CN118342112A

CN118342112A - Self-adaptive motion control method for whole-row motion mechanism and anti-falling connecting cloth

Info

Publication number: CN118342112A
Application number: CN202410781896.5A
Authority: CN
Inventors: 叶春瑶; 李娜; 王飞; 佘剑; 李斌; 蔡明�; 刘峰; 江源渊; 王宪; 熊西林; 王晨; 吴炎男
Original assignee: Chengdu Aircraft Industrial Group Co Ltd
Current assignee: Chengdu Aircraft Industrial Group Co Ltd
Priority date: 2024-06-18
Filing date: 2024-06-18
Publication date: 2024-07-16
Anticipated expiration: 2044-06-18
Also published as: CN118342112B

Abstract

The invention relates to the technical field of digital milling and laser lithography equipment for skin parts, in particular to a self-adaptive motion control method for a whole-row motion mechanism and anti-drop connecting cloth; according to the moving target position and the moving speed of the whole row of moving mechanisms, the target position and the speed of the retraction movement of the relevant anti-falling connecting cloth are obtained and are used for controlling the self-adaptive movement of the whole row of moving mechanisms and the anti-falling connecting cloth, so that the problem that the retraction movement of the anti-falling connecting cloth is difficult to match with the movement of the whole row of moving mechanisms is solved, the movement control operation steps are simplified, the operation time is saved, and additional instrument and facilities are not required to be configured.

Description

Self-adaptive motion control method for whole-row motion mechanism and anti-falling connecting cloth

Technical Field

The invention relates to the technical field of digital milling and laser lithography equipment for skin parts, in particular to a self-adaptive motion control method for a whole-row motion mechanism and anti-drop connecting cloth.

Background

When the digital milling and laser lithography of the skin type parts is carried out, the parts are firstly required to be fixed, and then the lithography is carried out. The chemical milling laser lithography equipment is divided into a flexible clamp and a laser lithography machine tool, wherein the flexible clamp is used for fixing the part. The flexible fixture comprises a plurality of stand columns, one whole row of moving mechanisms controls a plurality of stand columns in the same row to move along the X direction at the same time, anti-falling connecting cloth is arranged between every two adjacent whole rows of moving mechanisms, two ends of the anti-falling connecting cloth are connected with the edges of the adjacent whole rows of moving mechanisms/the flexible fixture in the X direction, the edges of the flexible fixture in the X direction can be regarded as the fixed whole row of moving mechanisms, and a moving device for controlling the retraction/release of the anti-falling connecting cloth is arranged on the adjacent whole rows of moving mechanisms. In the motion process of the whole row of motion mechanisms, the anti-falling connecting cloth needs to be synchronously retracted/released so as to keep a straightened state, and plays a role in effectively preventing falling. In the existing operation, the synchronism of the movement of the whole row of movement mechanisms and the movement of the anti-falling connecting cloth cannot be guaranteed, the movement state of the anti-falling connecting cloth is often judged manually in the movement process of the whole row of movement mechanisms, the anti-falling connecting cloth is timely retracted/released, the movement control efficiency is low, the operation is complex, the self-adaptive degree is low, the digitization cannot be completely achieved, and the risk that the anti-falling connecting cloth is pulled exists.

Disclosure of Invention

Aiming at the problems that the motion synchronism of the whole row of motion mechanisms and the anti-falling connecting cloth cannot be ensured in the existing operation, the motion control efficiency is low, the operation is complex, the self-adaptive degree is low, and the risk of pulling the anti-falling connecting cloth exists, the invention provides a self-adaptive motion control method of the whole row of motion mechanisms and the anti-falling connecting cloth; according to the moving target position and the moving speed of the whole row of moving mechanisms, the target position and the speed of the retraction movement of the relevant anti-falling connecting cloth are obtained and are used for controlling the self-adaptive movement of the whole row of moving mechanisms and the anti-falling connecting cloth, so that the problem that the retraction movement of the anti-falling connecting cloth is difficult to match with the movement of the whole row of moving mechanisms is solved, the movement control operation steps are simplified, the operation time is saved, and additional instrument and facilities are not required to be configured.

The invention has the following specific implementation contents:

The self-adaptive motion control method of the whole row of motion mechanisms and the anti-falling connecting cloth comprises the steps of firstly returning the whole row of motion mechanisms to zero according to the zero point of a local coordinate system of the whole row of motion mechanisms; secondly, setting a zero point of a local coordinate system of the anti-falling connecting cloth in a zeroing state of the whole row of motion mechanisms; then calibrating the distance between the adjacent whole row of motion mechanisms and the positions of the anti-falling connecting cloth, and fitting to obtain a position function; and finally, calculating the movement target position and movement speed of the anti-falling connecting cloth according to the position function, driving the whole row of movement mechanisms and the anti-falling connecting cloth to move to the designated position, and simultaneously realizing the movement of a plurality of upright posts arranged on the whole row of movement mechanisms along the X direction.

In order to better realize the invention, the self-adaptive motion control method of the whole row of motion mechanisms and the anti-falling connecting cloth specifically comprises the following steps:

step S1: constructing a local coordinate system of the whole row of motion mechanisms, setting zero points, and returning the whole row of motion mechanisms to zero;

Step S2: constructing a local coordinate system of the anti-falling connecting cloth and setting a zero point in a zeroing state of the whole row of motion mechanisms;

Step S3: calibrating the distance between adjacent whole rows of motion mechanisms and the position of the anti-falling connecting cloth under a local coordinate system, and fitting to obtain a position function;

step S4: according to the position function, the moving target position and the moving speed of the whole row of moving mechanisms, the moving target position and the moving speed of the anti-falling connecting cloth are calculated, and the whole row of moving mechanisms and the anti-falling connecting cloth are driven to move to the designated positions.

In order to better implement the present invention, further, the step S1 specifically includes the following steps:

step S11: establishing a local coordinate system of the whole row of motion mechanisms by taking the motion direction of the i whole row of motion mechanisms as the positive direction of the X axis;

step S12: the position of the whole row of moving mechanisms X ₁ when the distance between the whole row of moving mechanisms X ₁ and the edge of the X negative-direction flexible clamp is set to be delta X _min is used as the zero point of the local coordinate system of the whole row of moving mechanisms X ₁;

Step S13: driving the whole row of moving mechanisms X ₁ to the zero point of the local coordinate system of the whole row of moving mechanisms X ₁, sequentially driving the whole row of moving mechanisms X _i to the interval delta X _min with the whole row of moving mechanisms X _i-1, and taking the position of the whole row of moving mechanisms X _i at the moment as the zero point of the local coordinate system of the whole row of moving mechanisms X _i;

Step S14: and moving the i whole-row moving mechanisms to the zero point of the corresponding local coordinate system.

In order to better implement the present invention, further, the step S2 specifically includes the following steps:

Step S21: setting zero points of local coordinate systems of the i pieces of anti-falling connecting cloth in a zeroing state of the i whole-row moving mechanisms, adjusting the anti-falling connecting cloth F _i-1 to a straightening state, and setting the position of the anti-falling connecting cloth F _i-1 to be the zero point of the local coordinate system of the corresponding anti-falling connecting cloth;

Step S22: moving the whole row of moving mechanisms X _i to the maximum range X _max of a local coordinate system, and adjusting the tightness state of anti-falling connecting cloth at two adjacent ends of the whole row of moving mechanisms X _i;

Step S23: when the whole row of movement mechanisms X _i moves to the position of the maximum range X _max, the anti-falling connecting cloth F _i is adjusted to be in a straightened state, and the position of the anti-falling connecting cloth F _i at the moment is set as a zero point of a local coordinate system of the anti-falling connecting cloth F _i.

In order to better implement the present invention, further, the step S3 specifically includes the following steps:

Step S31: selecting the distance between any anti-falling connecting cloth and the whole row of moving mechanisms at the two adjacent ends as a calibration object, wherein the number of calibration positions is k, and obtaining the distance DX _k between the two adjacent whole rows of moving mechanisms at the positions of k anti-falling connecting cloths to be calibrated;

Step S32: sequentially adjusting the anti-falling connecting cloth according to the interval DX _k and recording the position DF _k of the anti-falling connecting cloth;

Step S33: and obtaining the corresponding data (DX ₁,DF₁),(DX₂,DF₂),……,(DX_k,DF_k) of the positions of the adjacent whole row of motion mechanisms and the anti-falling connecting cloth at k calibration positions according to the distance DX _k and the position DF _k, and fitting to obtain the correlation between the distance DX between the adjacent whole row of motion mechanisms and the position DF of the anti-falling connecting cloth.

In order to better implement the present invention, further, when only a single whole row of movement mechanisms moves, the calculating the movement target position of the anti-falling connection cloth during movement in step S4 specifically includes the following steps:

Step S411A: acquiring the current position and the target position of the moving whole-row moving mechanism under the global coordinate system, and acquiring the current position and the target position of two whole-row moving mechanisms adjacent to the moving whole-row moving mechanism under the global coordinate system;

Step S412A: moving the moving whole-row moving mechanism to a target position, and calculating the distance between the moving whole-row moving mechanism and two adjacent whole-row moving mechanisms after the movement;

Step S413A: according to the distance between the moving whole-row moving mechanism and the adjacent two whole-row moving mechanisms, the moving target position of the anti-falling connecting cloth between the moving whole-row moving mechanism and the adjacent two whole-row moving mechanisms under the local coordinate system of the corresponding anti-falling connecting cloth (4) is calculated.

In order to better implement the present invention, further, when the plurality of whole-row movement mechanisms move, the calculating the movement target position of the anti-falling connecting cloth during movement in step S4 specifically includes the following steps:

Step S411B: acquiring target positions of a plurality of moving whole-row moving mechanisms under a global coordinate system, positions bor ₀ of edges of the X negative-direction flexible clamp and positions bor ₁ of edges of the X positive-direction flexible clamp;

step S412B: moving the plurality of moving whole-row moving mechanisms to a target position, and sequentially calculating the distance between the adjacent whole-row moving mechanisms;

Step S43B: and calculating the target positions of the corresponding anti-falling connecting cloth moving under the respective local coordinates according to the intervals between the adjacent whole rows of moving mechanisms.

In order to better implement the present invention, further, when the plurality of whole-row movement mechanisms move, the calculating the movement speed of the anti-falling connecting cloth in the step S4 specifically includes the following steps:

step S421B: acquiring the current position of the anti-falling connecting cloth under a local coordinate system of the corresponding anti-falling connecting cloth;

step S422B: calculating the movement increment of the anti-falling connecting cloth according to the movement target positions of the adjacent anti-falling connecting cloth when the plurality of whole-row movement mechanisms move;

step S423B: according to the movement increment of the anti-falling connecting cloth, calculating the movement speed of the anti-falling connecting cloth, if

The motion increment of the anti-falling connecting cloth is larger than 0, the motion velocity VF _i =alpha×VX of the anti-falling connecting cloth (4), if the motion increment of the anti-falling connecting cloth is smaller than 0, the motion velocity VF _i =beta×VX of the anti-falling connecting cloth, and if the motion increment of the anti-falling connecting cloth is equal to 0, the motion velocity VF _i =0 of the anti-falling connecting cloth; wherein alpha and beta are set motion proportion parameters, and VX is the motion speed of the whole row of motion mechanisms.

In order to better implement the present invention, further, when the plurality of whole-row movement mechanisms move, the step S4 of driving the whole-row movement mechanisms and the anti-falling connection cloth to move to the target position specifically includes the following steps:

Step S431B: judging whether the anti-falling connecting cloth F ₀ needs to move at the beginning or not, if the current position and the target position of the whole row of moving mechanisms X ₁ are different, the anti-falling connecting cloth F ₀ needs to move at the beginning, and if the current position and the target position of the whole row of moving mechanisms X ₁ are the same, the anti-falling connecting cloth F ₀ does not need to move;

Step S432B: judging whether the anti-falling connecting cloth F ₁ -the anti-falling connecting cloth F _i-1 needs to move at the beginning or not, if the anti-falling connecting cloth F ₁ -the anti-falling connecting cloth F _i-1 in the anti-falling connecting cloth has only one motion of the whole row of motion mechanisms at the adjacent two ends or the whole row of motion mechanisms at the adjacent two ends move in opposite directions, the anti-falling connecting cloth needs to move at the beginning;

Step S433B: judging whether the anti-falling connecting cloth F _i needs to move at the beginning or not, if the current position and the target position of the whole row of moving mechanisms X _i are different, the anti-falling connecting cloth F _i needs to move at the beginning, and if the current position and the target position of the whole row of moving mechanisms X _i are the same, the anti-falling connecting cloth F _i does not need to move.

In order to better implement the present invention, further, when the plurality of whole row moving mechanisms are started to move at the speed VX, the specific operation of driving the whole row moving mechanisms and the anti-falling connection cloth to move to the target position in step S4 is as follows: when a plurality of whole-row moving mechanisms are started to move according to the speed VX, starting the anti-falling connecting cloth which needs to move at the beginning, monitoring the distance between the whole-row moving mechanisms at the two adjacent ends of the anti-falling connecting cloth which does not start to move in real time, and aiming at the anti-falling connecting cloth which needs to be placed, when the distance between the whole-row moving mechanisms at the two ends of the anti-falling connecting cloth which is monitored to be placed is about to change, starting the anti-falling connecting cloth to move according to the calculated speed; and starting the anti-falling connecting cloth to move according to the calculated speed until all the movement axes move to the designated position when the distance between the whole row of movement mechanisms at the two ends of the anti-falling connecting cloth to be monitored starts to change.

The invention has the following beneficial effects:

(1) According to the invention, the target position and the speed of the retraction movement of the relevant anti-falling connecting cloth are obtained according to the moving target position and the moving speed of the whole row of movement mechanisms, and the self-adaptive movement of the whole row of movement mechanisms and the anti-falling connecting cloth is controlled, so that the anti-falling connecting cloth is prevented from being too loose or being pulled, and the problem that the retraction movement of the anti-falling connecting cloth is difficult to match with the movement of the whole row of movement mechanisms is solved; the method is simple, does not need to be configured with additional instrument and facilities, only needs to perform primary calibration and function fitting in the flexible clamp debugging stage, and can be used for calculating directly and performing motion control by using a calculation result.

(2) According to the invention, the function relation between the distance between the adjacent whole row of moving mechanisms and the position of the anti-falling connecting cloth is established, so that the rapid calculation of the moving target position of the related anti-falling connecting cloth based on the moving target position of the whole row of moving mechanisms is realized.

(3) According to the movement speed of the whole row of movement mechanisms and whether the anti-falling connecting cloth is folded or unfolded, the movement speed of the anti-falling connecting cloth is determined, and speed matching between the whole row of movement mechanisms and the anti-falling connecting cloth in the movement process is realized.

(4) Under the condition that a plurality of whole-row moving mechanisms move simultaneously, the invention monitors the change condition of the distance between the whole-row moving mechanisms in real time and determines the movement starting time of the related anti-falling connecting cloth.

Drawings

Fig. 1 is a schematic block diagram of a flow chart of a self-adaptive motion control method of a whole row of motion mechanisms and anti-falling connecting cloth.

Fig. 2 is a schematic diagram of a flexible fixture of a chemical milling laser engraving device provided by the invention.

Fig. 3 is a schematic view of a whole row of motion mechanisms and anti-falling connection cloth provided by the invention.

Wherein, 1, stand, 2, X negative direction flexible jig edge, 3, X positive direction flexible jig edge, 4, anti-drop connection cloth spool.

Detailed Description

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it should be understood that the described embodiments are only some embodiments of the present invention, but not all embodiments, and therefore should not be considered as limiting the scope of protection. All other embodiments, which are obtained by a worker of ordinary skill in the art without creative efforts, are within the protection scope of the present invention based on the embodiments of the present invention.

In the description of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; or may be directly connected, or may be indirectly connected through an intermediate medium, or may be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Example 1:

The embodiment provides a self-adaptive motion control method of a whole row of motion mechanisms and anti-falling connecting cloth, wherein the whole row of motion mechanisms are zeroed according to the set zero point of a local coordinate system of the whole row of motion mechanisms; secondly, setting a zero point of a local coordinate system of the anti-falling connecting cloth in a zeroing state of the whole row of motion mechanisms; then calibrating the distance between the adjacent whole row of motion mechanisms and the positions of the anti-falling connecting cloth, and fitting to obtain a position function; finally, according to the position function, calculating the movement target position and movement speed of the anti-falling connecting cloth, driving the whole row of movement mechanisms and the anti-falling connecting cloth to move to the designated position, and simultaneously realizing the movement of a plurality of upright posts 1 arranged on the whole row of movement mechanisms along the X direction, wherein the method specifically comprises the following steps:

Step S1: and constructing a local coordinate system of the whole row of motion mechanisms, setting zero points, and returning the whole row of motion mechanisms to zero.

The step S1 specifically comprises the following steps:

Step S12: the position of the whole row of moving mechanisms X ₁ when the distance between the whole row of moving mechanisms X ₁ and the edge 2 of the X negative-direction flexible clamp is set to be delta X _min is used as the zero point of a local coordinate system of the whole row of moving mechanisms X ₁;

Step S2: and (3) constructing a local coordinate system of the anti-falling connecting cloth and setting a zero point in the zeroing state of the whole row of motion mechanisms.

Further, the step S2 specifically includes the following steps:

Step S3: and calibrating the distance between the adjacent whole row of motion mechanisms and the position of the anti-falling connecting cloth under a local coordinate system, and fitting to obtain a position function.

Further, the step S3 specifically includes the following steps:

Further, when only a single whole row of the movement mechanism moves, the calculating the movement target position of the anti-falling connecting cloth in the step S4 specifically includes the following steps:

Step S413A: and calculating the moving target position of the anti-falling connecting cloth between the moving whole-row moving mechanism and the adjacent two whole-row moving mechanisms under the local coordinate system of the corresponding anti-falling connecting cloth according to the distance between the moving whole-row moving mechanism and the adjacent two whole-row moving mechanisms after the movement.

Further, when the plurality of whole-row movement mechanisms move, the calculating the movement target position of the anti-falling connecting cloth in the step S4 specifically includes the following steps:

Step S411B: acquiring target positions of a plurality of moving whole-row moving mechanisms under a global coordinate system, positions bor ₀ of the X negative-direction flexible clamp edge 2 and positions bor ₁ of the X positive-direction flexible clamp edge 3;

Further, when the plurality of whole-row movement mechanisms move, the step S4 of calculating the movement speed of the anti-falling connecting cloth during movement specifically includes the following steps:

Step S423B: calculating the movement speed of the anti-falling connecting cloth according to the movement increment of the anti-falling connecting cloth, if the movement increment of the anti-falling connecting cloth is larger than 0, the movement speed VF _i =alpha×VX of the anti-falling connecting cloth, if the movement increment of the anti-falling connecting cloth is smaller than 0, the movement speed VF _i =beta×VX of the anti-falling connecting cloth, and if the movement increment of the anti-falling connecting cloth is equal to 0, the movement speed VF _i =0 of the anti-falling connecting cloth; wherein alpha and beta are set motion proportion parameters, and VX is the motion speed of the whole row of motion mechanisms.

Further, when the plurality of whole-row moving mechanisms are started to move at the speed VX, the specific operation of driving the whole-row moving mechanisms and the anti-falling connecting cloth to move to the target position in the step S4 is as follows: when a plurality of whole-row moving mechanisms are started to move according to the speed VX, starting the anti-falling connecting cloth which needs to move at the beginning, monitoring the distance between the whole-row moving mechanisms at the two adjacent ends of the anti-falling connecting cloth which does not start to move in real time, and aiming at the anti-falling connecting cloth which needs to be placed, when the distance between the whole-row moving mechanisms at the two ends of the anti-falling connecting cloth which is monitored to be placed is about to change, starting the anti-falling connecting cloth to move according to the calculated speed; and starting the anti-falling connecting cloth to move according to the calculated speed until all the movement axes move to the designated position when the distance between the whole row of movement mechanisms at the two ends of the anti-falling connecting cloth to be monitored starts to change.

Working principle: according to the embodiment, the target position and the movement speed of the retraction movement of the relevant anti-falling connecting cloth are obtained according to the movement target position and the movement speed of the whole row of movement mechanisms, and the method is used for controlling the self-adaptive movement of the whole row of movement mechanisms and the anti-falling connecting cloth, preventing the anti-falling connecting cloth from being too loose or being pulled, and solving the problem that the retraction movement of the anti-falling connecting cloth is difficult to match with the movement of the whole row of movement mechanisms; the method is simple, does not need to be configured with additional instrument and facilities, only needs to perform primary calibration and function fitting in the flexible clamp debugging stage, and can be used for calculating directly and performing motion control by using a calculation result.

Example 2:

The present embodiment is described based on the above embodiment 1 by taking i entire-row movement mechanisms as an example, as shown in fig. 1, and specifically includes the following steps.

Step S1: and the zero points of the whole row of motion mechanisms are arranged.

The whole row of motion mechanisms can only move along the X direction, and only the zero point of the X direction is required to be set. Since the full row of motion mechanisms X ₁ is adjacent to the X negative direction flexible clamp edge 2, there is little difference in the manner in which the zero points are set with the remaining full row of motion mechanisms.

Step S11: the zero point of the whole row of motion mechanisms X ₁ is arranged.

Moving the whole row of moving mechanisms X ₁ to enable the distance between the moving mechanisms X ₁ and the edge 2 of the flexible clamp in the X negative direction to be delta X _min; the tightness state of the anti-falling connecting cloth F ₀ and the anti-falling connecting cloth F ₁ is timely adjusted in the movement process, so that pulling is prevented; the position of the entire row of moving mechanisms X ₁ at this time is set as the zero point of the local coordinate system thereof.

Step S12: the zero point of the whole row of motion mechanisms X ₂ is arranged.

Firstly, moving the whole-row moving mechanism X ₁ to a zero point of a local coordinate system of the whole-row moving mechanism X ₂, and enabling the distance between the whole-row moving mechanism X ₁ and the previous whole-row moving mechanism X ₁ to be delta X _min; the tightness state of the anti-falling connecting cloth F ₁ and the anti-falling connecting cloth F ₂ is timely adjusted in the movement process, so that pulling is prevented; the position of the entire row of moving mechanisms X ₂ at this time is set as the zero point of the local coordinate system thereof.

Step S13: the zero point of the whole row of motion mechanisms X _i is arranged.

Firstly, moving the whole-row moving mechanism X _i-₁ to a zero point of a local coordinate system of the whole-row moving mechanism X _i, and enabling the distance between the whole-row moving mechanism X _i-₁ and the previous whole-row moving mechanism X _i-₁ to be delta X _min; the tightness state of the anti-falling connecting cloth F _i-₁ and the anti-falling connecting cloth F _i is timely adjusted in the movement process, so that pulling is prevented; the position of the entire row of moving mechanisms X _i at this time is set as the zero point of the local coordinate system thereof.

Step S14: all the whole row of motion mechanisms return to zero.

The whole row of moving mechanisms X ₁~X_i are moved to the zero point of the respective local coordinate system, and the tightness state of the anti-falling connecting cloth is timely adjusted in the moving process, so that the pulling is prevented.

Step S2: and setting a zero point of the anti-falling connection cloth.

Under the state that all the whole-row moving mechanisms return to zero, the distance between the whole-row moving mechanisms X _i and the edges 3 of the flexible clamp in the X positive direction is delta X _max, and the anti-falling connecting cloth F _i is in the maximum stroke state, so that the way of setting zero points of the anti-falling connecting cloth F _i and the rest anti-falling connecting cloths is slightly different.

Step S21: and setting a zero point of the anti-falling connecting cloth F ₀~F_i-1.

And under the state that all the whole-row movement mechanisms return to zero, the tightness state of the anti-falling connecting cloth F ₀~F_i-1 is adjusted to be in a straightening state, and the position of the anti-falling connecting cloth F ₀~F_i-1 at the moment is set as the zero point of the respective local coordinate system.

Step S22: and setting a zero point of the anti-falling connecting cloth F _i.

Moving the whole row of moving mechanisms X _i to the maximum travel X _max under a local coordinate system, and timely adjusting the tightness state of the anti-falling connecting cloth F _i-1 and the anti-falling connecting cloth F _i in the moving process to prevent pulling; when the whole row of moving mechanisms X _i is located at the position of the maximum stroke X _max, the distance between the whole row of moving mechanisms X _i and the edge 3 of the X positive-direction flexible clamp is delta X _min, the tightness state of the anti-falling connecting cloth F _i is adjusted to be in a straightening state, and the position of the anti-falling connecting cloth F _i at the moment is set as a zero point of a local coordinate system of the anti-falling connecting cloth.

Step S3: and calibrating the distance between the adjacent whole row of motion mechanisms and the position of the anti-falling connecting cloth.

Because the relative relation between the position of each anti-falling connecting cloth under the respective local coordinate system and the distance between the whole row of moving mechanisms at the two ends of each anti-falling connecting cloth is the same, the relative relation between the position of one anti-falling connecting cloth and the distance between the whole row of moving mechanisms at the two ends of each anti-falling connecting cloth is only required to be calibrated.

Step S31: taking the position relation between the spacing between the adjacent whole-row moving mechanisms X _i and X _i-1 and the anti-falling connecting cloth F _i-1 as an example, the number of the calibration positions is k, k is a positive integer and k is more than 2, k-2 calibration positions are averagely obtained between the minimum spacing delta X _min and the maximum spacing delta X _max of the two whole-row moving mechanisms, the positions of the minimum spacing and the maximum spacing are taken as 2 calibration positions, and the spacing between the two whole-row moving mechanisms needing to calibrate the positions of the anti-falling connecting cloth is as follows in sequence:

Step S32: the distance between the whole row of moving mechanisms X _i and the whole row of moving mechanisms X _i-1 is adjusted to DX ₁, the position of the anti-falling connecting cloth F _i-1 is adjusted, the anti-falling connecting cloth F _i-1 is in a straightening state, and the position DF ₁ of the anti-falling connecting cloth F _i-1 under the local coordinate system is recorded; The distance between the whole row of moving mechanisms X _i and the whole row of moving mechanisms X _i-1 is adjusted to DX ₂, the position of the anti-falling connecting cloth F _i-1 is adjusted, the anti-falling connecting cloth F _i-1 is in a straightening state, and the position DF ₂ of the anti-falling connecting cloth F _i-1 under the local coordinate system is recorded; And so on, the distance between the whole row of motion mechanisms X _i and X _i-1 is adjusted to DX _k, the position of the anti-falling connecting cloth F _i-1 is adjusted, Put it in a straightened state, record the position DF _k of F _i-1 at this time in its local coordinate system. And finally obtaining the data (DX ₁,DF₁),(DX₂,DF₂),……,(DX_k,DF_k) corresponding to the spacing between the adjacent whole rows of motion mechanisms and the positions of the anti-falling connecting cloth at the k calibration positions.

Step S33: the distance between the adjacent whole row of motion mechanisms is fitted with the position function of the anti-falling connecting cloth.

And aiming at (DX ₁,DF₁),(DX₂,DF₂),……,(DX_k,DF_k), performing function fitting to obtain a related relation function DF=f (DX) of the distance between the adjacent whole row of moving mechanisms and the position of the anti-falling connecting cloth, wherein DX represents the distance between the adjacent whole row of moving mechanisms, and DF is the position of the anti-falling connecting cloth under a local coordinate system of the anti-falling connecting cloth. To improve the accuracy, fitting can be performed in sections to obtain a multi-section continuous function.

Step S4: and calculating the moving target position of the relevant anti-falling connecting cloth during the movement of the whole row of moving mechanisms, calculating the moving speed of the anti-falling connecting cloth, and controlling the self-adaptive movement of the whole row of moving mechanisms and the anti-falling connecting cloth.

In the actual operation process, there are two cases where only one full-row movement mechanism is moved and a plurality of full-row movement mechanisms are simultaneously moved.

Step S41: and calculating the position of the moving target of the related anti-falling connecting cloth when the single whole-row moving mechanism moves.

Taking the movement of the whole row of movement mechanisms X _i-1 as an example, the anti-falling connecting cloth which needs to move is anti-falling connecting cloth F _i-1 and anti-falling connecting cloth F _i-1. Under the global coordinate system, the current position of the whole row of moving mechanisms X _i-1 is cur _i-1, the target position is tar _i-1, the distance between the whole row of moving mechanisms in the moving process of the whole row of moving mechanisms X _i-1 is always more than or equal to Deltax _min, The current position of the whole row of moving mechanisms X _i is cur _i, and the current position of the whole row of moving mechanisms X _i-2 is cur _i-2; When the whole row moving mechanism X _i-1 moves to the target position, the distance between the whole row moving mechanism X _i-1 and the whole row moving mechanism X _i is cur _i-tar_i-1, The distance between the whole row of moving mechanisms X _i-1 and the whole row of moving mechanisms X _i-2 is tar _i-1-cur_i-2; The target position of the falling-preventing connecting cloth F _i-1 between the whole row of moving mechanisms X _i-1 and the whole row of moving mechanisms X _i moving under the local coordinate system is F (cur _i-tar_i-1), the target position of the fall-preventing connecting cloth F _i-2 between the whole row of moving mechanisms X _i-1 and the whole row of moving mechanisms X _i-2 moving under the local coordinate system is F (tar _i-1-cur_i-2).

Step S42: and calculating the positions of the moving targets of the related anti-falling connecting cloth during the movement of the plurality of whole-row movement mechanisms.

Under the global coordinate system, the target position of each whole row of motion mechanisms is tar ₁、tar₂、……、tar_i, the position of the edge 2 of the flexible clamp in the X negative direction is bor ₀, and the position of the edge 3 of the flexible clamp in the X positive direction is bor ₁; when the whole row of moving mechanisms move to the target position, the distance between the adjacent whole row of moving mechanisms is tar₁-bor₀、tar₂-tar₁、tar₃-tar₂、……、tar_i-tar_i-1、bor₁-tar_i, in sequence, and the target positions of the corresponding anti-falling connecting cloth moving under the respective local coordinate systems are sequentially f(tar₁-bor₀)、f(tar₂-tar₁)、f(tar₃-tar₂)、……、f(tar_i-tar_i-1)、f(bor₁-tar_i).

Step S43: the motion speed of the anti-falling connecting cloth is related to the motion speed of the retraction/extension motion and the whole row of motion mechanisms, and the motion speed of the whole row of motion mechanisms is the same. The distance between the adjacent whole row of moving mechanisms is increased, a certain length is needed to be placed on the corresponding anti-falling connecting cloth, so that the anti-falling connecting cloth cannot be pulled in the moving process, and the moving speed of the anti-falling connecting cloth is larger than that of the whole row of moving mechanisms; the distance between the adjacent whole row of motion mechanisms is reduced, so that the corresponding anti-falling connecting cloth needs to be retracted for a certain length, and the motion speed of the anti-falling connecting cloth retracted is smaller than that of the whole row of motion mechanisms at the moment in order to ensure that the anti-falling connecting cloth cannot be pulled in the motion process; the speed of the anti-falling connecting cloth which does not need to move is 0.

The current positions of the anti-falling connecting cloths under the respective local coordinate systems are curF ₀、curF₁、curF₂、……、curF_i-1、curF_i respectively, the positions of the moving targets of the related anti-falling connecting cloths are calculated according to the movement of a plurality of whole-row movement mechanisms, and the movement increment of each anti-falling connecting cloth is as follows:

And setting the motion speed of the whole row of motion mechanisms as VX. If the drop-down connector cloth movement increment deltaF _i > 0 (i=0, 1, 2.,. I.) indicates that it needs to be put, the movement speed VF _i =a×vx (i=0, 1, 2.,. I.), where a is a constant and a > 1; if the drop cloth movement increment deltaF _i < 0 (i=0, 1, 2.,. I.) indicates that it needs to be taken up, the movement speed VF _i =b×vx (i=0, 1, 2.,. I.), where b is a constant and b < 1; if the anti-fall joining cloth movement increment deltaF _i =0 (i=0, 1,2, i.) indicates that it does not require retraction, the movement speed VF _i =0 (i=0, 1,2, i.).

Step S44: and (3) self-adaptive motion control of the whole row of motion mechanisms and the anti-falling connecting cloth.

1) And (3) self-adaptive motion control of the single whole row of motion mechanisms and the anti-falling connecting cloth when in motion.

Taking the movement of the whole row of movement mechanisms X _i-1 as an example, the anti-falling connecting cloth which needs to move is anti-falling connecting cloth F _i-1 and anti-falling connecting cloth F _i-2. Simultaneously, the whole row of moving mechanisms X _i-1, the anti-falling connecting cloth F _i-1 and the anti-falling connecting cloth F _i-2 are started to move to respective target positions tar _i-1、f(cur_i-tar_i-1)、f(tar_i-1-cur_i-2 according to the speeds VX and VF _i-1、VF_i-2 respectively.

2) And (3) self-adaptive motion control of the anti-falling connecting cloth when the plurality of whole-row motion mechanisms move.

When the plurality of whole-row moving mechanisms move, the time points of the change of the intervals between the adjacent whole-row moving mechanisms can be different, so that the related anti-falling connecting cloth can also have different starting movement time.

Firstly, determining which anti-falling connecting cloth needs to start to move when the whole-row moving mechanism starts to move, and determining whether the anti-falling connecting cloth needs to move at the beginning by judging the moving state of the whole-row moving mechanism at the two ends of the anti-falling connecting cloth. Because the whole row of motion mechanisms are connected to one end of the anti-falling connecting cloth F ₀ and one end of the anti-falling connecting cloth F _i, the edge of the flexible clamp is fixed, and the whole row of motion mechanisms are connected to the two ends of the rest anti-falling connecting cloth, the starting time judgment of the anti-falling connecting cloth F ₀ and the anti-falling connecting cloth F _i is slightly different from that of the rest anti-falling connecting cloth.

① Judging whether the anti-falling connecting cloth F ₀ needs to move at the beginning or not;

If the current position cur ₁ and the target position tar ₁ of the entire row of movement mechanisms X ₁ are different, the fall-preventing connection cloth F ₀ needs to move at the beginning, and if cur ₁=tar₁, the fall-preventing connection cloth F ₀ does not need to move.

② Judging whether the anti-falling connecting cloth F ₁-F_i-1 needs to move at the beginning or not;

If only one of the whole-row moving mechanisms at the two ends of the anti-falling connecting cloth needs to move, or the two whole-row moving mechanisms move in opposite directions, the anti-falling connecting cloth needs to move at the beginning. Taking as an example whether the fall protection cloth F _i-2 needs to be moved at the beginning:

if it is （cur_i-2≠tar_i-2&&cur_i-1=tar_i-1）||（cur_i-2=tar_i-2&&cur_i-1≠tar_i-1）||（cur_i-2＞tar_i-2&&cur₆＜tar₆）||（cur_i-2＜tar_i-2&&cur_i-1＞tar_i-1）;

Wherein the method comprises the steps ofRepresenting a logical or of the values of the logic or,Representing a logical AND, the fall arrest connection cloth F _i-2 needs to be moved initially, otherwise the fall arrest connection cloth F _i-2 need not be moved initially.

③ Judging whether the anti-falling connecting cloth F _i needs to move at the beginning or not;

If the current position cur _i and the target position tar _i of the entire row of movement mechanisms X _i are different, the fall-preventing connection cloth F _i needs to move at the beginning, and if cur _i=tar_i, the fall-preventing connection cloth F _i does not need to move.

The method comprises the steps of starting a plurality of whole-row moving mechanisms to move according to a speed VX, and starting anti-falling connecting cloth which needs to move at the beginning to move according to a calculated speed; the method comprises the steps of monitoring the intervals between the whole row of moving mechanisms at two ends of the anti-falling connecting cloth which is not started to move in real time in the moving process, and starting the anti-falling connecting cloth to move according to the calculated speed when the intervals between the whole row of moving mechanisms at the two ends of the anti-falling connecting cloth are monitored to be changed; aiming at the anti-falling connecting cloth to be collected, when the distance between the whole row of moving mechanisms at the two ends of the anti-falling connecting cloth starts to change, the anti-falling connecting cloth is started to move according to the calculated speed. Until all the axes of motion are moved to the specified positions.

Working principle: in this embodiment, steps S1 to S3 are generally performed only once in the device debugging stage, and step S4 is only required to be repeated when the whole row of motion mechanisms are involved in motion and the anti-falling connection cloth is folded or unfolded in the normal use process of the subsequent device.

The scheme involves a global coordinate system and a local coordinate system, and the local coordinate system and the global coordinate system X, Y, Z are in the same direction. The global coordinate system is a coordinate system shared by the whole chemical milling laser engraving equipment; the local coordinate system is unique to each motion axis, and the local coordinate systems of different motion axes are mutually independent.

The position of the X negative flexible jig edge 2 in the global coordinate system is bor ₀, and the position of the X positive flexible jig edge 3 in the global coordinate system is bor ₁.

The full row movement mechanism is denoted as X ₁、X₂、X₃、……、X_i, where X ₁ denotes the 1 st full row movement mechanism counted from the X negative direction toward the X positive direction, X ₂ denotes the 2 nd full row movement mechanism, X ₃ denotes the 3 rd full row movement mechanism, and X _i denotes the i-th full row movement mechanism.

In the global coordinate system, the current position of each whole row of motion mechanisms is denoted as cur ₁、cur₂、……、cur_i, wherein cur ₁ denotes the current position of the whole row of motion mechanisms X ₁, cur ₂ denotes the current position of the whole row of motion mechanisms X ₂, … …, and cur _i denotes the current position of the whole row of motion mechanisms X _i; the target position of each full-row movement mechanism movement is denoted as tar ₁、tar₂、……、tar_i, where tar ₁ denotes the target position of the full-row movement mechanism X ₁, where tar ₂ denotes the target position of the full-row movement mechanism X ₂, … …, and tar _i denotes the target position of the full-row movement mechanism X _i.

The motion speed of the whole row of motion mechanisms is expressed as VX.

The travel range of each whole row of motion mechanisms under the respective local coordinate system is 0-x _max.

The minimum distance between the adjacent whole row of motion mechanisms is Deltax _min, and the maximum distance is Deltax _max; the minimum distance between the whole row of moving mechanisms X ₁ and the edge 2 of the flexible clamp in the X negative direction is Deltax _min, and the maximum distance is Deltax _max; the minimum distance between the whole row of moving mechanisms X _i and the edge 3 of the flexible clamp in the X positive direction is Deltax _min, and the maximum distance is Deltax _max.

The anti-falling connecting cloth realizes the retraction/release movement by rotating the anti-falling connecting cloth scroll 4, and the rotation speed of the anti-falling connecting cloth scroll 4 is embodied as the retraction/release speed of the anti-falling connecting cloth.

The anti-falling connecting cloth is represented by anti-falling connecting cloth F ₀, anti-falling connecting cloth F ₁, anti-falling connecting cloth F ₂, and anti-falling connecting cloth F _i, wherein F ₀ represents anti-falling connecting cloth between the X negative direction flexible clamp edge 2 and the whole row of moving mechanisms X ₁, F ₁ represents anti-falling connecting cloth between the whole row of moving mechanisms X ₁ and the whole row of moving mechanisms X ₂, F ₂ represents anti-falling connecting cloth between the whole row of moving mechanisms X ₂ and X ₃, F _i-1 represents anti-falling connecting cloth between the whole row of moving mechanisms X _i-1 and X _i, and F _i represents anti-falling connecting cloth between the whole row of moving mechanisms X _i and the X positive direction flexible clamp edge 3.

The current position of each fall protection tie under its own local coordinate system is denoted curF ₀、curF₁、curF₂、……、curF_i, wherein curF ₀ denotes the current position of F ₀ under its local coordinate system, curF ₁ denotes the current position of F ₁ under its local coordinate system, … …, curF _i denotes the current position of F _i under its local coordinate system.

Each drop cloth movement increment is denoted deltaF ₀、deltaF₁、......、deltaF_i, wherein deltaF ₀ denotes the movement increment of F ₀, deltaF ₁ denotes the movement increment of F ₁, … …, deltaF _i denotes the movement increment of F _i.

The movement speed of each anti-roll-off connection cloth is denoted as VF ₀、VF₁、VF₂、......,VF_i, where VF ₀ denotes the speed of F ₀, VF ₁ denotes the speed of F ₁, VF ₂ denotes the speed of F ₂, … …, and VF _i denotes the speed of F _i.

DX ₁ represents the spacing between two full rows of motion mechanisms in the 1 st nominal position, DX ₂ represents the spacing between two full rows of motion mechanisms in the 2 nd nominal position, … …, DX _k represents the spacing between two full rows of motion mechanisms in the k-th nominal position.

DF ₁ represents the position under the local coordinate system when the calibrated anti-falling connecting cloth is in a straightened state at the 1 st calibration position; DF ₂ represents the position under the local coordinate system when the calibrated anti-falling connecting cloth is in a straightened state at the 2 nd calibration position; … …; DF _k represents the position in its local coordinate system when the calibrated fall arrest connection cloth is in a straightened state in the kth calibration position.

Other portions of this embodiment are the same as those of embodiment 1 described above, and thus will not be described again.

Example 3:

In this embodiment, on the basis of any one of the above embodiments 1 to 2, a detailed description will be given of 7 entire-row movement mechanisms as an example.

The implementation object is a flexible fixture of a chemical milling laser engraving device, wherein i is a positive integer and i >0, and the flexible fixture is provided with i whole-row motion mechanisms. In this embodiment, a flexible fixture of a chemical milling and laser lithography apparatus with 7 entire-row motion mechanisms is taken as an example for further detailed description, and the specific implementation manner of the adaptive motion control of the entire-row motion mechanisms of the flexible fixture and the anti-falling connection cloth is as follows:

Step S12: the zero point of the whole row of motion mechanisms X ₂~X₇ is arranged.

Step S13: the full-row moving mechanism X ₃, the full-row moving mechanism X ₄, the full-row moving mechanism X ₅, the full-row moving mechanism X ₆ and the full-row moving mechanism X ₇ are sequentially arranged in a zero point mode.

Step S14: all the whole row of motion mechanisms return to zero.

The whole row of moving mechanisms X ₁~X₇ are moved to the zero point of the respective local coordinate system, and the tightness state of the anti-falling connecting cloth is timely adjusted in the moving process, so that the pulling is prevented.

Step S2: and setting a zero point of the anti-falling connection cloth.

Step S21: and setting a zero point of the anti-falling connecting cloth F ₀~F₆.

And under the state that all the whole-row movement mechanisms return to zero, the tightness state of the anti-falling connecting cloth F ₀~F₆ is adjusted to be in a straightening state, and the position of the anti-falling connecting cloth F ₀~F₆ at the moment is set as the zero point of the respective local coordinate system.

Step S22: and setting a zero point of the anti-falling connecting cloth F ₇.

Moving the whole row of moving mechanisms X ₇ to the maximum travel X _max under a local coordinate system, and timely adjusting the tightness state of the anti-falling connecting cloth F ₆ and the anti-falling connecting cloth F ₇ in the moving process to prevent pulling; when the whole row of movement mechanisms X ₇ is located at the position of the maximum stroke X _max, the tightness state of the anti-falling connecting cloth F ₇ is adjusted to be in a straightened state, and the position of the anti-falling connecting cloth F ₇ at the moment is set as the zero point of a local coordinate system.

Step S31: taking the position relation between the spacing between the adjacent whole-row moving mechanisms X ₇ and X ₆ and the anti-falling connecting cloth F ₆ as an example, the number of the calibration positions is k, k is a positive integer and k is more than 2, k-2 calibration positions are averagely obtained between the minimum spacing delta X _min and the maximum spacing delta X _max of the two whole-row moving mechanisms, the positions of the minimum spacing and the maximum spacing are taken as 2 calibration positions, and the spacing between the two whole-row moving mechanisms needing to calibrate the positions of the anti-falling connecting cloth is as follows in sequence:

Step S32: the distance between the whole row of moving mechanisms X ₇ and the whole row of moving mechanisms X ₆ is adjusted to DX ₁, the position of the anti-falling connecting cloth F ₆ is adjusted, The anti-falling connecting cloth F ₆ is in a straightening state, and the position DF ₁ of the anti-falling connecting cloth F ₆ under the local coordinate system is recorded; The distance between the whole row of moving mechanisms X ₇ and the whole row of moving mechanisms X ₆ is adjusted to DX ₂, the position of the anti-falling connecting cloth F ₆ is adjusted, The anti-falling connecting cloth F ₆ is in a straightening state, and the position DF ₂ of the anti-falling connecting cloth F ₆ under the local coordinate system is recorded; And so on, the distance between the whole row of motion mechanisms X ₇ and X ₆ is adjusted to DX _k, the position of the anti-falling connecting cloth F ₆ is adjusted, put it in a straightened state, record the position DF _k of F ₆ at this time in its local coordinate system. And finally obtaining the data (DX ₁,DF₁),(DX₂,DF₂),……,(DX_k,DF_k) corresponding to the spacing between the adjacent whole rows of motion mechanisms and the positions of the anti-falling connecting cloth at the k calibration positions.

Taking the movement of the whole row of movement mechanisms X ₆ as an example, the anti-falling connecting cloth which needs to move is anti-falling connecting cloth F ₆ and anti-falling connecting cloth F ₅. Under the global coordinate system, the current position of the whole row of moving mechanisms X ₆ is cur ₆, the target position is tar ₆, the distance between the whole row of moving mechanisms in the moving process of the whole row of moving mechanisms X ₆ is always more than or equal to Deltax _min, The current position of the whole row of moving mechanisms X ₇ is cur ₇, and the current position of the whole row of moving mechanisms X ₅ is cur ₅; When the whole row moving mechanism X ₆ moves to the target position, the distance between the whole row moving mechanism X ₆ and the whole row moving mechanism X ₇ is cur ₇-tar₆, The distance between the whole row of moving mechanisms X ₆ and the whole row of moving mechanisms X ₅ is tar ₆-cur₅; The anti-falling connecting cloth F ₆ between the whole row of moving mechanisms X ₆ and the whole row of moving mechanisms X ₇ has a target position F (cur ₇-tar₆) moving under a local coordinate system, The target position of the fall-preventing connecting cloth F ₅ between the whole row of moving mechanisms X ₆ and the whole row of moving mechanisms X ₅ moving under the local coordinate system is F (tar ₆-cur₅).

Under the global coordinate system, the target position of each whole row of motion mechanisms is tar ₁、tar₂、……、tar₇, the position of the edge 2 of the flexible clamp in the X negative direction is bor ₀, and the position of the edge of the flexible clamp in the X positive direction is bor ₁; when the whole row of moving mechanisms move to the target position, the distance between the adjacent whole row of moving mechanisms is tar₁-bor₀、tar₂-tar₁、tar₃-tar₂、……、tar₇-tar₆、bor₁-tar₇, in sequence, and the target positions of the corresponding anti-falling connecting cloth moving under the respective local coordinate systems are sequentially f(tar₁-bor₀)、f(tar₂-tar₁)、f(tar₃-tar₂)、……、f(tar₇-tar₆)、f(bor₁-tar₇).

Step S43: the motion speed of the anti-falling connecting cloth is related to the motion speed of the folding/unfolding motion and the whole row of motion mechanisms, and the motion speeds of the whole row of motion mechanisms are the same. The distance between the adjacent whole row of moving mechanisms is increased, a certain length is needed to be placed on the corresponding anti-falling connecting cloth, so that the anti-falling connecting cloth cannot be pulled in the moving process, and the moving speed of the anti-falling connecting cloth is larger than that of the whole row of moving mechanisms; the distance between the adjacent whole row of motion mechanisms is reduced, so that the corresponding anti-falling connecting cloth needs to be retracted for a certain length, and the motion speed of the anti-falling connecting cloth retracted is smaller than that of the whole row of motion mechanisms at the moment in order to ensure that the anti-falling connecting cloth cannot be pulled in the motion process; the speed of the anti-falling connecting cloth which does not need to move is 0.

The current positions of the anti-falling connecting cloths under the respective local coordinate systems are curF ₀、curF₁、curF₂、……、curF₆、curF₇ respectively, the positions of the moving targets of the related anti-falling connecting cloths are calculated according to the movement of a plurality of whole-row movement mechanisms, and the movement increment of each anti-falling connecting cloth is as follows:

And setting the motion speed of the whole row of motion mechanisms as VX. If the drop-proof connecting cloth movement increment deltaF _i > 0 (i=0, 1,2,.. The.7.) indicates that it needs to be put, the movement speed VF _i =a×vx (i=0, 1,2,.. The.7.), where a is a constant and a > 1; if the drop cloth movement increment deltaF _i < 0 (i=0, 1,2,) indicates that it needs to be taken up, the movement speed VF _i =b×vx (i=0, 1,2,) is equal to..7, where b is a constant and b < 1; if the drop cloth movement increment deltaF _i =0 (i=0, 1,2,) indicates that it does not require retraction, the movement speed VF _i =0 (i=0, 1,2,) is equal to.

Taking the movement of the whole row of movement mechanisms X ₆ as an example, the anti-falling connecting cloth which needs to move is anti-falling connecting cloth F ₆ and anti-falling connecting cloth F ₅. Simultaneously, the whole row of moving mechanisms X ₆, the anti-falling connecting cloth F ₆ and the anti-falling connecting cloth F ₅ are started to move to respective target positions tar ₆、f(cur₇-tar₆)、f(tar₆-cur₅ according to the speeds VX and VF ₆、VF₅ respectively.

Firstly, determining which anti-falling connecting cloth needs to start to move when the whole-row moving mechanism starts to move, and determining whether the anti-falling connecting cloth needs to move at the beginning by judging the moving state of the whole-row moving mechanism at the two ends of the anti-falling connecting cloth. Because the whole row of motion mechanisms are connected to one end of the anti-falling connecting cloth F ₀ and one end of the anti-falling connecting cloth F ₇, the edge of the flexible clamp is fixed, and the whole row of motion mechanisms are connected to the two ends of the rest anti-falling connecting cloth, the starting time judgment of the anti-falling connecting cloth F ₀ and the anti-falling connecting cloth F ₇ is slightly different from that of the rest anti-falling connecting cloth.

② Judging whether the anti-falling connecting cloth F ₁-F₆ needs to move at the beginning or not;

If only one of the whole-row moving mechanisms at the two ends of the anti-falling connecting cloth needs to move, or the two whole-row moving mechanisms move in opposite directions, the anti-falling connecting cloth needs to move at the beginning. Taking as an example whether the fall protection cloth F ₅ needs to be moved at the beginning:

If it is （cur₅≠tar₅&&cur₆=tar₆）||（cur₅=tar₅&&cur₆≠tar₆）||（cur₅＞tar₅&&cur₆＜tar₆）||（cur₅＜tar₅&&cur₆＞tar₆）;

Wherein,Representing a logical or of the values of the logic or,Representing a logical AND, the fall arrest connection cloth F ₅ needs to be moved initially, otherwise the fall arrest connection cloth F ₅ need not be moved initially.

③ Judging whether the anti-falling connecting cloth F ₇ needs to move at the beginning or not;

If the current position cur ₇ and the target position tar ₇ of the entire row of movement mechanisms X ₇ are different, the fall-preventing connection cloth F ₇ needs to move at the beginning, and if cur ₇=tar₇, the fall-preventing connection cloth F ₇ does not need to move.

Other portions of this embodiment are the same as any of embodiments 1 to 2, and thus will not be described again.

The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any simple modification, equivalent variation, etc. of the above embodiment according to the technical matter of the present invention fall within the scope of the present invention.

Claims

1. The self-adaptive motion control method of the whole-row motion mechanism and the anti-falling connecting cloth is characterized in that firstly, the whole-row motion mechanism is zeroed according to the zero point of a local coordinate system of the whole-row motion mechanism; secondly, setting a zero point of a local coordinate system of the anti-falling connecting cloth in a zeroing state of the whole row of motion mechanisms; then calibrating the distance between the adjacent whole row of motion mechanisms and the positions of the anti-falling connecting cloth, and fitting to obtain a position function; and finally, calculating the moving target position and the moving speed of the anti-falling connecting cloth according to the position function, and driving the whole row of moving mechanisms and the anti-falling connecting cloth to move to the designated position.

2. The method for controlling the self-adaptive motion of the whole row of motion mechanisms and the anti-falling connecting cloth according to claim 1, which is characterized by comprising the following steps:

3. The method for adaptively controlling the movement of the whole row of movement mechanisms and the anti-falling connecting cloth according to claim 2, wherein the step S1 specifically comprises the following steps:

Step S12: the position of the whole row of moving mechanisms X ₁ when the distance between the whole row of moving mechanisms X ₁ and the edge (2) of the X negative-direction flexible clamp is set to be delta X _min is used as a zero point of a local coordinate system of the whole row of moving mechanisms X ₁;

4. The method for adaptively controlling the movement of the whole row of movement mechanisms and the anti-falling connecting cloth according to claim 3, wherein the step S2 specifically comprises the following steps:

5. The method for adaptively controlling the movement of the whole row of movement mechanisms and the anti-falling connecting cloth according to claim 4, wherein the step S3 specifically comprises the following steps:

6. The method for adaptively controlling the movement of the whole row of moving mechanisms and the anti-falling connecting cloth according to claim 5, wherein when only a single whole row of moving mechanisms moves, the step S4 of calculating the movement target position of the anti-falling connecting cloth during movement specifically comprises the following steps:

7. The method for adaptively controlling the movement of the whole row of moving mechanisms and the anti-falling connecting cloth according to claim 5, wherein when the plurality of whole row of moving mechanisms move, the step S4 of calculating the movement target position of the anti-falling connecting cloth during movement specifically comprises the following steps:

Step S411B: acquiring target positions of a plurality of moving whole-row moving mechanisms under a global coordinate system, positions bor ₀ of an X negative-direction flexible clamp edge (2) and positions bor ₁ of an X positive-direction flexible clamp edge (3);

8. The method for adaptively controlling the movement of the whole row of moving mechanisms and the anti-falling connecting cloth according to claim 7, wherein when the plurality of whole row of moving mechanisms move, the step S4 of calculating the movement speed of the anti-falling connecting cloth comprises the following steps:

If the motion increment of the anti-falling connecting cloth is larger than 0, the motion speed VF _i =α×VX of the anti-falling connecting cloth, if

If the motion increment of the anti-falling connecting cloth is smaller than 0, the motion speed VF _i =beta×VX of the anti-falling connecting cloth, if

The motion increment of the anti-falling connecting cloth is equal to 0, and the motion speed VF _i =0 of the anti-falling connecting cloth; wherein alpha and beta are set motion proportion parameters, and VX is the motion speed of the whole row of motion mechanisms.

9. The method for adaptively controlling the movement of the whole row of moving mechanisms and the anti-falling connecting cloth according to claim 8, wherein when the plurality of whole row of moving mechanisms move, the step S4 of driving the whole row of moving mechanisms and the anti-falling connecting cloth to move to the target position specifically comprises the following steps:

10. The method for adaptive motion control of a whole row of motion mechanisms and a drop-proof connecting cloth according to claim 9, wherein when a plurality of whole row of motion mechanisms are started to move at a speed VX, the specific operation of driving the whole row of motion mechanisms and the drop-proof connecting cloth to move to a target position in step S4 is as follows: when a plurality of whole-row moving mechanisms are started to move according to the speed VX, starting the anti-falling connecting cloth which needs to move at the beginning, monitoring the distance between the whole-row moving mechanisms at the two adjacent ends of the anti-falling connecting cloth which does not start to move in real time, and aiming at the anti-falling connecting cloth which needs to be placed, when the distance between the whole-row moving mechanisms at the two ends of the anti-falling connecting cloth which is monitored to be placed is about to change, starting the anti-falling connecting cloth to move according to the calculated speed; and starting the anti-falling connecting cloth to move according to the calculated speed until all the movement axes move to the designated position when the distance between the whole row of movement mechanisms at the two ends of the anti-falling connecting cloth to be monitored starts to change.