An electrical cylinder angle control method, device, and medium for an automated grinding apparatus

Abstract

The present application relates to the technical field of electric cylinder control, and particularly relates to an electric cylinder angle control method, device and medium for an automatic grinding equipment, which comprises the following steps: system power-on initialization, communication connection establishment, and conversion relationship configuration; after starting, the electric cylinder is controlled to return to the original point; the pulse amount corresponding to the initial target position is calibrated, the initial target position angle is input, and the electric cylinder is controlled to move from the original point to the initial target position; the pulse variable D1 corresponding to the changed target position is calibrated, the changed target position angle is input, and the pulse difference value D2=D0-D1 is calculated; S5: the electric cylinder movement direction is judged according to the size relationship between D0 and D1; if D0>D1, the electric cylinder is controlled to move to the changed target position in the negative direction with the pulse value of D2; if D0

Description

Technical Field

[0001] This invention relates to the field of electric cylinder control technology, and in particular to a method, device and medium for controlling the angle of an electric cylinder in automated grinding equipment. Background Technology

[0002] Automated grinding equipment is a fundamental core piece of equipment in modern precision manufacturing, especially in the semiconductor and high-end manufacturing fields, where its performance directly determines product yield and competitiveness. With technological iteration and evolving market demands, this equipment is developing towards higher precision, greater intelligence, and domestic production, becoming a crucial link in the industry chain for independent control.

[0003] Automated grinding equipment primarily uses power drives (such as motors / servo systems) to create relative motion between the grinding wheel and the workpiece. Combined with precise pressure and speed control, it achieves minute material removal and surface smoothing. Electric cylinders are modular products that integrate a servo motor and a lead screw, converting the motor's rotary motion into linear motion. They are widely used in automated production lines, precision testing equipment, and semiconductor manufacturing equipment. In practical applications, electric cylinders often require precise angle positioning control. They need to drive the actuator to complete the operation at a specific angle, and the target angle must be flexibly adjusted according to process requirements, while ensuring positioning accuracy after power failure or alarm activation. Currently, the development of electric cylinder angle control still needs improvement; therefore, how to provide an efficient electric cylinder angle control system has become one of the technical challenges that urgently needs to be solved by those skilled in the art.

[0004] It should be noted that the information disclosed in this background section is intended only to enhance the understanding of the overall background of the present invention, and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] To address the challenges in the prior art, the electric cylinder angle control method provided by this invention ensures that after power-on / restart and returning to the origin, inputting the initial angle value on the touchscreen will directly reach the specified angle position. Subsequently, each angle adjustment is performed by increasing or decreasing the value at the original position, rather than returning to the origin and then reaching the specified position. This saves a significant amount of mold-changing operation time, ensures positioning accuracy, and improves efficiency and quality.

[0006] This invention provides a method for controlling the angle of an electric cylinder in an automated grinding equipment. The method includes the following steps: S1: System power-on initialization, opening the communication serial port to establish a communication connection between the PLC and the human-machine interface, and configuring the conversion relationship between angle value and pulse quantity, pulse frequency and movement speed; S2: After system startup, controlling the electric cylinder to perform a return-to-origin action; S3: Calibrating the pulse quantity D0 corresponding to the initial target position and storing it in the first register, inputting the initial target position angle, triggering the first action instruction M0, and controlling the electric cylinder to move from the origin to... Initial target position, disconnect instruction M0 upon completion; S4: calibrate the pulse variable D1 corresponding to the changed target position and store it in the second register, input the angle of the changed target position, and calculate the pulse difference D2 = D0 - D1; S5: determine the direction of electric cylinder movement based on the relationship between D0 and D1; if D0 > D1, trigger the negative direction action instruction M1, controlling the electric cylinder to move in the negative direction to the changed target position with the pulse value of D2; if D0 < D1, trigger the positive direction action instruction M2, controlling the electric cylinder to move in the positive direction to the changed target position with the pulse value of D2.

[0007] Furthermore, in step S2, the electric cylinder returns to its origin only once during this power-on cycle to establish the absolute position reference of the electric cylinder.

[0008] Furthermore, after completing step S5, the pulse quantity of the target position is updated to the new reference position. Subsequent angle adjustments repeat the relative positioning process from steps S4 to S5. Only when power is off and restarted or reset is the electric cylinder return-to-origin action of step S2 re-executed.

[0009] Furthermore, in step S2, the electric cylinder's return-to-origin action is triggered by a limit switch or an encoder zero-point signal to eliminate the cumulative position error of the electric cylinder and ensure the consistency of the coordinate reference.

[0010] Furthermore, D0 and D1 are not equal.

[0011] Furthermore, the human-machine interface is a touch screen, where operators directly input angle values, and the system automatically completes conversion, difference calculation, and motion control.

[0012] The present invention also provides an apparatus comprising: a memory for storing embedded software programs; and a processor for executing the embedded software programs stored in the memory, wherein the embedded software programs, when executed, implement the electric cylinder angle control method for an automated grinding equipment as described above.

[0013] The present invention also provides a computer-readable storage medium storing a program for implementing an electric cylinder angle control method, wherein the program for implementing the electric cylinder angle control method is executed by a processor to implement the steps of an electric cylinder angle control method for an automated grinding equipment as described in any of the above-mentioned embodiments.

[0014] Based on the above, the present invention provides an electric cylinder angle control method, device and medium for automated grinding equipment. After power-on / restart and returning to the origin, the initial angle value can be directly input on the touch screen to reach the specified angle position. Subsequently, each input to adjust the angle positioning is to increase or decrease at the original position, rather than returning to the origin and then reaching the specified position. This saves a lot of mold changing operation time, ensures positioning accuracy, and improves efficiency and quality.

[0015] Other features and beneficial effects of the present invention will be set forth in the following description, and some of these features and beneficial effects may be learned by practicing the invention. The objectives and other beneficial effects of the invention can be achieved and obtained through the structures specifically pointed out in the description and other contents. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Unless otherwise specified, the positional relationships in the drawings described below are based on the direction shown by the components in the figures.

[0017] Figure 1 This is a flowchart illustrating an embodiment of the electric cylinder angle control method provided by the present invention; Figure 2 This is a schematic diagram of the motor drive circuits of each branch provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the control circuit of each branch relay provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of a sensor output control circuit provided in an embodiment of the present invention; Figure 5A This is a schematic diagram of a servo drive module rapidly feeding to a position close to the target position according to an embodiment of the present invention; Figure 5B This is a schematic diagram of a servo drive module micro-feeding to a target position according to an embodiment of the present invention; Figure 6 This is a schematic diagram of a PLC linking various motors and servo modules, communicating and interacting with a touch screen and a robot, according to an embodiment of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. The technical features designed in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0019] In the description of this invention, it should be understood that the terms "center," "lateral," "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Additionally, the term "comprising" and any variations thereof mean "at least comprising."

[0020] Please refer to Figures 1 to 6 , Figure 1 This is a flowchart illustrating an embodiment of the electric cylinder angle control method provided by the present invention; Figure 2 This is a schematic diagram of the motor drive circuits of each branch provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the control circuit of each branch relay provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of a sensor output control circuit provided in an embodiment of the present invention; Figure 5A This is a schematic diagram of a servo drive module rapidly feeding to a position close to the target position according to an embodiment of the present invention; Figure 5B This is a schematic diagram of a servo drive module micro-feeding to a target position according to an embodiment of the present invention; Figure 6 This is a schematic diagram illustrating the communication and interaction between a PLC, various motors, and servo modules, and a touchscreen and robot, according to an embodiment of the present invention. To achieve at least one or more of the aforementioned advantages, an embodiment of the present invention provides a method for controlling the angle of an electric cylinder in an automated grinding equipment. For example... Figure 1As shown, the electric cylinder angle control method includes the following steps: S1: System power-on initialization, opening the communication serial port to establish a communication connection between the PLC and the human-machine interface, and configuring the conversion relationship between angle value and pulse number, pulse frequency and motion speed.

[0021] S2: After the system is powered on, the electric cylinder is controlled to return to the origin.

[0022] S3: The pulse quantity D0 corresponding to the initial target position is calibrated and stored in the first register. The initial target position angle is input, triggering the first action instruction M0 to control the electric cylinder to move from the origin to the initial target position. After completion, instruction M0 is disconnected. For example, the pulse quantity D0 corresponding to the initial target position (such as 8° in the example) is written into the first register to complete the parameter storage of the initial target position. The electric cylinder moves directly from the origin to the target position corresponding to 8°.

[0023] S4: The pulse variable D1 corresponding to the changed target position is calibrated and stored in the second register. The angle of the changed target position is input, and the pulse difference D2 = D0 - D1 is calculated. For example, the pulse quantity D1 corresponding to the changed target position angle (such as 6° in the example) is written into the second register, completing the parameter storage of the new target position. Four arithmetic operations are performed to calculate the pulse difference D2 = D0 - D1, obtaining the pulse quantity required for the electric cylinder to move from the current position (8°) to the new position (6°). For example, when D0 is greater than D1, D2 = D0 - D1, triggering instruction M1; when D0 is less than D1, D2 = D1 - D0, triggering instruction M2, and the pulse values ​​of the two are equal.

[0024] S5: Determine the direction of electric cylinder movement based on the relationship between D0 and D1; if D0>D1, trigger the negative direction action command M1 to control the electric cylinder to move in the negative direction to the target position with the pulse value of D2; if D0<D1, trigger the positive direction action command M2 to control the electric cylinder to move in the positive direction to the target position.

[0025] This invention performs a return-to-origin operation only once upon power-on or restart. All subsequent angle adjustments are incremental fine-tuning in place, completely eliminating the need for round-trip travel back to the origin during each mold change or parameter adjustment. This reduces mold change and debugging time to 1 / 10 or even less of traditional solutions, significantly improving production line efficiency. Furthermore, the reference is calibrated only once upon restart, and subsequent adjustments are made incrementally based on the current actual position. This avoids the cumulative errors caused by frequent zeroing, such as mechanical backlash and lead screw wear, ensuring stable and controllable positioning accuracy throughout the process and improving the consistency of product processing quality. Operators only need to input angle values ​​directly on the touchscreen; the system automatically completes angle-pulse conversion, difference calculation, direction determination, and motion control, eliminating the need for manual pulse conversion or direction selection.

[0026] When an abnormal trigger occurs, such as a power failure restart or a system alarm causing the device to reset, the reset process is triggered. That is, the electric cylinder returns to the origin to reset, the coordinate reference is recalibrated, and after the reset is completed, the initial / change position control can be executed again (i.e., repeat steps S3 to S5), forming a closed loop.

[0027] In some embodiments, in step S1, the conversion relationship between the angle value and the number of pulses can be based on the mechanical transmission parameters of the electric cylinder and the encoder resolution pre-calibrated, which is used to convert the target angle into the number of pulses required for the electric cylinder drive, so as to ensure positioning accuracy and improve efficiency and quality.

[0028] In some embodiments, in step S2, the electric cylinder returns to its origin only once during the current power-on cycle to establish an absolute position reference for the electric cylinder, thereby ensuring positioning accuracy and improving efficiency and quality.

[0029] In some embodiments, the target position angle is changed to a value smaller than the initial target position angle. The changed angle value is input through the human-machine interface, and the pulse difference is automatically calculated to ensure positioning accuracy and improve efficiency and quality.

[0030] In some embodiments, after completing step S5, the pulse quantity of the target position is updated to the new reference position, and the subsequent angle adjustment repeats the relative positioning process of steps S4 to S5. The electric cylinder return to the origin action in step S2 is only re-executed when the power is turned off and restarted or reset, so as to ensure positioning accuracy and improve efficiency and quality.

[0031] In some embodiments, in step S2, the electric cylinder's return-to-origin action is triggered by a limit switch or an encoder zero-point signal to eliminate the cumulative position error of the electric cylinder, ensure the consistency of the coordinate reference, guarantee positioning accuracy, and improve efficiency and quality.

[0032] In some embodiments, D0 and D1 are not equal to ensure positioning accuracy and improve efficiency and quality.

[0033] In some embodiments, the human-machine interface is a touch screen, where the operator directly inputs angle values, and the system automatically completes conversion, difference calculation, and motion control to ensure positioning accuracy and improve efficiency and quality.

[0034] This electric cylinder angle control method can be used for servo electric cylinder control. By extending and retracting the servo electric cylinder to drive the rotation angle positioning, the grinding angle of different specifications of needle tips can be switched.

[0035] like Figure 2 and Figure 6As shown, to achieve coordinated operation of the motors, the multi-axis linkage circuit control logic is designed as follows: After the robot loads the material, a signal is sent to the PLC. The PLC output terminals Y0 and Y1 output pulse signal loops to drive the electric cylinders (see reference). Figure 5A and Figure 5B To achieve the specified grinding angle, the electric cylinder's power supply voltage is 24V. The design utilizes a 220V to 24V switching power supply circuit to power the electric cylinder (reference). Figure 2 The output signals from Y5 and Y7 energize the coils of relays KQ2 and KQ4, causing the normally open contacts KQ2 and KQ4 to close (see reference). Figure 2 and Figure 3 When the KA2 coil is energized, the normally open contact of KA2 closes, executing the motor's downward and rotational movements. KA1 controls the upward circuit, switching in parallel with KA2. Subsequently, Y6 (refer to...) Figure 6 The output signal energizes the coil of relay KQ3, and the normally open contact KQ3 (reference) Figure 3 When the circuit closes, the AC contactor coil KM is energized, and the normally open contact KM (reference)... Figure 2 When the grinding wheel is closed, the oscillating motor is turned on, and Y10 (reference) Figure 6 The output signal drives the servo motor for feed (reference). Figure 5B ).

[0036] To improve production efficiency and save grinding process time, a special servo feed control loop program was designed, consisting of two segments. The first segment is... Figure 5A The rapid feed to near the target position is shown in the second segment. Figure 5B The micro-feed is used to grind the target position (e.g., the needle tip). The feed rate at this point is a variable K (pulse quantity). The feed variable K (pulse quantity) value can be adjusted on the touchscreen according to the grinding wheel's condition or external conditions to achieve the desired grinding effect. When sensor J4 (reference...) Figure 4 When the sensor detects that the motor has descended to the target position, the circuit closes, energizing the KA8 coil, causing the normally closed contact KA8 to open, and the motor to stop descending; the reverse is also true. The seven cabinet door limit alarms use a series circuit of seven normally closed sensors to ensure that an alarm is triggered when any one of the cabinet doors is opened.

[0037] The present invention also provides an apparatus comprising a memory and a processor, the memory for storing embedded software programs; the processor for executing the embedded software programs stored in the memory, wherein the embedded software programs, when executed, implement the electric cylinder angle control method for an automated grinding equipment as described above.

[0038] The present invention also provides a computer-readable storage medium storing a program for implementing an electric cylinder angle control method, wherein the program for implementing the electric cylinder angle control method is executed by a processor to implement the steps of an electric cylinder angle control method for an automated grinding equipment as described in any of the above-mentioned embodiments.

[0039] In summary, the present invention provides an electric cylinder angle control method, device, and medium for automated grinding equipment. After power-on / restart and returning to the origin, the initial angle value can be directly input on the touch screen to reach the specified angle position. Subsequently, each angle adjustment is made at the original position, rather than returning to the origin and then reaching the specified position. This saves a lot of mold changing operation time, ensures positioning accuracy, and improves efficiency and quality.

[0040] Furthermore, those skilled in the art should understand that although many problems exist in the prior art, each embodiment or technical solution of the present invention can be improved in only one or a few aspects, without necessarily solving all the technical problems listed in the prior art or the background art simultaneously. Those skilled in the art should understand that any content not mentioned in a claim should not be construed as a limitation on that claim.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention 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 or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the angle of an electric cylinder in an automated grinding equipment, characterized in that: The electric cylinder angle control method for automated grinding equipment includes the following steps: S1: System power-on initialization, opening the communication serial port to establish a communication connection between the PLC and the human-machine interface, and configuring the conversion relationship between angle value and pulse number, pulse frequency and motion speed; S2: After the system is powered on, control the electric cylinder to perform the return-to-origin action; S3: Calibrate the pulse quantity D0 corresponding to the initial target position and store it in the first register. Input the initial target position angle, trigger the first action command M0, control the electric cylinder to move from the origin to the initial target position, and disconnect the command M0 after completion. S4: Calibrate the pulse variable D1 corresponding to the changed target position and store it in the second register. Input the angle of the changed target position and calculate the pulse difference D2=D0-D1. S5: Determine the direction of electric cylinder movement based on the relationship between D0 and D1; if D0>D1, trigger the negative direction action command M1 to control the electric cylinder to move in the negative direction to the target position with the pulse value of D2; if D0<D1, trigger the positive direction action command M2 to control the electric cylinder to move in the positive direction to the target position.

2. The method for controlling the angle of an electric cylinder in an automated grinding equipment according to claim 1, characterized in that: In step S2, the electric cylinder returns to its origin only once during the current power-on cycle to establish the absolute position reference of the electric cylinder.

3. The method for controlling the angle of an electric cylinder in an automated grinding equipment according to claim 1, characterized in that: After completing step S5, the pulse quantity of the target position is updated to the new reference position. Subsequent angle adjustments repeat the relative positioning process from steps S4 to S5. Only when power is off and restarted or reset is the electric cylinder return-to-origin action of step S2 re-executed.

4. The method for controlling the angle of an electric cylinder in an automated grinding equipment according to claim 1, characterized in that: In step S2, the electric cylinder's return-to-origin action is triggered by a limit switch or an encoder zero-point signal to eliminate the cumulative position error of the electric cylinder and ensure the consistency of the coordinate reference.

5. The method for controlling the angle of an electric cylinder in an automated grinding equipment according to claim 1, characterized in that: D0 and D1 are not equal.

6. The method for controlling the angle of an electric cylinder in an automated grinding equipment according to claim 1, characterized in that: The human-machine interface is a touch screen, where operators directly input angle values, and the system automatically completes conversion, difference calculation, and motion control.

7. A device, characterized in that: The device includes: Memory, used to store embedded software programs; A processor is configured to execute an embedded software program stored in the memory, wherein the embedded software program, when executed, implements an electric cylinder angle control method for an automated grinding equipment according to any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program for implementing an electric cylinder angle control method, which is executed by a processor to implement the steps of an electric cylinder angle control method for an automated grinding equipment as described in any one of claims 1 to 6.

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