CN111830909A - Synchronization control method and device - Google Patents
Synchronization control method and device Download PDFInfo
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- CN111830909A CN111830909A CN202010683122.0A CN202010683122A CN111830909A CN 111830909 A CN111830909 A CN 111830909A CN 202010683122 A CN202010683122 A CN 202010683122A CN 111830909 A CN111830909 A CN 111830909A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4097—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using design data to control NC machines, e.g. CAD/CAM
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32153—Exchange data between user, cad, caq, nc, capp
Abstract
The invention discloses a synchronous control method and a synchronous control device. Wherein, this method is applied to food processing equipment, and above-mentioned food processing equipment includes servo axle, and above-mentioned servo axle includes: roast board rotary servo motor, winding up roller rotating electrical machines, winding up roller mechanism elevator motor, winding up roller mechanism rotating electrical machines, slip casting motor include: configuring the servo axes by adopting target configuration software to obtain a servo axis group; setting the servo axis to a servo preparation state; and synchronously controlling the servo axes in the servo preparation state by controlling the servo axis group. The invention solves the technical problem that the food processing equipment in the prior art cannot synchronously control a plurality of servo shafts.
Description
Technical Field
The invention relates to the technical field of equipment control, in particular to a synchronous control method and device.
Background
As a popular snack, the egg roll has crisp taste and sweet taste which are loved by a lot of people, the processing of the egg roll at present mainly adopts two production modes of manual production and automatic production, the efficiency of the mode of manually producing the egg roll is too low, the mode of automatically producing the egg roll is more common in small shops and workshops on the street, and the mode of automatically producing the egg roll is mostly seen in food processing factories, but the mode has huge equipment and large floor area, and is not beneficial to the food processing factories to enlarge the production scale.
Moreover, the food processing plant generally adopts the traditional egg roll processing equipment, and the traditional egg roll processing equipment has the problem that the roll and the baking tray cannot be synchronously controlled, so that the pressure of the roll and the speed of the baking tray are difficult to accurately match, the taste of the egg roll is poor, the forming effect is poor, and the qualified rate is low.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a synchronous control method and a synchronous control device, which at least solve the technical problem that food processing equipment in the prior art cannot synchronously control a plurality of servo shafts.
According to an aspect of an embodiment of the present invention, there is provided a synchronization control method applied to a food processing apparatus, the food processing apparatus including a servo axis, the servo axis including: roast board rotary servo motor, winding up roller rotating electrical machines, winding up roller mechanism elevator motor, winding up roller mechanism rotating electrical machines, slip casting motor include: configuring the servo axes by adopting target configuration software to obtain a servo axis group; setting the servo axis to a servo preparation state; and synchronously controlling the servo axes in the servo preparation state by controlling the servo axis group.
According to another aspect of the embodiments of the present invention, there is also provided a synchronous control device applied to a food processing apparatus, where the food processing apparatus includes a servo shaft, and the servo shaft includes: roast board rotary servo motor, winding up roller rotating electrical machines, winding up roller mechanism elevator motor, winding up roller mechanism rotating electrical machines, slip casting motor include: the configuration module is used for configuring the servo axes by adopting target configuration software to obtain a servo axis group; the setting module is used for setting the servo shaft to be in a servo preparation state; and the control module is used for synchronously controlling the servo axes in the servo preparation state in a mode of controlling the servo axis group.
According to another aspect of the embodiments of the present invention, there is also provided a non-volatile storage medium, where the non-volatile storage medium includes a stored program, and when the program runs, the apparatus in which the non-volatile storage medium is located is controlled to execute any one of the above synchronization control methods.
According to another aspect of the embodiments of the present invention, there is also provided a processor, configured to execute a program stored in a memory, where the program executes any one of the above synchronization control methods.
In the embodiment of the invention, a plurality of servo axes in food processing equipment are configured into a servo axis group, and the servo axis group is obtained by configuring the servo axes through target configuration software; setting the servo axis to a servo preparation state; by controlling the servo shaft group, the servo shafts in the servo preparation state are synchronously controlled, and the purpose of synchronously controlling a plurality of servo shafts in food processing equipment is achieved, so that the technical effects of improving the production efficiency and the qualification rate of the food processing equipment are realized, and the technical problem that the food processing equipment in the prior art cannot synchronously control the plurality of servo shafts is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of a synchronization control method according to an embodiment of the present invention;
FIG. 2 is a flow chart of an alternative synchronization control method according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a synchronization control apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided a synchronization control method embodiment, it should be noted that the steps illustrated in the flowchart of the figure may be performed in a computer system such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
The synchronous control method in the implementation of the application is applied to food processing equipment, the food processing equipment comprises a servo shaft, and the servo shaft comprises: the method includes the steps of a baking plate rotating servo motor, a winding roller rotating motor, a winding roller mechanism lifting motor, a winding roller mechanism rotating motor and a grouting motor, and fig. 1 is a flow chart of a synchronous control method according to an embodiment of the invention, and as shown in fig. 1, the method includes the following steps:
step S102, configuring the servo axes by adopting target configuration software to obtain a servo axis group;
step S104, setting the servo axis to a servo preparation state;
step S106 is to perform synchronous control of the servo axes in the servo preparation state by controlling the servo axis group.
In the embodiment of the invention, a plurality of servo axes in food processing equipment are configured into a servo axis group, and the servo axis group is obtained by configuring the servo axes through target configuration software; setting the servo axis to a servo preparation state; by controlling the servo shaft group, the servo shafts in the servo preparation state are synchronously controlled, and the purpose of synchronously controlling a plurality of servo shafts in food processing equipment is achieved, so that the technical effects of improving the production efficiency and the qualification rate of the food processing equipment are realized, and the technical problem that the food processing equipment in the prior art cannot synchronously control the plurality of servo shafts is solved.
As an alternative embodiment, the food processing device provided in the embodiment of the present application may be, but is not limited to, an egg roll machine, and is controlled by using an ohilon NJ301-1200 controller, and the servo motor may also be, but is not limited to, an ohilon brand.
As an alternative embodiment, the baking plate rotating motor servo driver can be an Onglong R88D-1SN30F-ECT, and the servo motor can be R88M-1M75030T-BS 2; the driver of the roller rotating motor can be ohm dragon R88D-1SN02H-ECT, and the servo motor can be ohm dragon R88M-1M 20030T-S2; the roll mechanism lifting servo driver can be an ohm dragon R88D-1SN04H-ECT, the servo motor can be an ohm dragon R88M-1M40030T-BS2, wherein it needs to be noted that in an optional embodiment, an ohm dragon controller adopts EtherCAT bus control for each servo driver, and high precision and high reliability are guaranteed.
As an alternative embodiment, the egg roll machine comprises: air duct, carousel drive assembly, roller drive assembly, carousel fixed plate, winding up roller power component. This application embodiment is through the mode synchronous control five motors of control servo axle group: roast board rotation servo motor, the roller rotating electrical machines, the lifting motor of roller mechanism, the roller mechanism rotating electrical machines, the slip casting motor, successfully realized roast board rotation servo motor, the roller rotating electrical machines, five axle synchro control of roller mechanism lifting motor, and then can effectively solve the difficult problem that the roller matches with overware pressure and speed, can make egg book intelligent automation production line system roll up the system process reliable and stable, guarantee various needs of production, equipment reliable and stable.
In an alternative embodiment, the configuring the servo axes by using the target configuration software to obtain the servo axis group includes:
step S202, determining a configuration interface, wherein the configuration interface is used for configuring the setting information of the servo shaft;
step S204, configuring the setting information of the servo axis in the configuration interface by adopting Sysmac Studio configuration software through a real-time Ethernet EtherCAT to obtain the servo axis group.
Wherein the setting information includes at least one of: basic setting information, unit conversion setting information, operation setting information, limit setting information, origin return setting information, position count setting information, and servo drive setting information.
In the above alternative embodiment, a plurality of servo axes may be configured by using target configuration software to obtain a servo axis group, for example, the servo axis group may be obtained by determining a configuration interface in advance, and configuring setting information of the servo axes in the configuration interface by using Sysmac Studio configuration software through a real-time ethernet EtherCAT.
In an alternative embodiment, before configuring the servo axis with the target configuration software, the method further comprises:
step S302, respectively configuring a proximity switch for each servo shaft;
in step S304, the proximity switch is used as an origin switch of the servo axis, wherein the origin switch is used for determining a start position of the servo axis.
In the above alternative embodiment, before configuring the servo axis by using the target configuration software, a proximity switch is respectively used as an origin switch of the baking plate rotation servo motor, the roller rotation motor, the roller mechanism lifting motor, the roller mechanism rotation motor, and the grouting motor to correspondingly determine the starting position of the servo axis.
In an alternative embodiment, after obtaining the servo axis group, the method further includes:
step S402, determining target programming software, wherein the target programming software is used for compiling the operation parameters of the servo shaft;
step S404, adopting the target programming software to take the baking plate rotating motor as a main shaft of the servo shaft group and take the rolling roller mechanism rotating motor as a driven shaft of the servo shaft group according to the electronic cam instruction;
and step S406, writing target operation parameters of the main shaft and the driven shaft by adopting the target programming software.
In the above optional embodiment, after obtaining the servo axis group, determining target programming software, and using the target programming software to use the baking sheet rotating motor as a main shaft of the servo axis group and the winding roller mechanism rotating motor as a slave shaft of the servo axis group according to an electronic cam instruction; and programming target operation parameters of the main shaft and the driven shaft by adopting the target programming software.
In an alternative embodiment, before setting the servo axis to the servo ready state, the method further comprises:
step S502, a CAM table is established by adopting computer aided manufacturing CAM software, and various table data of the CAM table are edited, wherein the CAM table comprises at least one of the following items: a baking plate and mechanism rotating cam meter, a baking plate and grouting cam meter, a baking plate and mechanism lifting cam meter, a baking plate and roller rotating cam meter.
In an alternative embodiment, after editing the table data of the cam table, the method further comprises:
step S602, obtaining the current action curve of the servo axis;
step S604, detecting whether the current action curve meets a preset requirement;
step S606, if it is detected that the current motion curve meets the preset requirement, the step of setting the servo axis to the servo preparation state is performed.
In the above optional embodiment, before the step of setting the servo axis in the servo ready state is executed, a CAM table needs to be established by using computer-aided manufacturing CAM software, and table data of each item of the CAM table needs to be edited, after table data of each item of the CAM table is edited, a current action curve of the servo axis is obtained, and whether the current action curve meets a preset requirement is detected, and if it is detected that the current action curve meets the preset requirement, the step of setting the servo axis in the servo ready state is executed.
In an alternative embodiment, the phase and displacement of the cam table are determined based on the starting position of the servo shaft; wherein, when the number of cam data in the cam table is small, the interval between the phases is increased, and the cam operation precision of the servo shaft is indicated to be correspondingly reduced; when the number of cam data in the cam table is large, the interval between the phases is decreased, and the cam operation accuracy of the servo shaft is correspondingly increased.
Example 2
According to an embodiment of the present invention, there is further provided an embodiment of an apparatus for implementing the synchronization control method, fig. 3 is a schematic structural diagram of a synchronization control apparatus according to an embodiment of the present invention, as shown in fig. 3, the synchronization control apparatus is applied to a food processing device, the food processing device includes a servo shaft, and the servo shaft includes: roast board rotary servo motor, winding up roller rotating electrical machines, winding up roller mechanism elevator motor, winding up roller mechanism rotating electrical machines, slip casting motor include: a configuration module 30, a setup module 32, and a control module 34, wherein:
a configuration module 30, configured to configure the servo axes by using target configuration software to obtain a servo axis group; a setting module 32, configured to set the servo axis to a servo preparation state; and a control module 34 for performing synchronous control on the servo axes in the servo preparation state by controlling the servo axis group.
It should be noted that the above modules may be implemented by software or hardware, for example, for the latter, the following may be implemented: the modules can be located in the same processor; alternatively, the modules may be located in different processors in any combination.
It should be noted here that the configuration module 30, the setting module 32 and the control module 34 correspond to steps S102 to S106 in embodiment 1, and the modules are the same as the examples and application scenarios realized by the corresponding steps, but are not limited to the disclosure of embodiment 1. It should be noted that the modules described above may be implemented in a computer terminal as part of an apparatus.
It should be noted that, reference may be made to the relevant description in embodiment 1 for alternative or preferred embodiments of this embodiment, and details are not described here again.
The synchronous control device may further include a processor and a memory, the configuration module 30, the setting module 32, the control module 34, and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.
The processor comprises a kernel, and the kernel calls a corresponding program unit from the memory, wherein one or more than one kernel can be arranged. The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
According to the embodiment of the application, the embodiment of the storage medium is also provided. Optionally, in this embodiment, the storage medium includes a stored program, and the device on which the storage medium is located is controlled to execute any one of the synchronization control methods when the program runs.
Optionally, in this embodiment, the storage medium may be located in any one of a group of computer terminals in a computer network, or in any one of a group of mobile terminals, and the storage medium includes a stored program.
Optionally, the program controls the device on which the storage medium is located to perform the following functions when running: configuring the servo axes by adopting target configuration software to obtain a servo axis group; setting the servo axis to a servo preparation state; and synchronously controlling the servo axes in the servo preparation state by controlling the servo axis group.
According to the embodiment of the application, the embodiment of the processor is also provided. Optionally, in this embodiment, the processor is configured to execute a program, where the program executes any one of the synchronization control methods.
The embodiment of the application provides a synchronous control device, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor executes the program and realizes the following steps: configuring the servo axes by adopting target configuration software to obtain a servo axis group; setting the servo axis to a servo preparation state; and synchronously controlling the servo axes in the servo preparation state by controlling the servo axis group.
The present application further provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: configuring the servo axes by adopting target configuration software to obtain a servo axis group; setting the servo axis to a servo preparation state; and synchronously controlling the servo axes in the servo preparation state by controlling the servo axis group.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A synchronous control method, applied to a food processing apparatus including a servo axis, the servo axis comprising: roast board rotary servo motor, winding up roller rotating electrical machines, winding up roller mechanism elevator motor, winding up roller mechanism rotating electrical machines, slip casting motor include:
configuring the servo axes by adopting target configuration software to obtain a servo axis group;
setting the servo axis to a servo ready state;
and synchronously controlling the servo axes in the servo preparation state in a mode of controlling the servo axis group.
2. The method of claim 1, wherein configuring the servo axes using target configuration software to obtain a set of servo axes comprises:
determining a configuration interface, wherein the configuration interface is used for configuring the setting information of the servo shaft;
configuring the setting information of the servo axis in the configuration interface by adopting Sysmac Studio configuration software through a real-time Ethernet EtherCAT to obtain the servo axis group, wherein the setting information comprises at least one of the following information: basic setting information, unit conversion setting information, operation setting information, limit setting information, origin return setting information, position count setting information, and servo drive setting information.
3. The method of claim 1, wherein prior to configuring the servo axis with target configuration software, the method further comprises:
respectively configuring a proximity switch for each servo shaft correspondingly;
and taking the proximity switch as an origin switch of the servo shaft, wherein the origin switch is used for determining the initial position of the servo shaft.
4. The method of claim 1, wherein after obtaining the set of servo axes, the method further comprises:
determining target programming software, wherein the target programming software is used for programming the operating parameters of the servo shaft;
adopting the target programming software to take the baking plate rotating motor as a main shaft of the servo shaft group and take the roller mechanism rotating motor as a driven shaft of the servo shaft group according to an electronic cam instruction;
and programming target operation parameters of the main shaft and the slave shaft by adopting the target programming software.
5. The method of claim 1, wherein prior to setting the servo axis to a servo ready state, the method further comprises:
establishing a CAM table by using Computer Aided Manufacturing (CAM) software, and editing various table data of the CAM table, wherein the CAM table comprises at least one of the following items: a baking plate and mechanism rotating cam meter, a baking plate and grouting cam meter, a baking plate and mechanism lifting cam meter, a baking plate and roller rotating cam meter.
6. The method of claim 5, wherein after editing the table data for the cam table, the method further comprises:
acquiring a current action curve of the servo shaft;
detecting whether the current action curve meets a preset requirement or not;
and if the current action curve is detected to meet the preset requirement, executing the step of setting the servo axis to be in a servo preparation state.
7. The method of claim 5, wherein the phase and displacement of the cam table are determined from a starting position of the servo axis; when the number of the cam data in the cam table is less, the interval between the phases is increased, and the corresponding reduction of the cam action precision of the servo shaft is indicated; when the number of cam data in the cam table is large, the interval between the phases is decreased, indicating that the cam operation accuracy of the servo shaft is correspondingly increased.
8. A synchronous control device is characterized by being applied to food processing equipment, wherein the food processing equipment comprises a servo shaft, and the servo shaft comprises: roast board rotary servo motor, winding up roller rotating electrical machines, winding up roller mechanism elevator motor, winding up roller mechanism rotating electrical machines, slip casting motor include:
the configuration module is used for configuring the servo axes by adopting target configuration software to obtain a servo axis group;
the setting module is used for setting the servo shaft to be in a servo preparation state;
and the control module is used for synchronously controlling the servo axes in the servo preparation state in a mode of controlling the servo axis group.
9. A non-volatile storage medium, characterized in that the non-volatile storage medium includes a stored program, wherein a device in which the non-volatile storage medium is located is controlled to execute the synchronization control method according to any one of claims 1 to 7 when the program runs.
10. A processor for executing a program stored in a memory, wherein the program executes to perform the synchronization control method according to any one of claims 1 to 7.
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Application publication date: 20201027 |
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| RJ01 | Rejection of invention patent application after publication |