state of the motion axis to deceleration motion, so that the motion axis in T 12 Within a given time, the vehicle moves to the target distance and its speed decreases to zero.

6. The control method according to any one of claims 1 to 5, characterized in that, The control method further includes: If the handwheel stops moving, the final distance traveled by the moving shaft from its current state to zero speed is less than the target distance, and If the result is an integer, then the motion axis is in its current motion state. T It moves to the target distance within 1 hour and its speed decreases to zero.

7. A control device for processing equipment, characterized in that, The processing equipment includes a handwheel and a motion shaft; The control device includes: After confirming that the handwheel has stopped moving, obtain the total distance traveled by the motion axis from the start of movement to the end of movement. S T And obtain the product of the pulse equivalent and the multiplication factor of the handwheel. M Data acquisition module; If the handwheel stops moving, the final distance traveled by the moving shaft until its speed reaches zero in its current state is less than the target distance, and If the result includes a score, then the motion axis is controlled to move. T 11 Time, and then change the current motion state of the motion axis, so that the motion axis in T 12 A module for processing the results of a vehicle moving to the target distance within a given time and whose speed decreases to zero. in, T 11 +T 12 ≤T 1, T 1 represents the maximum permissible time for the motion shaft to decelerate from its current speed to zero when the handwheel stops moving, and the maximum permissible speed of the motion shaft is from a speed of zero. T 11 The speed achieved by time.

8. A processing equipment, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the control method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the control method as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, When the computer program product runs on the terminal device, it causes the terminal device to perform the control method as described in any one of claims 1 to 6.

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