Multi-axis servo cooperative control system and method of industrial feeding device

Abstract

The application discloses a kind of multi-axis servo collaborative control system and method of industrial feeding equipment, it is related to industrial feeding technical field, for solving the problem that the multi-axis servo phase relationship is difficult to be orderly restored after industrial feeding equipment shutdown, leading to secondary material blocking or inter-axis action conflict, by collecting the actual phase of each servo shaft at the moment of shutdown and reading the feeding synchronization reference phase before shutdown, generate the phase deviation diagram of shutdown shaft, locate the material handover stay position after entering the phase reconstruction state, integrate the handover stranded shaft group and calculate the shaft release priority, generate the recovery feeding reconstruction sequence by shaft release priority, and correct the recovery feeding reconstruction sequence according to the first section recovery risk mark, improve the continuity and cooperativity of recovery feeding after shutdown.

Description

Technical Field

[0001] This invention relates to the field of industrial feeding technology, and more specifically, to a multi-axis servo collaborative control system and method for industrial feeding equipment. Background Technology

[0002] Industrial feeding equipment typically relies on multiple servo axes to maintain synchronized movements in the feeding, clamping, pushing, and receiving stages to ensure continuous material transfer along a predetermined feeding path. On automated production lines, when the equipment experiences blockage, jamming, or emergency stop, each servo axis will remain at a different phase position. The controller needs to reconfirm the phase relationship between the multiple axes, the material's dwell position, and the effect of each axis on the material before resuming feeding. Existing control systems mostly use the cycle time parameters before shutdown or single-axis reset commands as the basis for recovery. The recovery process places high demands on the multi-axis coordination relationship within the material transfer area.

[0003] The existing technology has the following shortcomings: Currently, existing technologies cannot generate a phase deviation diagram of the stopped axis, cannot determine the axis release priority, and lack the recovery feeding reconstruction sequence based on the axis retraction object, axis compensation object, and axis traction object, as well as the feedback correction of the first recovery risk mark. This makes it easy for secondary jamming or inter-axis action conflict to occur during recovery feeding. Therefore, a multi-axis servo collaborative control system and method for industrial feeding equipment is proposed.

[0004] The information disclosed in the background section is only intended to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] To overcome the aforementioned deficiencies of the prior art, embodiments of the present invention provide a multi-axis servo collaborative control system and method for industrial feeding equipment. This system solves the problems mentioned in the background art by generating a phase deviation diagram of the stopped axes, integrating the handover and lingering axis groups, calculating the axis release priority, and generating and correcting the recovery feeding reconstruction sequence.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a multi-axis servo cooperative control method for an industrial feeding device, comprising the following steps: Step S1: Collect the actual phase of each servo axis at the moment of shutdown, read the feed synchronization reference phase before shutdown, combine the actual phase of each servo axis at the moment of shutdown and the feed synchronization reference phase before shutdown to generate a shutdown axis phase deviation map and determine whether to enter the phase reconstruction state. Step S2: After entering the phase reconstruction state, locate the material handover and dwell position, filter the shaft objects corresponding to the material handover and dwell position based on the phase deviation diagram of the stopped shaft, integrate the handover and dwell shaft group, collect the material pressure clamping state, and calculate the shaft release priority in combination with the handover and dwell shaft group. Step S3: Classify the stranded shaft groups by shaft release priority, and generate shaft retraction objects, shaft compensation objects, and shaft traction objects respectively. Generate the recovery feeding reconstruction sequence based on the shaft retraction objects, shaft compensation objects, and shaft traction objects. Step S4: Perform the first stage of recovery action according to the recovery feeding reconstruction sequence, detect the change in shaft load of the first stage of recovery, generate a first stage recovery risk mark based on the change in shaft load of the first stage of recovery, and correct the recovery feeding reconstruction sequence according to the first stage recovery risk mark.

[0007] In a preferred embodiment, in step S1, when the controller receives a blockage signal, a jam signal, or an emergency stop signal, it latches the encoder feedback value uploaded by each servo driver and converts the encoder feedback value into the actual phase of each servo axis at the moment of stopping. The feeding synchronization reference phase before shutdown is the multi-axis synchronization phase relationship recorded by the controller during the normal feeding cycle of the industrial feeding equipment before shutdown.

[0008] In a preferred embodiment, in step S1, the actual phase of each servo axis at the moment of shutdown corresponding to the same servo axis is paired with the feeding synchronization reference phase before shutdown, the phase deviation direction and phase deviation magnitude between the two are calculated, and a shutdown axis phase deviation diagram is formed according to the servo axis number. Determine whether the machine has entered phase reconstruction mode based on the phase deviation diagram of the stopped shaft: When there is a deviation record in the phase deviation graph of the stop axis that exceeds the position resolution of the corresponding servo axis, it is determined that the phase reconstruction state is entered. If none of the deviation records in the phase deviation diagram of the stopped axis exceed the position resolution of the corresponding servo axis, it is determined that the phase reconstruction state will not be entered.

[0009] In a preferred embodiment, in step S2, the material handover and dwell position refers to the specific position where the material remains in the feeding path after the machine stops. Read the effective range of each servo axis on the feeding path, and take the servo axis whose material handover and stopping position falls within the effective range and has a deviation record in the stop axis phase deviation diagram as the axis object; Based on the servo axis number and the preceding and following relationships in the feeding path, the selected axis objects are integrated to obtain the handover and retention axis group.

[0010] In a preferred embodiment, in step S2, the material being clamped and pressed refers to the state in which the material is clamped, pushed, pressed or semi-supported after the machine stops. Identify the interaction relationship between each axis object and the material based on the material's pressure and clamping state, and arrange the axis objects with the clamping relationship in front of the axis objects with the supporting relationship; Within the same action relationship, they are sorted from largest to smallest according to the phase deviation magnitude in the stop shaft phase deviation diagram; The sorted order is used as the axis release priority.

[0011] In a preferred embodiment, in step S3, the shaft retraction object refers to the shaft object whose continued movement in the current phase would increase the pressure and clamping state of the material, and is used to perform the retraction action first; Axis compensation objects are those that lag or lead the feeding synchronization reference phase before shutdown but do not directly increase the pressure and clamping state of the material. The shaft traction object is the shaft object used to re-drive the material into the normal feeding path after the material is released from compression and phase compensation is completed.

[0012] In a preferred embodiment, in step S3, the shaft release priority of each shaft object in the handover and retention shaft group is read, and a judgment is made based on the phase deviation direction of each shaft object in the shutdown shaft phase deviation diagram: If the continued movement of the shaft object along the original feeding direction would increase the pressure and clamping state of the material, then the shaft object will be classified as a shaft retraction object. If the axis object does not directly change the material's pressure and clamping state, but the phase deviation direction shows that it has not reached or exceeded the feeding synchronization reference phase before the shutdown, then the axis object will be classified as an axis compensation object. If the shaft object is located on the downstream receiving side of the material transfer and stopping position, and its direction of movement is consistent with the normal feeding direction, then the shaft object is classified as a shaft traction object. The axis retraction objects are arranged according to the axis release priority, the axis compensation objects are arranged according to the phase deviation magnitude in the shutdown axis phase deviation diagram, and the axis traction objects are arranged in the order from upstream to downstream of the feeding path to obtain the recovery feeding reconstruction sequence.

[0013] In a preferred embodiment, in step S4, when performing the recovery first action, the controller issues action commands to the axis retraction object, axis compensation object and axis traction object in sequence according to the recovery feeding reconstruction order, and continuously reads the load feedback of each servo drive from the start time of the action to the end time of the action. The recovery of the first stage axis load change refers to the change in load feedback of each axis object during the recovery of the first stage of the action relative to the load maintained before the start of the action.

[0014] In a preferred embodiment, in step S4, the change in the first recovery stage shaft load corresponding to each shaft object is arranged according to the recovery feeding reconstruction order, and the median value of the change in the first recovery stage shaft load in the same recovery stage action is calculated; when the change in the first recovery stage shaft load of a certain shaft object is higher than the corresponding median value, and the change in the first recovery stage shaft load of the adjacent shaft objects continues to increase, a first recovery risk mark is generated for the shaft object. Conversely, do not generate a first-segment recovery risk marker for the axis object; When the first recovery risk marker corresponds to the axis rollback object, the corresponding axis rollback object is moved to the front of the axis rollback object queue; When the first segment restores the risk mark corresponding to the axis compensation object, the corresponding axis compensation object is adjusted to be executed after the adjacent axis rollback object; When the first segment restores the risk mark corresponding to the axis traction object, the corresponding axis traction object will be adjusted until all axis compensation objects are completed before execution.

[0015] This invention also provides a multi-axis servo collaborative control system for an industrial feeding device, used to implement a multi-axis servo collaborative control method for an industrial feeding device, including a stop phase generation module, a handover axis group integration module, a reconstruction sequence generation module, and a recovery feedback correction module. The functions of each module are as follows: The shutdown phase generation module is used to receive the actual phase of each servo axis at the moment of shutdown and the feeding synchronization reference phase before shutdown, pair the two types of phases corresponding to the same servo axis, generate a shutdown axis phase deviation diagram, and transmit the shutdown axis phase deviation diagram to the handover axis group integration module. The handover shaft group integration module is used to receive the phase deviation diagram of the stopped shaft, collect the material handover and dwell position and the material pressure clamping state, filter the shaft objects corresponding to the material handover and dwell position and integrate the handover and dwell shaft group, calculate the shaft release priority, and transmit the shaft release priority to the reconstruction sequence generation module; The reconstruction sequence generation module receives the axis release priority, classifies the handover stranded axis groups, generates axis retraction objects, axis compensation objects, and axis traction objects respectively, and generates the recovery feeding reconstruction sequence according to the execution relationship of the axis retraction objects, axis compensation objects, and axis traction objects. The recovery feeding reconstruction sequence is then transmitted to the recovery feedback correction module. The recovery feedback correction module is used to receive the recovery feeding reconstruction sequence, control the industrial feeding equipment to perform the recovery first stage action, collect the change in shaft load of the recovery first stage, generate the first stage recovery risk mark, correct the recovery feeding reconstruction sequence according to the first stage recovery risk mark, and output the corrected recovery feeding reconstruction sequence.

[0016] The technical effects and advantages of this invention are as follows: This invention acquires the actual phase of each servo axis at the moment of shutdown, reads the feeding synchronization reference phase before shutdown and generates a shutdown axis phase deviation map. After entering the phase reconstruction state, it locates the material handover and dwell position, filters the corresponding axis objects, integrates the handover and dwell axis groups, and calculates the axis release priority based on the material pressure clamping state. The handover and dwell axis groups are classified by axis release priority and a recovery feeding reconstruction sequence is generated. The recovery first stage action is executed according to the recovery feeding reconstruction sequence, the change in axis load in the recovery first stage is detected, the first stage recovery risk mark is generated, and the recovery feeding reconstruction sequence is corrected. This enables the multi-axis servo mechanism after shutdown to recover in an orderly manner according to the material pressure state and phase deviation degree, reducing the risk of secondary material jamming and inter-axis action conflict, and improving the continuity of recovery feeding. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating the implementation of a multi-axis servo collaborative control method for an industrial feeding device according to the present invention.

[0018] Figure 2 This is a schematic diagram of a multi-axis servo collaborative control system for an industrial feeding device according to the present invention. Detailed Implementation

[0019] 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, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] This invention enables industrial feeding equipment to resume feeding according to multi-axis collaborative relationships after material blockage, jamming, or emergency stop by recording shutdown phases, positioning material handover, classifying shaft objects, and correcting first-stage recovery feedback. The above control process is carried out by the system module.

[0021] Example 1, please refer to Figure 1 A multi-axis servo cooperative control method for an industrial feeding device includes the following steps: Step S1: Collect the actual phase of each servo axis at the moment of shutdown, read the feed synchronization reference phase before shutdown, combine the actual phase of each servo axis at the moment of shutdown and the feed synchronization reference phase before shutdown to generate a shutdown axis phase deviation map and determine whether to enter the phase reconstruction state. Step S2: After entering the phase reconstruction state, locate the material handover and dwell position, filter the shaft objects corresponding to the material handover and dwell position based on the phase deviation diagram of the stopped shaft, integrate the handover and dwell shaft group, collect the material pressure clamping state, and calculate the shaft release priority in combination with the handover and dwell shaft group. Step S3: Classify the stranded shaft groups by shaft release priority, and generate shaft retraction objects, shaft compensation objects, and shaft traction objects respectively. Generate the recovery feeding reconstruction sequence based on the shaft retraction objects, shaft compensation objects, and shaft traction objects. Step S4: Perform the first stage of recovery action according to the recovery feeding reconstruction sequence, detect the change in shaft load of the first stage of recovery, generate a first stage recovery risk mark based on the change in shaft load of the first stage of recovery, and correct the recovery feeding reconstruction sequence according to the first stage recovery risk mark.

[0022] The specific implementation is as follows: In step S1, the actual phase of each servo axis is acquired at the moment of shutdown, and the feeding synchronization reference phase before shutdown is read. The actual phase of each servo axis at the moment of shutdown refers to the actual angular phase or linear motion phase fed back by the encoder of each servo axis when the industrial feeding equipment experiences material blockage, jamming, or emergency stop. It is used to record the true stopping position of the multi-axis mechanism at the moment of shutdown. The pre-shutdown feeding synchronization reference phase is the multi-axis synchronization phase relationship recorded by the controller during the normal feeding cycle of the industrial feeding equipment before shutdown, which is used as a phase reference when feeding is resumed.

[0023] Specifically, when the controller receives a blockage signal, jam signal, or emergency stop signal, it latches the encoder feedback value uploaded by each servo driver and converts the encoder feedback value into the actual phase of each servo axis at the moment of shutdown. Access the controller's feeding cycle record and read the pre-shutdown feeding synchronization reference phase within the last stable feeding cycle before shutdown.

[0024] Pair the actual phase of each servo axis at the moment of shutdown with the feed synchronization reference phase before shutdown, calculate the phase deviation direction and phase deviation magnitude between the two, and form a shutdown axis phase deviation diagram according to the servo axis number.

[0025] The shutdown axis phase deviation diagram is a data set that uses the servo axis number as an index to record the direction and magnitude of deviation of each servo axis from the feeding synchronization reference phase before shutdown. It is used to determine whether the multi-axis mechanism still maintains the original feeding synchronization relationship after shutdown.

[0026] It should be noted that encoders are standard feedback components in the servo control field, used to provide feedback on the position of motors or actuators. The phase deviation amplitude can be obtained through circumferential difference. That is, when the servo axis is a rotary axis, the minimum circumferential difference between the actual phase of each servo axis at the moment of stopping and the feed synchronization reference phase before stopping is taken; when the servo axis is a linear axis, the position difference between the actual phase of each servo axis at the moment of stopping and the feed synchronization reference phase before stopping is taken.

[0027] in, Let i be the phase deviation magnitude of the i-th servo axis. Let i represent the actual phase of each servo axis at the moment of shutdown corresponding to the i-th servo axis. This is the pre-stop feeding synchronization reference phase corresponding to the i-th servo axis.

[0028] The greater the phase deviation, the higher the degree to which the corresponding servo axis deviates from the normal feeding cycle.

[0029] Determine whether the machine has entered phase reconstruction mode based on the phase deviation diagram of the stopped shaft: When there is a deviation record in the phase deviation graph of the stop axis that exceeds the position resolution of the corresponding servo axis, it is determined that the phase reconstruction state is entered. When the deviation records in the phase deviation diagram of the stopped axis do not exceed the position resolution of the corresponding servo axis, it is determined that the phase reconstruction state will not be entered, and the controller will maintain the original feeding synchronization relationship.

[0030] Phase reconstruction state is the control state that needs to be redefined after the industrial feeding equipment stops, to prevent multi-axis mechanisms from continuing to move directly according to the rhythm before the stop.

[0031] In step S2, after entering the phase reconstruction state, the material handover and dwell position is located. The material handover and dwell position refers to the specific position of the material in the feeding path after the machine stops, especially including the handover position where the material is transferred from the previous actuator to the next actuator. This is used to determine which servo axes will directly act on the material when feeding resumes. In specific positioning, the edge position of the material can be obtained through photoelectric detection unit, vision detection unit or position detection unit in the feeding channel, and then the edge position of the material can be mapped to the coordinates of the feeding path to obtain the material handover and stopping position.

[0032] It should be added that the photoelectric detection unit, vision detection unit, or position detection unit are all connected to the controller. The photoelectric detection unit is used to detect the occlusion boundary of the material in the feeding channel, the vision detection unit is used to acquire material images and identify the material edge contour, and the position detection unit is used to detect the current position of the material along the feeding path. The controller determines the material edge position based on the detection signal output by any detection unit and converts the material edge position to the feeding path coordinate system.

[0033] When screening axis objects corresponding to material handover and dwell positions based on the stop axis phase deviation diagram, the effective range of each servo axis on the feeding path is read. Servo axes whose material handover and dwell positions fall within the effective range and have deviation records in the stop axis phase deviation diagram are selected as axis objects. Subsequently, the screened axis objects are integrated according to the servo axis number and the preceding and following relationships in the feeding path to obtain the handover and dwell axis group.

[0034] The handover and retention axis group is a set of servo axes whose phase deviates after shutdown and whose range of action covers the material handover and retention position. It is used to limit the processing objects for subsequent release, compensation and traction.

[0035] The material being clamped or pressed refers to the state in which the material is clamped, pushed, pressed, or semi-supported after the machine stops. It is used to reflect whether there is a risk that the material will continue to be squeezed or cannot be released when feeding resumes. During the specific data collection, the pressure feedback from the clamping mechanism's pressure sensor can be read, as well as the torque feedback from the push shaft or positioning shaft. When the pressure feedback or torque feedback is consistently higher than the stable holding value during the same downtime period, the corresponding shaft object is recorded as a clamping relationship. When the pressure feedback or torque feedback is close to the stable holding value, the corresponding shaft object is recorded as a supporting relationship.

[0036] When calculating the axis release priority based on the handover and retention axis group, the following processing is performed on each axis object in the handover and retention axis group: Identify the interaction relationship between each axis object and the material based on the material's pressure and clamping state, and arrange the axis objects with the clamping relationship before the axis objects with the supporting relationship; then, within the same interaction relationship, sort them from largest to smallest according to the phase deviation amplitude in the shutdown axis phase deviation diagram. If the phase deviations are the same, then they are sorted according to the relationship of action from upstream to downstream in the feeding path; The sorted order is used as the axis release priority. The axis release priority refers to the order in which each axis object in the handover stranded axis group is released from clamping, retraction, or compensation before resuming feeding. It is used to pass the executable multi-axis classification basis to subsequent steps.

[0037] In step S3, the handover stranded shaft groups are classified by shaft release priority, and shaft retraction objects, shaft compensation objects, and shaft traction objects are generated respectively. Shaft retraction objects refer to shaft objects that will increase the pressure and clamping state of materials if they continue to move in the current phase, and are used to perform the retraction action first. Axis compensation objects are axis objects that lag or lead the feeding synchronization reference phase before shutdown but do not directly increase the pressure and clamping state of the material. They are used to restore the phase relationship corresponding to the feeding cycle. The shaft traction object is the shaft object used to re-drive the material into the normal feeding path after the material is released from compression and phase compensation is completed.

[0038] In the specific classification, the release priority of each axis object in the handover and stranded axis group is read, and the judgment is made in combination with the phase deviation direction of each axis object in the shutdown axis phase deviation diagram: If the continued movement of the shaft object along the original feeding direction will increase the pressure and clamping state of the material, then the shaft object will be classified as a shaft retraction object. If the axis object does not directly change the material's pressure and clamping state, but the phase deviation direction shows that it has not reached or exceeded the feeding synchronization reference phase before the shutdown, then the axis object is classified as an axis compensation object. If the shaft object is located on the downstream receiving side of the material transfer and stopping position, and its direction of movement is consistent with the normal feeding direction, then the shaft object is classified as a shaft traction object.

[0039] When generating the recovery feeding reconstruction sequence based on the shaft retraction object, shaft compensation object, and shaft traction object, the shaft retraction objects are first arranged according to the shaft release priority, so that the clamping relationship is released first; then, the shaft compensation objects are arranged according to the phase deviation magnitude in the shutdown shaft phase deviation diagram, so that the shaft objects with larger deviation magnitudes complete phase compensation first; finally, the shaft traction objects are arranged in the order from upstream to downstream of the feeding path, so that the material is re-tractioned after the clamping is released in the handover area. This forms the recovery feeding reconstruction sequence.

[0040] The recovery feeding reconstruction sequence refers to the control sequence composed of shaft retraction objects, shaft compensation objects, and shaft traction objects according to their execution order. It is used to control the transition of industrial feeding equipment from a shutdown state to a normal feeding cycle.

[0041] In step S4, the first recovery action is the first low-speed feeding action executed by the industrial feeding equipment according to the recovery feeding reconstruction sequence. It is used to verify whether the material has been released from compression and re-entered the feeding state in the early stage of recovery. When performing the first recovery action, the controller issues action commands to the axis retraction object, axis compensation object and axis traction object in sequence according to the recovery feeding reconstruction order, and continuously reads the load feedback of each servo drive from the start time of the action to the end time of the action.

[0042] The change in load of the first stage of recovery is the change in the load feedback of each axis object during the first stage of recovery relative to the load maintained before the start of the action. It is used to reflect whether secondary jamming or inter-axis action conflict occurs during the recovery feeding process. Specifically, for each axis object, the difference between the peak load during the first segment of the recovery motion and the load held before the start of the motion is taken as the load change of the axis object during the first segment of the recovery motion. in, To recover the load change of the first segment of the i-th axis object, Let be the peak load of the i-th axis object during the recovery of the first segment of the motion. Maintain the load for the i-th axis object before the action begins.

[0043] The greater the change in load on the first section of the shaft during recovery, the more significant the resistance encountered by the shaft object during the recovery feeding process.

[0044] Arrange the changes in the first stage shaft load corresponding to each axis object according to the order of recovery feeding reconstruction, and calculate the median value of the changes in the first stage shaft load of each recovery stage in the same recovery stage action; when the changes in the first stage shaft load of a certain axis object are higher than the median value, and the changes in the first stage shaft load of the adjacent axis objects continue to increase, generate a first stage recovery risk mark for that axis object; otherwise, do not generate a first stage recovery risk mark for that axis object.

[0045] The first stage recovery risk marker is a marker information used to identify the axis objects that may experience secondary jamming or inter-axis action conflict during the first stage of recovery, and is used to trigger feedback correction of the recovery feeding reconstruction sequence; Using the median value as a comparison benchmark allows for the use of the actual load distribution in the same recovery first segment to form a basis for judgment, reducing the need for additional threshold settings.

[0046] When revising the recovery feeding reconstruction sequence based on the risk marker of the first stage of recovery, if the risk marker corresponds to an axis retraction object, then that axis retraction object is moved to the front of the axis retraction object queue; if the risk marker corresponds to an axis compensation object, then that axis compensation object is moved to the position after its adjacent axis retraction object; if the risk marker corresponds to an axis traction object, then that axis traction object is moved to the position after all axis compensation objects have been completed. After the revision, the controller uses the revised recovery feeding reconstruction sequence as the basis for executing the next recovery first stage action.

[0047] If no recovery risk flag is generated during the first recovery action, the controller retains the current recovery feeding reconstruction sequence and switches the industrial feeding equipment to the normal feeding cycle.

[0048] Example 2, please refer to Figure 2 A multi-axis servo collaborative control system for an industrial feeding device is disclosed, which implements a multi-axis servo collaborative control method for the industrial feeding device. The system includes a stop phase generation module, a handover axis group integration module, a reconstruction sequence generation module, and a recovery feedback correction module. The modules are interconnected via the controller of the industrial feeding device. The shutdown phase generation module is used to receive the actual phase of each servo axis at the moment of shutdown and the feeding synchronization reference phase before shutdown, pair the two types of phases corresponding to the same servo axis, generate a shutdown axis phase deviation diagram, and transmit the shutdown axis phase deviation diagram to the handover axis group integration module. The handover shaft group integration module is used to receive the phase deviation diagram of the stopped shaft, collect the material handover and dwell position and the material pressure clamping state, filter the shaft objects corresponding to the material handover and dwell position and integrate the handover and dwell shaft group, calculate the shaft release priority, and transmit the shaft release priority to the reconstruction sequence generation module; The reconstruction sequence generation module receives the axis release priority, classifies the handover stranded axis groups, generates axis retraction objects, axis compensation objects, and axis traction objects respectively, and generates the recovery feeding reconstruction sequence according to the execution relationship of the axis retraction objects, axis compensation objects, and axis traction objects. The recovery feeding reconstruction sequence is then transmitted to the recovery feedback correction module. The recovery feedback correction module is used to receive the recovery feeding reconstruction sequence, control the industrial feeding equipment to perform the recovery first stage action, collect the change in shaft load of the recovery first stage, generate the first stage recovery risk mark, correct the recovery feeding reconstruction sequence according to the first stage recovery risk mark, and output the corrected recovery feeding reconstruction sequence.

[0049] Finally, it should be noted that in this paper, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0050] Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0051] In this document, the singular forms “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that terms such as “comprising / including” or “having” specify the presence of the stated features, integrals, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, integrals, steps, operations, components, parts, or combinations thereof. Meanwhile, the term “and / or” as used in this specification includes any and all combinations of the associated listed items.

[0052] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The various embodiments can be combined as needed, and the same or similar parts can be referred to each other.

[0053] The above description of the disclosed embodiments will enable those skilled in the art to make or use various modifications to these embodiments. It will be readily apparent to those skilled in the art that the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-axis servo cooperative control method for an industrial feeding device, characterized in that: Includes the following steps: Step S1: Collect the actual phase of each servo axis at the moment of shutdown, read the feed synchronization reference phase before shutdown, combine the actual phase of each servo axis at the moment of shutdown and the feed synchronization reference phase before shutdown to generate a shutdown axis phase deviation map and determine whether to enter the phase reconstruction state. Step S2: After entering the phase reconstruction state, locate the material handover and dwell position, filter the shaft objects corresponding to the material handover and dwell position based on the phase deviation diagram of the stopped shaft, integrate the handover and dwell shaft group, collect the material pressure clamping state, and calculate the shaft release priority in combination with the handover and dwell shaft group. Step S3: Classify the stranded shaft groups by shaft release priority, and generate shaft retraction objects, shaft compensation objects, and shaft traction objects respectively. Generate the recovery feeding reconstruction sequence based on the shaft retraction objects, shaft compensation objects, and shaft traction objects. Step S4: Perform the first stage of recovery action according to the recovery feeding reconstruction sequence, detect the change in shaft load of the first stage of recovery, generate a first stage recovery risk mark based on the change in shaft load of the first stage of recovery, and correct the recovery feeding reconstruction sequence according to the first stage recovery risk mark.

2. The multi-axis servo cooperative control method for an industrial feeding device according to claim 1, characterized in that: In step S1, when the controller receives a blockage signal, jam signal or emergency stop signal, it latches the encoder feedback value uploaded by each servo driver and converts the encoder feedback value into the actual phase of each servo axis at the moment of shutdown. The feeding synchronization reference phase before shutdown is the multi-axis synchronization phase relationship recorded by the controller during the normal feeding cycle of the industrial feeding equipment before shutdown.

3. The multi-axis servo cooperative control method for an industrial feeding device according to claim 2, characterized in that: In step S1, the actual phase of each servo axis at the moment of shutdown corresponding to the same servo axis is paired with the feeding synchronization reference phase before shutdown, the phase deviation direction and phase deviation magnitude between the two are calculated, and a shutdown axis phase deviation diagram is formed according to the servo axis number. Determine whether the machine has entered phase reconstruction mode based on the phase deviation diagram of the stopped shaft: When there is a deviation record in the phase deviation graph of the stop axis that exceeds the position resolution of the corresponding servo axis, it is determined that the phase reconstruction state is entered. If none of the deviation records in the phase deviation diagram of the stopped axis exceed the position resolution of the corresponding servo axis, it is determined that the phase reconstruction state will not be entered.

4. The multi-axis servo cooperative control method for an industrial feeding device according to claim 3, characterized in that: In step S2, the material handover and dwell position refers to the specific position of the material in the feeding path after the machine stops; Read the effective range of each servo axis on the feeding path, and take the servo axis whose material handover and stopping position falls within the effective range and has a deviation record in the stop axis phase deviation diagram as the axis object; Based on the servo axis number and the preceding and following relationships in the feeding path, the selected axis objects are integrated to obtain the handover and retention axis group.

5. The multi-axis servo cooperative control method for an industrial feeding device according to claim 4, characterized in that: In step S2, the material being clamped under pressure refers to the state in which the material is clamped, pushed, pressed, or semi-supported after the machine stops. Identify the interaction relationship between each axis object and the material based on the material's pressure and clamping state, and arrange the axis objects with the clamping relationship in front of the axis objects with the supporting relationship; Within the same action relationship, they are sorted from largest to smallest according to the phase deviation magnitude in the stop shaft phase deviation diagram; The sorted order is used as the axis release priority.

6. The multi-axis servo cooperative control method for an industrial feeding device according to claim 1, characterized in that: In step S3, the shaft retraction object refers to the shaft object that would increase the pressure and clamping state of the material if it continued to move in the current phase, and is used to perform the retraction action first; Axis compensation objects are those that lag or lead the feeding synchronization reference phase before shutdown but do not directly increase the pressure and clamping state of the material. The shaft traction object is the shaft object used to re-drive the material into the normal feeding path after the material is released from compression and phase compensation is completed.

7. The multi-axis servo cooperative control method for an industrial feeding device according to claim 6, characterized in that: In step S3, the release priority of each axis object in the handover and retention axis group is read, and the determination is made in combination with the phase deviation direction of each axis object in the shutdown axis phase deviation diagram: If the continued movement of the shaft object along the original feeding direction would increase the pressure and clamping state of the material, then the shaft object will be classified as a shaft retraction object. If the axis object does not directly change the material's pressure and clamping state, but the phase deviation direction shows that it has not reached or exceeded the feeding synchronization reference phase before the shutdown, then the axis object will be classified as an axis compensation object. If the shaft object is located on the downstream receiving side of the material transfer and stopping position, and its direction of movement is consistent with the normal feeding direction, then the shaft object is classified as a shaft traction object. The axis retraction objects are arranged according to the axis release priority, the axis compensation objects are arranged according to the phase deviation magnitude in the shutdown axis phase deviation diagram, and the axis traction objects are arranged in the order from upstream to downstream of the feeding path to obtain the recovery feeding reconstruction sequence.

8. The multi-axis servo cooperative control method for an industrial feeding device according to claim 7, characterized in that: In step S4, when performing the first stage of recovery action, the controller sends action commands to the axis retraction object, axis compensation object and axis traction object in sequence according to the recovery feeding reconstruction order, and continuously reads the load feedback of each servo drive from the start time of the action to the end time of the action. The recovery of the first stage axis load change refers to the change in load feedback of each axis object during the recovery of the first stage of the action relative to the load maintained before the start of the action.

9. A multi-axis servo cooperative control method for an industrial feeding device according to claim 8, characterized in that: In step S4, the change in the first stage shaft load corresponding to each axis object is arranged according to the recovery feeding reconstruction order, and the median value of the change in the first stage shaft load of each recovery stage in the same recovery stage action is calculated; when the change in the first stage shaft load of a certain axis object is higher than the corresponding median value, and the change in the first stage shaft load of the adjacent axis objects continues to increase, a first stage recovery risk mark is generated for the axis object. Conversely, do not generate a first-segment recovery risk marker for the axis object; When the first recovery risk marker corresponds to the axis rollback object, the corresponding axis rollback object is moved to the front of the axis rollback object queue; When the first segment restores the risk mark corresponding to the axis compensation object, the corresponding axis compensation object is adjusted to be executed after the adjacent axis rollback object; When the first segment restores the risk mark corresponding to the axis traction object, the corresponding axis traction object will be adjusted until all axis compensation objects are completed before execution.

10. A multi-axis servo cooperative control system for an industrial feeding device, used to implement the multi-axis servo cooperative control method for an industrial feeding device as described in any one of claims 1-9, characterized in that: It includes a shutdown phase generation module, a handover shaft group integration module, a reconstruction sequence generation module, and a recovery feedback correction module. The functions of each module are as follows: The shutdown phase generation module is used to receive the actual phase of each servo axis at the moment of shutdown and the feeding synchronization reference phase before shutdown, pair the two types of phases corresponding to the same servo axis, generate a shutdown axis phase deviation diagram, and transmit the shutdown axis phase deviation diagram to the handover axis group integration module. The handover shaft group integration module is used to receive the phase deviation diagram of the stopped shaft, collect the material handover and dwell position and the material pressure clamping state, filter the shaft objects corresponding to the material handover and dwell position and integrate the handover and dwell shaft group, calculate the shaft release priority, and transmit the shaft release priority to the reconstruction sequence generation module; The reconstruction sequence generation module receives the axis release priority, classifies the handover stranded axis groups, generates axis retraction objects, axis compensation objects, and axis traction objects respectively, and generates the recovery feeding reconstruction sequence according to the execution relationship of the axis retraction objects, axis compensation objects, and axis traction objects. The recovery feeding reconstruction sequence is then transmitted to the recovery feedback correction module. The recovery feedback correction module is used to receive the recovery feeding reconstruction sequence, control the industrial feeding equipment to perform the recovery first stage action, collect the change in shaft load of the recovery first stage, generate the first stage recovery risk mark, correct the recovery feeding reconstruction sequence according to the first stage recovery risk mark, and output the corrected recovery feeding reconstruction sequence.

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