阅读说明：本技术 一种待剪切物料传输控制方法及模切设备 (To-be-sheared material transmission control method and die cutting equipment ) 是由 何耀滨 尚波 于 2021-09-26 设计创作，主要内容包括：本发明公开了一种待剪切物料传输控制方法及模切设备,预先获取待剪切物料上的色标间隔距离及剪切装置与色标检测装置之间的水平安装距离；其中,色标间隔距离为初始剪切长度；在每个剪切周期完成时,均获取在当前剪切周期完成时对应剪切的目标色标所在的第一位置及目标色标在被色标检测装置检测到时所在的第二位置,并计算第一位置和第二位置之间的位置距离；将水平安装距离减去位置距离,得到色标纠偏补偿距离,并将色标间隔距离减去色标纠偏补偿距离,得到新剪切长度；按照新剪切长度控制送料装置在新一轮的剪切周期运行,直至模切设备停止剪切工作。可见,本申请根据色标的实际位置纠正送料装置的运行状态,从而保证剪切装置能够准确剪切物料。(The invention discloses a to-be-sheared material transmission control method and die cutting equipment, wherein a color code spacing distance on a to-be-sheared material and a horizontal installation distance between a shearing device and a color code detection device are obtained in advance; wherein, the color code interval distance is the initial shearing length; when each shearing cycle is completed, acquiring a first position where a target color code correspondingly sheared when the current shearing cycle is completed and a second position where the target color code is detected by a color code detection device, and calculating a position distance between the first position and the second position; subtracting the position distance from the horizontal installation distance to obtain a color code deviation correction compensation distance, and subtracting the color code deviation correction compensation distance from the color code interval distance to obtain a new shearing length; and controlling the feeding device to operate in a new shearing cycle according to the new shearing length until the die cutting equipment stops shearing. It can be seen that this application corrects material feeding unit's running state according to the actual position of color code to guarantee that shearing mechanism can accurately shear the material.)

1. A to-be-sheared material transmission control method is characterized by being applied to die cutting equipment comprising a feeding device, a shearing device and a color code detection device arranged at the downstream of the shearing device, and comprising the following steps of:

the method comprises the steps that color code spacing distance on a material to be sheared and horizontal installation distance between a shearing device and a color code detection device are obtained in advance; wherein the color code spacing distance is the initial shearing length of the material to be sheared;

when each shearing cycle is completed, acquiring a first position where a target color code correspondingly sheared when the current shearing cycle is completed and a second position where the target color code is detected by the color code detection device, and calculating a position distance between the first position and the second position;

subtracting the position distance from the horizontal installation distance to obtain a color code deviation correction compensation distance, and subtracting the color code deviation correction compensation distance from the color code interval distance to obtain a new shearing length;

and controlling the feeding device to operate in a new shearing cycle according to the new shearing length until the die cutting equipment stops shearing.

2. The method of controlling the transfer of material to be sheared according to claim 1, wherein prior to subtracting the positional distance from the horizontal mounting distance, the method further comprises:

subtracting a preset delay operation distance from the position distance to obtain a compensated position distance, and subtracting the compensated position distance from the horizontal installation distance to obtain a color code deviation rectifying compensation distance; the preset delay running distance is the running distance of the material to be sheared, which is generated due to hardware detection delay.

3. A method of controlling the transfer of material to be sheared according to any one of claims 1 to 2 wherein controlling the feeder to operate in a new shear cycle in accordance with the new shear length comprises:

planning the running state of the feeding device in a new shearing cycle according to the new shearing length; wherein the operating state comprises an acceleration phase and a deceleration phase;

calculating a maximum speed ratio of the feeding device to the shearing device in the shearing period of the new round based on the running state; wherein the shearing device operates at a constant speed in each shearing period;

judging whether the maximum speed ratio is greater than a preset maximum speed ratio or not;

if not, controlling the feeding device to operate in a new shearing cycle according to the originally planned operating state;

if so, under the constraint that the maximum speed ratio does not exceed the preset maximum speed ratio, replanning the running state of the feeding device in the new shearing cycle according to the new shearing length, and controlling the feeding device to run in the new shearing cycle according to the newly-planned running state; the newly planned operation state comprises an acceleration stage, a constant speed stage and a deceleration stage.

4. The method for controlling the transfer of material to be sheared according to claim 3, wherein the step of planning the operation state of the feeding device in a new shearing cycle according to the new shearing length comprises the following steps:

obtaining a shear axis starting point position Mq of the shearing device_sAnd the end point position Mq_eThe starting position Sq of the feeding shaft of the feeding device in the new shearing period_sAnd the end position Sq_eThe starting point speed ratio 0, the end point speed ratio 0, the starting point acceleration ratio 0 and the end point acceleration ratio 0 of the feeding shaft and the shearing shaft in a new shearing period; wherein, the distance between the starting position and the end position of the feeding shaft is the new shearing length;

according to the shear axis andthe operational relationship between the feeding shaftsPlanning the running state of the feeding device in a new shearing cycle; wherein x is the position of the shear axis; pos is the position of the feeding shaft; vel is the speed ratio of the feeding shaft to the shearing shaft; acc is the acceleration ratio of the feeding shaft and the shearing shaft; jerk is the acceleration ratio of the feeding shaft and the shearing shaft; a is₀、a₁、a₂、a₃、a₄、a₅Is a polynomial coefficient, consisting of Mq_s、Mq_e、Sq_s、Sq_eAnd calculating the starting point speed ratio 0, the end point speed ratio 0, the starting point acceleration ratio 0 and the end point acceleration ratio 0 of the feeding shaft and the shearing shaft.

5. The method of claim 4, wherein calculating a maximum speed ratio of the feeding device to the shearing device during the new shearing cycle based on the operating condition comprises:

the position (Mq) of the shear axis_s+Mq_e) Substitution of/2 into vel ═ a₁+2a₂x+3a₃x²+4a₄x³+5a₅x⁴And calculating to obtain the maximum speed ratio of the feeding device to the shearing device in the shearing period of the new round.

6. The method for controlling the transport of materials to be sheared according to claim 4, wherein under the constraint that the maximum speed ratio does not exceed the preset maximum speed ratio, replanning the operating state of the feeding device in a new shearing cycle according to the new shearing length comprises:

calculating an end point coordinate (Mq) of the operating state in an acceleration phase under the constraint that the maximum speed ratio does not exceed a preset maximum speed ratio and the feed shaft does not reverse₀,Sq₀) And the coordinates of the starting point (Mq) in the deceleration phase₁,Sq₁)；

Based on the end point coordinates (Mq) of the acceleration phase₀,Sq₀) And the coordinates (Mq) of the start of said deceleration phase₁,Sq₁) A constant speed stage is additionally arranged between the acceleration stage and the deceleration stage to obtain the operation state of the replanned feeding device in a new shearing cycle; wherein the running speed of the uniform speed stage is the preset maximum speed ratio V_rmax。

7. Method for controlling the transport of a material to be sheared according to claim 6, characterised in that the coordinates of the end point of the operating condition (Mq) in the acceleration phase are calculated under the constraint that the maximum speed ratio does not exceed a preset maximum speed ratio and that the feeding axis does not reverse₀,Sq₀) The method comprises the following steps:

presetting the initial value of the terminal point coordinate of the acceleration stage as Mq₀＝Mq₁＝Mq_mid＝(Mq_s+Mq_e)/2、Sq₀＝Sq_mid＝(Sq_s+Sq_e)/2、Sq₁＝V_rmax(Mq₁-Mq₀)+Sq₀(ii) a Wherein Mq is_mid、Sq_midThe intermediate adjustment quantity of the terminal point coordinate;

according to the operational relationship between the shearing shaft and the feeding shaftCalculating a starting jerk ratio j of the acceleration phase_acc0And end point jerk j_acc1(ii) a Wherein, a₀、a₁、a₂、a₃、a₄、a₅Is a polynomial coefficient, from the starting point coordinates (Mq) of the acceleration phase_s,Sq_s) Endpoint coordinate (Mq)₀,Sq₀) Starting point speed ratio 0 and end point speed ratio V_rmaxCalculating a starting point acceleration ratio 0 and an end point acceleration ratio 0;

calculating a distance ratio K between the feeding device and the shearing device in the deceleration stage_n＝(Sq_e-Sq₁)/(Mq_e-Mq₁) And calculating the change rate K of the distance ratio as K_n+1-K_n(ii) a Wherein, K_nUpdated by this time (Mq)₁,Sq₁) Calculating to obtain; k_n+1Updated by the next time (Mq)₁,Sq₁) Calculating to obtain; the initial value of K is a preset value K₀；

Jerk j according to the start of the acceleration phase_acc0Terminal jerk j_acc1And a rate of change K, updating the coordinates of the end point of the acceleration phase (Mq)₀,Sq₀) Until j is satisfied_acc0>0、j_acc1<0、K>0; wherein, at the end point coordinate (Mq)₀,Sq₀) After update, j_acc0、j_acc1K will also be updated synchronously.

8. Method for controlling the transport of a material to be sheared according to claim 7, characterised in that the jerk ratio j is dependent on the start of the acceleration phase_acc0Terminal jerk j_acc1And a rate of change K, updating the coordinates of the end point of the acceleration phase (Mq)₀,Sq₀) Until j is satisfied_acc0>0、j_acc1<0、K>0, comprising:

judging the acceleration ratio j of the starting point_acc0Whether less than 0; if j_acc0<0, then at j_acc1<Recalculating Mq under 0 constraint₀＝Mq_mid＝Mq_mid/2；

Judging the terminal acceleration rate j_acc1Whether greater than 0; if j_acc1>0, then at j_acc0>Recalculating Sq under 0 constraint₀＝Sq_mid＝Sq_mid/2；

If j_acc0>0、j_acc1<If so, judging whether the change rate is greater than 0; if K is less than or equal to 0, then recalculating Mq₀＝Mq_mid＝Mq_midAnd/2, and returning to execute the judgment of the starting point jerk j_acc0Whether the value is less than 0; if K>0, then the end point coordinate (Mq) is completed₀,Sq₀) And (4) calculating.

9. Method for controlling the transport of a material to be sheared according to claim 7, characterised in that the coordinates of the start of the operating regime (Mq) in the deceleration phase are calculated under the constraint that the maximum speed ratio does not exceed a preset maximum speed ratio and that the feeding axis does not reverse₁,Sq₁) The method comprises the following steps:

presetting the initial value of the coordinates of the starting point of the deceleration stage as Mq₁＝Mq_mid＝Mq₀、Sq₁＝V_rmax(Mq₁-Mq₀)+Sq₀；

According to the operational relationship between the shearing shaft and the feeding shaftCalculating a starting jerk ratio j of the deceleration phase_acc2And end point jerk j_acc3(ii) a Wherein, c₀、c₁、c₂、c₃、c₄、c₅Is a polynomial coefficient, from the coordinates (Mq) of the start of the deceleration phase₁,Sq₁) Endpoint coordinate (Mq)_e,Sq_e) Velocity ratio of origin V_rmaxCalculating to obtain an end point speed ratio 0, a starting point acceleration ratio 0 and an end point acceleration ratio 0;

adding an acceleration ratio j according to the starting point of the deceleration stage_acc2And end point jerk j_acc3Updating the coordinates of the start of the deceleration phase (Mq)₁,Sq₁) Until j is satisfied_acc2<0、j_acc3>0; wherein, at the starting point coordinate (Mq)₁,Sq₁) After update, j_acc2、j_acc3The updates will also be synchronized.

10. The die cutting equipment is characterized by comprising a feeding device, a shearing device and a color code detection device arranged at the downstream of the shearing device, and further comprising:

control means for implementing the steps of a method for controlling the transport of material to be sheared according to any one of claims 1 to 9 when executing a computer program stored therein.

Technical Field

The invention relates to the field of die cutting processes, in particular to a method for controlling the transmission of a material to be cut and die cutting equipment.

Background

At present, a die cutting device comprises a feeding device for transmitting a material to be cut and a cutting device for cutting the material transmitted on the feeding device; the material to be sheared is marked with a plurality of color codes with the same distance, the position of each color code is the shearing position of the material to be sheared, and the distance between every two adjacent color codes is the shearing length of the material to be sheared.

When waiting to cut the material and being sheared, material feeding unit is in quiescent condition, and material feeding unit can be periodic opening and stopping promptly, then in a shearing cycle, material feeding unit's working distance equals the distance between the adjacent color mark, and when material feeding unit was in quiescent condition, the color mark just in time fell in the shearing mechanism's of fixed position below, shearing mechanism reciprocated the cutter this moment, cut the material of conveying on the material feeding unit. However, the feeding device may occasionally slip and lag during material conveying, which causes deviation between the color scale and the cutter, and thus the shearing device cannot accurately shear the material.

Therefore, how to provide a solution to the above technical problem is a problem that needs to be solved by those skilled in the art.

Disclosure of Invention

The invention aims to provide a to-be-sheared material transmission control method and die cutting equipment, which correct the running state of a feeding device according to the actual position of a color code so as to reduce the deviation between the color code and a cutter of a shearing device, thereby ensuring that the shearing device can accurately shear materials.

In order to solve the technical problem, the invention provides a to-be-sheared material transmission control method, which is applied to die cutting equipment comprising a feeding device, a shearing device and a color code detection device arranged at the downstream of the shearing device, and comprises the following steps:

the method comprises the steps that color code spacing distance on a material to be sheared and horizontal installation distance between a shearing device and a color code detection device are obtained in advance; wherein the color code spacing distance is the initial shearing length of the material to be sheared;

when each shearing cycle is completed, acquiring a first position where a target color code correspondingly sheared when the current shearing cycle is completed and a second position where the target color code is detected by the color code detection device, and calculating a position distance between the first position and the second position;

subtracting the position distance from the horizontal installation distance to obtain a color code deviation correction compensation distance, and subtracting the color code deviation correction compensation distance from the color code interval distance to obtain a new shearing length;

and controlling the feeding device to operate in a new shearing cycle according to the new shearing length until the die cutting equipment stops shearing.

Preferably, before subtracting the position distance from the horizontal installation distance, the material to be sheared conveying control method further comprises:

subtracting a preset delay operation distance from the position distance to obtain a compensated position distance, and subtracting the compensated position distance from the horizontal installation distance to obtain a color code deviation rectifying compensation distance; the preset delay running distance is the running distance of the material to be sheared, which is generated due to hardware detection delay.

Preferably, controlling the feeding device to operate in a new shearing cycle according to the new shearing length comprises:

planning the running state of the feeding device in a new shearing cycle according to the new shearing length; wherein the operating state comprises an acceleration phase and a deceleration phase;

calculating a maximum speed ratio of the feeding device to the shearing device in the shearing period of the new round based on the running state; wherein the shearing device operates at a constant speed in each shearing period;

judging whether the maximum speed ratio is greater than a preset maximum speed ratio or not;

if not, controlling the feeding device to operate in a new shearing cycle according to the originally planned operating state;

if so, under the constraint that the maximum speed ratio does not exceed the preset maximum speed ratio, replanning the running state of the feeding device in the new shearing cycle according to the new shearing length, and controlling the feeding device to run in the new shearing cycle according to the newly-planned running state; the newly planned operation state comprises an acceleration stage, a constant speed stage and a deceleration stage.

Preferably, planning the operation state of the feeding device in a new shearing cycle according to the new shearing length comprises:

obtaining a shear axis starting point position Mq of the shearing device_sAnd the end point position Mq_eThe starting position Sq of the feeding shaft of the feeding device in the new shearing period_sAnd the end position Sq_eThe starting point speed ratio 0, the end point speed ratio 0, the starting point acceleration ratio 0 and the end point acceleration ratio 0 of the feeding shaft and the shearing shaft in a new shearing period; wherein, the distance between the starting position and the end position of the feeding shaft is the new shearing length;

according to the operational relationship between the shearing shaft and the feeding shaftPlanning the running state of the feeding device in a new shearing cycle; wherein x is the position of the shear axis; pos is the position of the feeding shaft; vel is the speed ratio of the feeding shaft to the shearing shaft; acc is the acceleration ratio of the feeding shaft and the shearing shaft; jerk is the acceleration ratio of the feeding shaft and the shearing shaft; a is₀、a₁、a₂、a₃、a₄、a₅Is a polynomial coefficient, consisting of Mq_s、Mq_e、Sq_s、Sq_eAnd calculating the starting point speed ratio 0, the end point speed ratio 0, the starting point acceleration ratio 0 and the end point acceleration ratio 0 of the feeding shaft and the shearing shaft.

Preferably, calculating a maximum speed ratio of the feeding device to the shearing device during the shearing cycle of the new round based on the operating condition comprises:

the position (Mq) of the shear axis_s+Mq_e) Substitution of/2 into vel ═ a₁+2a₂x+3a₃x²+4a₄x³+5a₅x⁴And calculating to obtain the maximum speed ratio of the feeding device to the shearing device in the shearing period of the new round.

Preferably, under the constraint that the maximum speed ratio does not exceed the preset maximum speed ratio, replanning the operation state of the feeding device in a new shearing period according to the new shearing length comprises the following steps:

calculating an end point coordinate (Mq) of the operating state in an acceleration phase under the constraint that the maximum speed ratio does not exceed a preset maximum speed ratio and the feed shaft does not reverse₀,Sq₀) And the coordinates of the starting point (Mq) in the deceleration phase₁,Sq₁)；

Based on the end point coordinates (Mq) of the acceleration phase₀,Sq₀) And the coordinates (Mq) of the start of said deceleration phase₁,Sq₁) A constant speed stage is additionally arranged between the acceleration stage and the deceleration stage to obtain the operation state of the replanned feeding device in a new shearing cycle; wherein the running speed of the uniform speed stage is the preset maximum speed ratio V_rmax。

Preferably, the end point coordinate (Mq) of the operating state in the acceleration phase is calculated under the constraint that the maximum speed ratio does not exceed a preset maximum speed ratio and the feed shaft does not reverse₀,Sq₀) The method comprises the following steps:

presetting the initial value of the terminal point coordinate of the acceleration stage as Mq₀＝Mq₁＝Mq_mid＝(Mq_s+Mq_e)/2、Sq₀＝Sq_mid＝(Sq_s+Sq_e)/2、Sq₁＝V_rmax(Mq₁-Mq₀)+Sq₀(ii) a Wherein Mq is_mid、Sq_midThe intermediate adjustment quantity of the terminal point coordinate;

according to the operational relationship between the shearing shaft and the feeding shaftCalculating a starting jerk ratio j of the acceleration phase_acc0And end point jerk j_acc1(ii) a Wherein the content of the first and second substances,a₀、a₁、a₂、a₃、a₄、a₅is a polynomial coefficient, from the starting point coordinates (Mq) of the acceleration phase_s,Sq_s) Endpoint coordinate (Mq)₀,Sq₀) Starting point speed ratio 0 and end point speed ratio V_rmaxCalculating a starting point acceleration ratio 0 and an end point acceleration ratio 0;

calculating a distance ratio K between the feeding device and the shearing device in the deceleration stage_n＝(Sq_e-Sq₁)/(Mq_e-Mq₁) And calculating the change rate K of the distance ratio as K_n+1-K_n(ii) a Wherein, K_nUpdated by this time (Mq)₁,Sq₁) Calculating to obtain; k_n+1Updated by the next time (Mq)₁,Sq₁) Calculating to obtain; the initial value of K is a preset value K₀；

Jerk j according to the start of the acceleration phase_acc0Terminal jerk j_acc1And a rate of change K, updating the coordinates of the end point of the acceleration phase (Mq)₀,Sq₀) Until j is satisfied_acc0>0、j_acc1<0、K>0; wherein, at the end point coordinate (Mq)₀,Sq₀) After update, j_acc0、j_acc1K will also be updated synchronously.

Preferably, the jerk j is increased according to the start of the acceleration phase_acc0Terminal jerk j_acc1And a rate of change K, updating the coordinates of the end point of the acceleration phase (Mq)₀,Sq₀) Until j is satisfied_acc0>0、j_acc1<0、K>0, comprising:

judging the acceleration ratio j of the starting point_acc0Whether less than 0; if j_acc0<0, then at j_acc1<Recalculating Mq under 0 constraint₀＝Mq_mid＝Mq_mid/2；

Judging the terminal acceleration rate j_acc1Whether greater than 0; if j_acc1>0, then at j_acc0>Recalculating Sq under 0 constraint₀＝Sq_mid＝Sq_mid/2；

If j_acc0>0、j_acc1<If so, judging whether the change rate is greater than 0; if K is less than or equal to 0, then recalculating Mq₀＝Mq_mid＝Mq_midAnd/2, and returning to execute the judgment of the starting point jerk j_acc0Whether the value is less than 0; if K>0, then the end point coordinate (Mq) is completed₀,Sq₀) And (4) calculating.

Preferably, the coordinates of the start point of the operating state (Mq) at the deceleration stage are calculated under the constraint that the maximum speed ratio does not exceed a preset maximum speed ratio and the feed shaft does not reverse₁,Sq₁) The method comprises the following steps:

presetting the initial value of the coordinates of the starting point of the deceleration stage as Mq₁＝Mq_mid＝Mq₀、Sq₁＝V_rmax(Mq₁-Mq₀)+Sq₀；

According to the operational relationship between the shearing shaft and the feeding shaftCalculating a starting jerk ratio j of the deceleration phase_acc2And end point jerk j_acc3(ii) a Wherein, c₀、c₁、c₂、c₃、c₄、c₅Is a polynomial coefficient, from the coordinates (Mq) of the start of the deceleration phase₁,Sq₁) Endpoint coordinate (Mq)_e,Sq_e) Velocity ratio of origin V_rmaxCalculating to obtain an end point speed ratio 0, a starting point acceleration ratio 0 and an end point acceleration ratio 0;

adding an acceleration ratio j according to the starting point of the deceleration stage_acc2And end point jerk j_acc3Updating the coordinates of the start of the deceleration phase (Mq)₁,Sq₁) Until j is satisfied_acc2<0、j_acc3>0; wherein, at the starting point coordinate (Mq)₁,Sq₁) After update, j_acc2、j_acc3The updates will also be synchronized.

Preferably, the jerk j is increased according to the start of the deceleration phase_acc2And an end pointJerk ratio j_acc3Updating the coordinates of the start of the deceleration phase (Mq)₁,Sq₁) Until j is satisfied_acc2<0、j_acc3>0, comprising:

judging the acceleration ratio j of the starting point_acc2Whether greater than 0; if j_acc2>0, then at j_acc3>Recalculating Mq under 0 constraint₁＝Mq_mid＝(Mq_mid+Mq_up) 2; wherein Mq is_upWith initial value equal to Mq_e；

Judging the terminal jerk j_acc3Whether less than 0; if j_acc3<0, then Mq_up＝Mq_midAnd returning to the judgment of the acceleration ratio j at the starting point_acc2Whether the value is greater than 0;

if j_acc2<0、j_acc3>0, then the start point coordinate (Mq) is completed₁,Sq₁) And (4) calculating.

Preferably, the operation state of the feeding device which is re-planned in a new shearing cycle is as follows:

in order to solve the above technical problem, the present invention further provides a die cutting apparatus, which includes a feeding device, a shearing device, and a color scale detecting device installed at a downstream of the shearing device, and further includes:

the control device is used for realizing the steps of any one of the above-mentioned to-be-sheared material conveying control methods when executing a computer program stored in the control device.

The invention provides a method for controlling the transmission of a material to be sheared, which comprises the steps of acquiring a color code interval distance on the material to be sheared and a horizontal installation distance between a shearing device and a color code detection device in advance; wherein, the color code interval distance is the initial shearing length; when each shearing cycle is completed, acquiring a first position where a target color code correspondingly sheared when the current shearing cycle is completed and a second position where the target color code is detected by a color code detection device, and calculating a position distance between the first position and the second position; subtracting the position distance from the horizontal installation distance to obtain a color code deviation correction compensation distance, and subtracting the color code deviation correction compensation distance from the color code interval distance to obtain a new shearing length; and controlling the feeding device to operate in a new shearing cycle according to the new shearing length until the die cutting equipment stops shearing. It can be seen that this application corrects material feeding unit's running state according to the actual position of color code to reduce the deviation between color code and shearing mechanism's the cutter, thereby guarantee that shearing mechanism can accurately shear the material.

The invention also provides die cutting equipment which has the same beneficial effects as the transmission control method.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a flowchart of a method for controlling the transportation of a material to be sheared according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a method for controlling the delivery of a material to be sheared according to an embodiment of the present invention;

FIG. 3 is a graph of a whole-stage flying shear according to an embodiment of the present invention;

FIG. 4 is a graph of a segmented flying shear according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a die cutting apparatus according to an embodiment of the present invention.

Detailed Description

The core of the invention is to provide a material to be sheared transmission control method and die cutting equipment, which correct the running state of a feeding device according to the actual position of a color code so as to reduce the deviation between the color code and a cutter of a shearing device, thereby ensuring that the shearing device can accurately shear the material.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.

Referring to fig. 1 and fig. 2, fig. 1 is a flowchart of a method for controlling a material to be sheared according to an embodiment of the present invention; fig. 2 is a schematic diagram of a method for controlling the delivery of a material to be sheared according to an embodiment of the present invention.

The to-be-sheared material transmission control method is applied to die cutting equipment comprising a feeding device, a shearing device and a color code detection device arranged at the downstream of the shearing device, and comprises the following steps of:

step S1: the method comprises the steps of obtaining a color code spacing distance on a material to be sheared and a horizontal installation distance between a shearing device and a color code detection device in advance; wherein, the color mark interval distance is the initial shearing length of the material to be sheared.

Specifically, the die cutting equipment comprises a feeding device for transmitting a material to be cut, a cutting device for cutting the material transmitted on the feeding device, and a color code detection device installed at the downstream of the cutting device (the downstream refers to the position where the material to be cut on the feeding device passes through the cutting device and then the color code detection device, on one hand, the function of front material storage of the cutting device is met to ensure the die cutting effect of the material, and on the other hand, the downstream is used for detecting the color code on the material transmitted on the feeding device to correct the subsequent color code). Wherein, a plurality of color codes with the same distance are marked on the material to be sheared, the position of the color code is the shearing position of the material to be sheared, and the distance L between the adjacent color codes₀Is the theoretical shearing length of the material to be sheared.

Based on this, this application acquires color code interval distance L on waiting to cut the material in advance₀(it will be appreciated that the color scale separation distance L₀For the initial shearing length of the material to be sheared, the running distance of the feeding device in the shearing period is equal to the color code spacing distance L before the initial shearing length of the material to be sheared is not updated₀) And obtaining a horizontal installation distance L between the shearing device and the color code detecting device₃(namely the distance between the position of the corresponding feeding shaft when the shearing device finishes shearing and the position of the corresponding feeding shaft of the color code detection device) so as to provide a basis for correcting the subsequent color codes.

Step S2: when each cutting cycle is completed, a first position where a target color code corresponding to cutting is located and a second position where the target color code is located when the target color code is detected by the color code detection device are obtained when the current cutting cycle is completed, and the position distance between the first position and the second position is calculated.

Specifically, when each cropping cycle is completed, the method acquires a first position (i.e., a position that should be cropped originally in the current cropping cycle) where a target color patch that is correspondingly cropped is located when the current cropping cycle is completed, and acquires a second position where the target color patch is located when the target color patch is detected by the color patch detecting device. Once the target color patch is detected by the patch detecting device, the present application starts to calculate the positional distance L between the first position and the second position₁So as to provide a basis for the correction of the subsequent color code.

Step S3: and subtracting the position distance from the horizontal installation distance to obtain a color code deviation-rectifying compensation distance, and subtracting the color code deviation-rectifying compensation distance from the color code interval distance to obtain a new shearing length.

Specifically, the present application will install distance L horizontally₃Minus the location distance L₁Calculating to obtain the color code deviation correction compensation distance delta L, namely delta L is L₃-L₁Then spacing the color patches by a distance L₀Subtracting the color code deviation correction compensation distance delta L to obtain a new shearing length L, namely L is equal to L₀-ΔL。

Step S4: and controlling the feeding device to operate in a new shearing cycle according to the new shearing length until the die cutting equipment stops shearing.

Specifically, the feeding device is controlled to run in a new round of shearing period according to the new shearing length L, namely the feeding device runs for a distance equal to the new shearing length L in the new round of shearing period, and the steps S2-S4 are repeated until the die cutting equipment stops shearing.

It can be seen that this application corrects material feeding unit's running state according to the actual position of color code to reduce the deviation between color code and shearing mechanism's the cutter, thereby guarantee that shearing mechanism can accurately shear the material.

On the basis of the above-described embodiment:

as an alternative embodiment, before subtracting the position distance from the horizontal installation distance, the material to be sheared conveying control method further comprises:

subtracting the preset delay operation distance from the position distance to obtain a compensated position distance, and subtracting the compensated position distance from the horizontal installation distance to obtain a color code deviation rectifying compensation distance; the preset delay running distance is the running distance of the material to be sheared, which is generated due to hardware detection delay.

Furthermore, considering that the material to be sheared can generate a certain running distance due to hardware detection delay (detection delay of the color code detection device and circuit delay of the control device for controlling the feeding device to transmit the material), a delay running distance L is preset in the method₂Then, the process of calculating the color code deviation correction compensation distance Δ L is as follows: will be located a distance L₁Minus a predetermined delay running distance L₂Obtaining a compensated position distance (L)₁-L₂) Then horizontally installing the distance L₃Subtracting the compensated position distance (L)₁-L₂) Obtaining the color code deviation correction compensation distance delta L, namely delta L is L₃-(L₁-L₂) So as to more accurately reduce the deviation between the color scale and the cutter of the shearing device.

As an alternative embodiment, controlling the feeding device to operate in a new round of the cutting cycle according to the new cutting length comprises:

planning the running state of the feeding device in a new shearing cycle according to the new shearing length; wherein the running state comprises an acceleration stage and a deceleration stage;

based on the running state, calculating the maximum speed ratio of the feeding device to the shearing device in a shearing period of a new round; wherein the shearing device operates at a constant speed in each shearing period;

judging whether the maximum speed ratio is greater than a preset maximum speed ratio or not;

if not, controlling the feeding device to operate in a new shearing cycle according to the originally planned operating state;

if so, under the constraint that the maximum speed ratio does not exceed the preset maximum speed ratio, replanning the running state of the feeding device in the new shearing cycle according to the new shearing length, and controlling the feeding device to run in the new shearing cycle according to the newly-planned running state; the newly planned operation state comprises an acceleration stage, a constant speed stage and a deceleration stage.

Specifically, the process that this application was controlled material feeding unit and is gone on in the shearing cycle of new round includes according to new shearing length: planning the running state (including an acceleration stage and a deceleration stage) of the feeding device in a new round of shearing period according to the new shearing length, calculating the maximum speed ratio of the feeding device and the shearing device in the new round of shearing period (the shearing device runs at a constant speed according to a preset shearing speed in each shearing period) based on the running state of the feeding device in the new round of shearing period, then judging whether the calculated maximum speed ratio is greater than the preset maximum speed ratio, if not, indicating that the originally planned running state does not exceed the maximum speed constraint condition, and controlling the feeding device to run in the new round of shearing period according to the originally planned running state; if the maximum speed ratio is larger than the preset maximum speed ratio, the originally planned operation state exceeds the maximum speed constraint condition, under the constraint that the maximum speed ratio does not exceed the preset maximum speed ratio, the operation state (including an acceleration stage, a constant speed stage and a deceleration stage) of the feeding device in the new shearing cycle is planned again according to the new shearing length, and then the feeding device is controlled to operate in the new shearing cycle according to the newly planned operation state so as to meet the maximum speed constraint condition.

As an alternative embodiment, the operation state of the feeding device in a new round of the shearing cycle is planned according to the new shearing length, which comprises the following steps:

obtaining a shear axis starting point position Mq of a shearing device_sAnd the end point position Mq_eThe starting position Sq of the feeding shaft of the feeding device in the new shearing period_sAnd the end position Sq_eThe starting point speed ratio 0, the end point speed ratio 0, the starting point acceleration ratio 0 and the end point acceleration ratio 0 of the feeding shaft and the shearing shaft in a new shearing period; wherein, the distance between the starting position and the end position of the feeding shaft is the new shearing length;

according to the operational relationship between the shearing shaft and the feeding shaftPlanning the running state of the feeding device in a new shearing cycle; wherein x is the position of the shear axis; pos is the position of the feeding shaft; vel is the speed ratio of the feeding shaft to the shearing shaft; acc is the acceleration ratio of the feeding shaft and the shearing shaft; jerk is the acceleration ratio of the feeding shaft and the shearing shaft; a is₀、a₁、a₂、a₃、a₄、a₅Is a polynomial coefficient, consisting of Mq_s、Mq_e、Sq_s、Sq_eAnd the starting point speed ratio 0, the end point speed ratio 0, the starting point acceleration ratio 0 and the end point acceleration ratio 0 of the feeding shaft and the shearing shaft are calculated.

Specifically, the original planning process of the feeding device in the running state of the new shearing period according to the new shearing length planning is as follows: obtaining a shear axis starting point position Mq of a shearing device_sAnd the end point position Mq_e(the running tracks of the shearing shafts in all shearing periods are the same, so the starting position and the end position of the shearing shafts are fixed values), and the starting position Sq of the feeding shaft of the feeding device in a new shearing period_sAnd the end position Sq_e(the distance between the starting position of the feeding shaft and the end position of the feeding shaft is the new shearing length determined by the new shearing length corresponding to the shearing period of the new round), and the starting speed ratio 0, the end speed ratio 0, the starting acceleration ratio 0 and the end acceleration ratio 0 (when the material to be sheared is sheared) of the feeding shaft and the shearing shaft in the shearing period of the new roundWhen cutting, the feeding device is in a static state), and then the cutting shaft and the feeding shaft are operated according to the operation relationPlanning the running state of the feeding device in a new shearing cycle; wherein x is the position of the shear axis; pos is the position of the feeding shaft; vel is the speed ratio of the feeding shaft to the shearing shaft; acc is the acceleration ratio of the feeding shaft and the shearing shaft; jerk is the acceleration ratio of the feeding shaft and the shearing shaft, so the starting point position Mq of the shearing shaft_sAnd the end point position Mq_eThe starting position Sq of the feeding shaft_sAnd the end position Sq_eSubstituting the starting point speed ratio 0, the end point speed ratio 0, the starting point acceleration ratio 0 and the end point acceleration ratio 0 of the feeding shaft and the shearing shaft intoThe polynomial coefficient a can be calculated₀、a₁、a₂、a₃、a₄、a₅And thus obtaining the operating state of the feeding device in a new round of shearing period, as shown in fig. 3, the operating state of the feeding device includes an acceleration stage and a deceleration stage, the feeding device adopts a quintic polynomial plan in the acceleration stage and the deceleration stage, and the shearing device and the feeding device perform master-slave actions according to the operating relationship.

As an alternative embodiment, calculating the maximum speed ratio of the feeding device to the shearing device during a new shearing cycle based on the operating conditions comprises:

will shear the position of the axis (Mq)_s+Mq_e) Substitution of/2 into vel ═ a₁+2a₂x+3a₃x²+4a₄x³+5a₅x⁴And calculating to obtain the maximum speed ratio of the feeding device to the shearing device in the shearing period of the new round.

Specifically, based on the full-length fly-shear curve shown in FIG. 3, the maximum speed ratio of the feeder to the shear during the new round of the shear cycle is the shear position (Mq)_s+Mq_e) The speed ratio corresponding to/2 is the position (Mq) of the shear axis_s+Mq_e) Substitution of/2 into vel ═ a₁+2a₂x+3a₃x²+4a₄x³+5a₅x⁴The maximum speed ratio of the feeding device to the shearing device in the shearing period of the new round can be calculated to enter overspeed judgment.

As an alternative embodiment, under the constraint that the maximum speed ratio does not exceed the preset maximum speed ratio, the operation state of the feeding device in a new shearing period of the new shearing cycle is re-planned according to the new shearing length, and the method comprises the following steps:

under the constraint that the maximum speed ratio does not exceed the preset maximum speed ratio and the feeding shaft does not rotate reversely, calculating the terminal coordinate (Mq) of the running state in the acceleration stage₀,Sq₀) And the coordinates of the starting point (Mq) in the deceleration phase₁,Sq₁)；

Terminal coordinate (Mq) based on acceleration phase₀,Sq₀) And the starting point coordinate (Mq) of the deceleration stage₁,Sq₁) Additionally arranging a constant speed stage between the acceleration stage and the deceleration stage to obtain the running state of the replanned feeding device in a new shearing cycle; wherein, the running speed in the uniform speed stage is a preset maximum speed ratio V_rmax。

Specifically, when the maximum speed ratio of the feeding device to the shearing device obtained through calculation is larger than the preset maximum speed ratio, the running state (including an acceleration stage, a constant speed stage and a deceleration stage) of the feeding device in a new shearing cycle is re-planned according to the new shearing length: under the constraint that the maximum speed ratio does not exceed the preset maximum speed ratio and the feeding shaft does not rotate reversely, calculating the terminal coordinate (Mq) of the running state in the acceleration stage₀,Sq₀) And the coordinates of the starting point (Mq) in the deceleration phase₁,Sq₁) And based on the coordinates of the end of the acceleration phase (Mq)₀,Sq₀) And the starting point coordinate (Mq) of the deceleration stage₁,Sq₁) A constant speed stage is additionally arranged between the acceleration stage and the deceleration stage (the running speed of the constant speed stage is a preset maximum speed ratio V)_rmax) Obtaining the operating state of the replanned feeding device in a new shearing cycle, and then controlling the feeding device according to the newly planned operating stateThe feeding device is operated in a new shearing cycle to meet the maximum speed constraint condition.

As an alternative embodiment, the end point coordinate (Mq) of the operating state in the acceleration phase is calculated under the constraint that the maximum speed ratio does not exceed the preset maximum speed ratio and the feed shaft does not reverse₀,Sq₀) The method comprises the following steps:

presetting an initial value Mq of an end point coordinate of an acceleration stage₀＝Mq₁＝Mq_mid＝(Mq_s+Mq_e)/2、Sq₀＝Sq_mid＝(Sq_s+Sq_e)/2、Sq₁＝V_rmax(Mq₁-Mq₀)+Sq₀(ii) a Wherein Mq is_mid、Sq_midThe intermediate adjustment quantity of the terminal point coordinate;

according to the operational relationship between the shearing shaft and the feeding shaftCalculating the acceleration ratio j at the start of the acceleration phase_acc0And end point jerk j_acc1(ii) a Wherein, a₀、a₁、a₂、a₃、a₄、a₅Is a polynomial coefficient, from the starting point coordinate (Mq) of the acceleration stage_s,Sq_s) Endpoint coordinate (Mq)₀,Sq₀) Starting point speed ratio 0 and end point speed ratio V_rmaxCalculating a starting point acceleration ratio 0 and an end point acceleration ratio 0;

calculating the distance ratio K between the feeding device and the shearing device in the deceleration stage_n＝(Sq_e-Sq₁)/(Mq_e-Mq₁) And calculating the change rate K of the distance ratio as K_n+1-K_n(ii) a Wherein, K_nUpdated by this time (Mq)₁,Sq₁) Calculating to obtain; k_n+1Updated by the next time (Mq)₁,Sq₁) Calculating to obtain; the initial value of K is a preset value K₀；

Jerk j according to the start of the acceleration phase_acc0Terminal jerk j_acc1And a rate of change K, updating the terminal coordinates (Mq) of the acceleration phase₀,Sq₀) Until j is satisfied_acc0>0、j_acc1<0、K>0; wherein, at the end point coordinate (Mq)₀,Sq₀) After update, j_acc0、j_acc1K will also be updated synchronously.

In particular, the end coordinate (Mq) of the acceleration phase₀,Sq₀) The calculation process of (2) is as follows: 1) presetting an initial value of an end point coordinate of an acceleration stage as follows: mq₀＝Mq₁＝Mq_mid＝(Mq_s+Mq_e)/2、Sq₀＝Sq_mid＝(Sq_s+Sq_e)/2、Sq₁＝V_rmax(Mq₁-Mq₀)+Sq₀(ii) a 2) Then according to the operation relationship between the shearing shaft and the feeding shaftCalculating the acceleration ratio j at the start of the acceleration phase_acc0And end point jerk j_acc1(ii) a Wherein the start point coordinate (Mq) of the acceleration phase is determined_s,Sq_s) Endpoint coordinate (Mq)₀,Sq₀) Starting point speed ratio 0 and end point speed ratio V_rmaxSubstitution of the starting point acceleration ratio 0 and the end point acceleration ratio 0The polynomial coefficient a can be calculated₀、a₁、a₂、a₃、a₄、a₅So as to accelerate the start coordinates Mq of the shear axis of the phase_sSubstituting jerk 6a₃+24a₄x+60a₅x²Calculating to obtain the acceleration ratio j of the starting point of the acceleration stage_acc0(ii) a The terminal point coordinate Mq of the shear axis of the acceleration stage₀Substituting jerk 6a₃+24a₄x+60a₅x²Calculating to obtain the final acceleration ratio j of the acceleration stage_acc1(ii) a 3) Calculating the distance ratio K between the feeding device and the shearing device in the deceleration stage_n＝(Sq_e-Sq₁)/(Mq_e-Mq₁) And calculating the change rate K of the distance ratio as K_n+1-K_n(ii) a Wherein, based on Mq₀＝Mq₁、Sq₁＝Sq₀When the terminal coordinate (Mq) of the acceleration phase₀,Sq₀) At the time of update, the coordinates of the start point of the deceleration stage (Mq)₁,Sq₁) Is also updated therewith, K_nUpdated by this time (Mq)₁,Sq₁) Calculating to obtain; k_n+1Updated by the next time (Mq)₁,Sq₁) Calculating to obtain; the initial value of K is a preset value K₀(ii) a 4) Jerk j according to the start of the acceleration phase_acc0Terminal jerk j_acc1And a rate of change K, updating the terminal coordinates (Mq) of the acceleration phase₀,Sq₀) Until j is satisfied_acc0>0、j_acc1<0、K>0; wherein the coordinates (Mq) of the end point of the acceleration phase₀,Sq₀) After update, j_acc0、j_acc1K will also be updated synchronously.

As an alternative embodiment, jerk j is based on the start of the acceleration phase_acc0Terminal jerk j_acc1And a rate of change K, updating the terminal coordinates (Mq) of the acceleration phase₀,Sq₀) Until j is satisfied_acc0>0、j_acc1<0、K>0, comprising:

judging the acceleration ratio j of the starting point_acc0Whether less than 0; if j_acc0<0, then at j_acc1<Recalculating Mq under 0 constraint₀＝Mq_mid＝Mq_mid/2；

Judging the terminal jerk j_acc1Whether greater than 0; if j_acc1>0, then at j_acc0>Recalculating Sq under 0 constraint₀＝Sq_mid＝Sq_mid/2；

If j_acc0>0、j_acc1<0, judging whether the change rate is more than 0; if K is less than or equal to 0, then recalculating Mq₀＝Mq_mid＝Mq_midAnd/2, and returns to the execution of the judgment of the starting point jerk j_acc0Whether the value is less than 0; if K>0, then the end point coordinate (Mq) is completed₀,Sq₀) And (4) calculating.

In particular, according to j_acc0、j_acc1K calculating the end coordinate (Mq) of the acceleration phase₀,Sq₀) The specific calculation method is as follows:

1) if j_acc0<0, there is a speed curve reversal in the acceleration phase, at j_acc1<Recalculating Mq under 0 constraint_midThe calculation formula is Mq₀＝Mq_mid＝Mq_mid/2；

2) If j_acc1>0, there is an overspeed condition of the speed curve during the acceleration phase, at j_acc0>Recalculating Sq under 0 constraint_midThe calculation formula is Sq₀＝Sq_mid＝Sq_mid/2；

3) If j_acc0>0、j_acc1<0. K is less than or equal to 0, the overspeed condition of the speed curve inevitably exists in the deceleration stage, and Mq is recalculated_midThe calculation formula is Mq₀＝Mq_mid＝Mq_midAnd/2, and returning to the step 1);

4) if j_acc0>0、j_acc1<0、K>0, then the acceleration phase end point coordinate (Mq) is completed₀,Sq₀) And (4) calculating.

As an alternative embodiment, the coordinates of the start of the deceleration phase of the operating state (Mq) are calculated under the constraint that the maximum speed ratio does not exceed the preset maximum speed ratio and that the feed shaft does not reverse₁,Sq₁) The method comprises the following steps:

presetting the initial value of the coordinates of the starting point of the deceleration stage as Mq₁＝Mq_mid＝Mq₀、Sq₁＝V_rmax(Mq₁-Mq₀)+Sq₀；

According to the operational relationship between the shearing shaft and the feeding shaftCalculating the acceleration ratio j at the beginning of the deceleration phase_acc2And end point jerk j_acc3(ii) a Wherein, c₀、c₁、c₂、c₃、c₄、c₅Is a polynomial coefficient formed by the coordinates (Mq) of the start point of the deceleration stage₁,Sq₁) Endpoint coordinate (Mq)_e,Sq_e) Velocity ratio of origin V_rmaxCalculating to obtain an end point speed ratio 0, a starting point acceleration ratio 0 and an end point acceleration ratio 0;

jerk j according to the start of deceleration phase_acc2And end point jerk j_acc3Updating the coordinates of the start of the deceleration phase (Mq)₁,Sq₁) Until j is satisfied_acc2<0、j_acc3>0; wherein, at the starting point coordinate (Mq)₁,Sq₁) After update, j_acc2、j_acc3The updates will also be synchronized.

In particular, the coordinates of the start of the deceleration phase (Mq)₁,Sq₁) The calculation process of (2) is as follows: 1) the initial value of the coordinates of the starting point of the deceleration stage is preset as follows: mq₁＝Mq_mid＝Mq₀、Sq₁＝V_rmax(Mq₁-Mq₀)+Sq₀(ii) a Herein (Mq)₀,Sq₀) Is the final calculated acceleration phase end point coordinate; 2) according to the operational relationship between the shearing shaft and the feeding shaftCalculating the acceleration ratio j at the beginning of the deceleration phase_acc2And end point jerk j_acc3(ii) a Wherein the coordinate (Mq) of the start point of the deceleration stage is determined₁,Sq₁) Endpoint coordinate (Mq)_e,Sq_e) Velocity ratio of origin V_rmaxSubstitution of the end point velocity ratio 0, the start point acceleration ratio 0, and the end point acceleration ratio 0The polynomial coefficient c can be calculated₀、c₁、c₂、c₃、c₄、c₅So as to coordinate the starting point Mq of the shearing axis in the deceleration stage₁Substituting jerk 6c₃+24c₄x+60c₅x²Calculating to obtain the acceleration ratio j of the starting point of the deceleration stage_acc2(ii) a Coordinate Mq of the end point of the shearing axis of the deceleration stage_eSubstituting jerk 6c₃+24c₄x+60c₅x²Calculating the end of the deceleration phasePoint jerk j_acc3(ii) a 3) Jerk j according to the start of deceleration phase_acc2And end point jerk j_acc3Updating the coordinates of the start of the deceleration phase (Mq)₁,Sq₁) Until j is satisfied_acc2<0、j_acc3>0; wherein the coordinates of the start point (Mq) in the deceleration phase₁,Sq₁) After update, j_acc2、j_acc3The updates will also be synchronized.

As an alternative embodiment, jerk j is based on the start of the deceleration phase_acc2And end point jerk j_acc3Updating the coordinates of the start of the deceleration phase (Mq)₁,Sq₁) Until j is satisfied_acc2<0、j_acc3>0, comprising:

judging the acceleration ratio j of the starting point_acc2Whether greater than 0; if j_acc2>0, then at j_acc3>Recalculating Mq under 0 constraint₁＝Mq_mid＝(Mq_mid+Mq_up) 2; wherein Mq is_upWith initial value equal to Mq_e；

Judging the terminal jerk j_acc3Whether less than 0; if j_acc3<0, then Mq_up＝Mq_midAnd returning to the judgment of the acceleration ratio j at the starting point_acc2Whether the value is greater than 0;

if j_acc2<0、j_acc3>0, then the start point coordinate (Mq) is completed₁,Sq₁) And (4) calculating.

In particular, according to j_acc2、j_acc3Calculating the coordinates of the start of the deceleration phase (Mq)₁,Sq₁) The specific calculation method is as follows:

1) if j_acc2>0, there is an overspeed condition of the speed curve during the acceleration phase, at j_acc3>Recalculating Mq under 0 constraint_midThe calculation formula is Mq₁＝Mq_mid＝(Mq_mid+Mq_up) 2; wherein Mq is_upWith initial value equal to Mq_e；

2) If j_acc3<0, then Mq_up＝Mq_mid(ii) a And go back to stepStep 1);

3) if j_acc2<0、j_acc3>0, finishing the coordinate (Mq) of the starting point of the deceleration stage₁,Sq₁) And (4) calculating.

As an alternative embodiment, the operation state of the newly planned feeding device in the new shearing cycle is as follows:

specifically, the final calculated acceleration phase end point coordinates (Mq) are used₀,Sq₀) Starting point coordinate (Mq) of deceleration stage₁,Sq₁) The planned segmental flying shear curve is as follows:

TABLE 1

Acceleration phase end point coordinates (Mq) from final calculation₀,Sq₀) Starting point coordinate (Mq) of deceleration stage₁,Sq₁) A segmented flying shear curve (as shown in fig. 4) can be determined:

in conclusion, the sectional type flying shear curve planning method is simple in calculation, and can rapidly solve the coordinates of the terminal point of the acceleration stage and the coordinates of the starting point of the deceleration stage under the constraint conditions that preset parameters are met and speed curves in the acceleration stage and the deceleration stage are not overshot and not reversed, and the shearing device and the feeding device can be meshed according to the position curve relationship.

Referring to fig. 5, fig. 5 is a schematic structural diagram of a die cutting apparatus according to an embodiment of the present invention.

The die cutting equipment comprises a feeding device 11, a shearing device 12 and a color code detection device 13 arranged at the downstream of the shearing device 12, and further comprises:

the control device 14 is used for realizing the steps of any one of the above-mentioned to-be-sheared material conveying control methods when executing a computer program stored in the control device.

Specifically, the control device 14 includes a cut-to-length calculation module 141 for implementing color scale correction and a position interpolation module 142 for implementing a sectional type flying shear curve planning method, and may be implemented by an automatic control device with computing capability, such as a PLC (Programmable Logic Controller).

For other descriptions of the die-cutting equipment provided by the present application, please refer to the above embodiment of the transmission control method, which is not repeated herein.

It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.