CN102350541B - Three-shaft following online cutting numerical control milling machine and three-shaft following control method thereof - Google Patents
Three-shaft following online cutting numerical control milling machine and three-shaft following control method thereof Download PDFInfo
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- CN102350541B CN102350541B CN 201110214287 CN201110214287A CN102350541B CN 102350541 B CN102350541 B CN 102350541B CN 201110214287 CN201110214287 CN 201110214287 CN 201110214287 A CN201110214287 A CN 201110214287A CN 102350541 B CN102350541 B CN 102350541B
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- 238000003801 milling Methods 0.000 title claims abstract description 37
- 238000005520 cutting process Methods 0.000 title claims abstract description 33
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 9
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Abstract
The invention discloses a three-shaft following online cutting numerical control milling machine and a three-shaft following control method thereof. The milling machine has a three-shaft structure consisting of a trolley driving shaft, a feeding propulsion shaft and a saw blade rotating shaft; the trolley driving shaft drives a trolley to move on a conveyor belt; the feeding propulsion shaft is arranged on the trolley; and the feeding propulsion shaft drives the saw blade rotating shaft to move. When the accumulated length of a length measuring coder is close to the set pipe length, a movement control unit emits a signal, and the trolley driving shaft is quickly started; and when the pipe length reaches the set pipe length, the speed of the trolley is kept synchronous with the speed of a welded pipe, the feeding propulsion shaft is quickly started, and welded pipe cutting is performed according to the curve calculated by the control unit. The milling machine overcomes the defects of the conventional online cutting numerical control milling machine, and meets the production requirement of precision welded pipes.
Description
Technical Field
The invention is applied to a welded pipe fixed-length online cutting numerical control milling machine in the metallurgical industry, belongs to the technical field of servo control, and particularly relates to a three-axis follow-up online cutting numerical control milling machine and a three-axis follow-up control method thereof.
Background
The numerical control machine tool is one of important marks for measuring the manufacturing level of the country, and plays a significant role in the development process from a large manufacturing country to a strong manufacturing country in China. With the development of production technology, users have higher and higher requirements on the performance and precision of products and higher requirements on the production efficiency, which requires that numerically-controlled machine tools develop towards high speed and high precision. The existing numerical control milling machine for cutting off welded pipes on line only has two shafts, a movable trolley driving shaft and a saw blade rotating shaft, a feeding propulsion shaft is not arranged, the propulsion is directly driven by a cylinder, the movable trolley driving shaft is a simple frequency converter and synchronization plate mode, the saw blade rotating shaft is generally in a straight mode, and logic and program control are realized by a Programmable Logic Controller (PLC), so that the existing numerical control milling machine for cutting off welded pipes on line has the following defects:
1. the production efficiency is low and the production noise is high;
2. the precision is not high, and the online fixed length error is large;
3. the cut of the welded pipe is provided with burrs and is suitable for deformation.
Disclosure of Invention
The invention provides a three-axis follow-up on-line cutting numerical control milling machine and a three-axis follow-up control method thereof, which adopt a three-axis follow-up control scheme, solve the defects of the existing on-line cutting numerical control milling machine and meet the production requirements of precise welded pipes.
In order to achieve the above object, the present invention provides a three-axis follow-up on-line cutting numerically controlled milling machine having a three-axis structure including a trolley driving shaft, a feed advancing shaft, and a saw blade rotating shaft;
the trolley driving shaft drives the trolley to move on the conveyor belt, the feeding propelling shaft is arranged on the trolley, and the feeding propelling shaft drives the saw blade rotating shaft to move.
A three-axis follow-up control method for a three-axis follow-up online cutting numerical control milling machine is realized based on a three-axis follow-up control device, and comprises the following steps:
step 1, starting a three-axis follow-up control device, carrying out self-checking, if the self-checking is passed, carrying out step 2, and if the self-checking is not passed, carrying out step 7;
step 3, the milling machine enters an automatic state, whether a host production line is started or not is judged, and if yes, the step 4 is carried out;
step 4, starting a length measuring encoder, measuring the length and the linear speed of the welded pipe, sending the length and the linear speed to a motion control unit, if the length measuring encoder works normally, the motion control unit receives data of the length measuring encoder, performing step 5, and if not, performing step 8;
step 5, when the accumulated length of the length measuring encoder reaches the set pipe length quickly, the motion control unit sends a signal, the trolley driving shaft is quickly started to drive the trolley to move, and when the moving speed of the trolley and the moving speed of the welded pipe are kept synchronous, the accumulated pipe length of the length measuring encoder is just the set pipe length;
judging whether the operation is finished, if so, performing step 6, and if not, performing step 9;
judging whether the operation is finished, if so, performing step 11, and if not, performing step 10;
step 7, carrying out fault detection, removing faults and carrying out step 2;
step 8, stopping the production line, checking reasons, eliminating faults and performing step 3;
step 9, judging whether a fault exists, if so, performing step 8, and if not, performing step 5;
step 10, judging whether a fault exists, if so, performing step 8, and if not, performing step 6;
and 11, separating and synchronizing the trolley driving shaft, rapidly stopping and reversing, returning to the original position of the trolley at a high speed, and waiting for the arrival of the next cutting period.
In the step 2, the set system parameters comprise the length, the material, the outer diameter, the wall thickness, the saw blade type, the saw blade diameter, the saw blade thickness, the saw blade tooth number and the maximum tooth load of the welded pipe.
In the step 2, the step of the method is carried out,
the linear velocity of the rotating shaft of the saw blade is calculated by the formula:
；
wherein V is the linear velocity,
=3.14, D is the saw blade diameter,
the rotating speed of the saw blade rotating shaft motor is adopted.
In the step 3, the step of processing the image,
the calculation formula of the advancing speed of the feeding advancing shaft is as follows:
；
wherein,
in order to achieve a speed of propulsion,is the speed of the saw blade motor, Z is the number of teeth of the saw blade, C is the feed amount of each tooth,
is the position coefficient of the feed propulsion shaft.
The position coefficient is different according to the position of the propulsion shaftIs not uniform, the position coefficient
The value range of (A) is 0.0-1.
The invention has the advantages of stable operation, high reliability, fast response, high precision, no burr and deformation of the notch, low noise and convenient maintenance.
Drawings
FIGS. 1 and 2 are schematic views of a three-axis structure of a three-axis follow-up on-line cutting numerically controlled milling machine provided by the present invention;
FIG. 3 is a schematic diagram of a circuit structure of a three-axis servo control device;
fig. 4 is a flowchart of a three-axis follow-up control method provided by the present invention.
Detailed Description
The preferred embodiment of the present invention will be described in detail below with reference to fig. 1 to 4.
Fig. 1 is a front view of a three-axis structure of a three-axis follow-up on-line cutting numerically controlled milling machine, and fig. 2 is a side view of a three-axis structure of a three-axis follow-up on-line cutting numerically controlled milling machine, as shown in fig. 1 and 2, having a three-axis structure including a carriage drive shaft 2, a feed advancing shaft 3, and a saw blade rotation shaft 1. The trolley driving shaft 2 drives the trolley to move on the conveyor belt, the feeding propulsion shaft 3 is arranged on the trolley, and the feeding propulsion shaft 3 drives the saw blade rotating shaft 1 to move.
In fig. 1 and 2, the origin position 4 of the carriage and the origin position 5 of the feed propulsion shaft are identified.
The feeding propulsion shaft 3 is added, when the milling machine cuts the welded pipe 6 on line, the speed of the saw blade cutting into the welded pipe can be adjusted at will, and the defect caused by the fact that the cylinder directly drives the saw blade to cut without the propulsion shaft in the prior art is avoided.
The invention provides a triaxial follow-up control method for a triaxial follow-up online cutting numerical control milling machine, which is realized based on a triaxial follow-up control device, as shown in fig. 3, the triaxial follow-up control device comprises a motion control unit 101, a rectification feedback unit 102 in circuit connection with a motion control power supply 101, a plurality of servo drive units 103 in circuit connection with the rectification feedback unit 102, a length measurement encoder 104 in circuit connection with the servo drive units 103, and an input/output module 105 and a remote I/O module 106 in circuit connection with the motion control unit 101, wherein the servo drive units 103 are respectively in circuit connection with a trolley drive shaft 2, a feed propulsion shaft 3 and a saw blade rotating shaft 1.
The motion control unit 101 adopts Siemens SINAMIS-SIMOTION D425, the motion control unit 101 integrates logic control, process control and motion control, has common logic and operation control functions, can realize the motion control functions of positioning, angle synchronization, electronic gears, electronic cams and the like, can effectively compensate mechanical clearance, achieves the best control precision, controls and coordinates all driving modules in the whole driving system, and completes the control of a speed ring, a current ring and even a position ring of each shaft. Real-time synchronous communication is realized between the motion control unit 101 and the rectification feedback unit 102 and between the motion control unit and the servo driving unit 103 through a communication interface Drive-CLiQ of Siemens.
The rectification feedback unit 102 rectifies the three-phase alternating current into direct current to be supplied to each servo driving unit 103, and the rectification feedback unit 102 can also directly feed braking energy back to the power grid.
The servo driving unit 103 inverts direct current into three-phase alternating current to Drive a servo shaft motor to control the motion of each shaft, the servo shaft motor can be a 1FT6 series motor, the 1FT6 motor is a compact permanent magnet synchronous motor, the motor meets the highest requirements on dynamic performance, speed regulation range, speed, position, precision and the like, is internally provided with an absolute value encoder, is connected to the servo driving unit 103 through a Drive-CLIQ and is specially used for high-performance machine tools.
The input/output module 105 selects SIEMENS MP277 series as input for all the process parameters of the user and display data and output of all fault codes.
The remote I/O module 106 facilitates control of executive components such as valves of the milling machine body and signal detection of sensing components such as sensors. The ET200S series from SIEMENS was used, and Profibus-DP was used for communication with the control unit.
The length measuring encoder 104 is used for detecting the production speed of the welded pipe.
As shown in fig. 4, the three-axis follow-up control method for the three-axis follow-up on-line cutting numerically controlled milling machine includes the following steps:
step 1, starting a three-axis follow-up control device, carrying out self-checking, if the self-checking is passed, carrying out step 2, and if the self-checking is not passed, carrying out step 7;
the set system parameters comprise the length and the material of the welded pipe, the outer diameter and the wall thickness of the welded pipe, the type of the saw blade, the diameter of the saw blade, the thickness of the saw blade, the number of the teeth of the saw blade, the maximum tooth load and the like;
the linear velocity of the rotating shaft of the saw blade is calculated by the formula:
wherein V is the linear velocity (M/min),
=3.14, D is the saw blade diameter (mm),
for saw blade rotation axis motor speed (RPM), the factors that influence the motor speed have: the diameter, wall thickness, etc. of the welded tube;
step 3, the milling machine enters an automatic state, whether a host production line is started or not is judged, and if yes, the step 4 is carried out;
the milling machine has three working states: manual state-simulated state-automatic state;
and (3) manual state: after the milling machine equipment is powered on and initialized, the system can automatically enter a manual state, and in the state, each shaft of the milling machine can only be manually operated;
simulation state: the state is used for testing in order to simulate whether each function of the milling machine is normal, when a host computer line is not produced and a speed measuring encoder does not work, the state can enter a simulation state, the milling machine is enabled to be started in a simulation mode, and the operation condition of the milling machine is watched;
automatic state: when the host machine line needs to be continuously started for production, the milling machine must enter an automatic state, and in the automatic state, the milling machine can automatically complete all actions of each shaft, so that the requirement of automatic cutting is met;
the main machine production line is production equipment responsible for forming and welding the welded pipe;
step 4, starting a length measuring encoder, measuring the length and the linear speed of the welded pipe, sending the length and the linear speed to a motion control unit, if the length measuring encoder works normally, the motion control unit receives data of the length measuring encoder, performing step 5, and if not, performing step 8;
step 5, when the accumulated length of the length measuring encoder reaches the set pipe length quickly, the motion control unit sends a signal, the trolley driving shaft is quickly started to drive the trolley to move, and when the moving speed of the trolley and the moving speed of the welded pipe are kept synchronous, the accumulated pipe length of the length measuring encoder is just the set pipe length;
judging whether the operation is finished, if so, performing step 6, and if not, performing step 9;
the sliding trolley (the trolley is provided with a rotating saw blade) arranged on the trolley driving shaft needs to track the production line speed of the synchronous welded pipe, the saw blade can carry out feeding cutting only when the speeds of the trolley and the welded pipe are kept synchronous, otherwise, the saw blade can be cracked or has inclined notches, which is a difficult point of online cutting. The motion control unit controls when the driving shaft of the trolley is started, the acceleration is large and small, and when the driving shaft of the trolley is synchronous with the welded pipe;
judging whether the operation is finished, if so, performing step 11, and if not, performing step 10;
the calculation formula of the advancing speed of the feeding advancing shaft is as follows:
；
wherein,
for the propulsion speed (mm/min),
the speed of a saw blade motor (RPM/min), Z is the number of teeth of a saw blade, C is the feed amount per tooth (mm/tooth),
the position coefficient of the feed propulsion shaft is 0.0-1.
The position coefficient is different according to the position of the propulsion shaft
The speed of the propulsion shaft varies, i.e. the speed of the propulsion shaft varies from one location to another.
The motor speed of the feed propulsion shaft is calculated by the formula, and then the motor speed of the propulsion shaft is inversely calculated according to the screw pitch of the mechanical screw rod.
Factors influencing the propulsion curve of the feed propulsion shaft are: the diameter and the wall thickness of the welded pipe, the feed amount and the tooth number of the sawteeth, the position of a propulsion shaft and the like, and the propulsion curve directly influences the flatness of the cut of the welded pipe, so that the performance of products such as no burr and the like is achieved;
step 7, carrying out fault detection, removing faults and carrying out step 2;
step 8, stopping the production line, checking reasons, eliminating faults and performing step 3;
step 9, judging whether a fault exists, if so, performing step 8, and if not, performing step 5;
step 10, judging whether a fault exists, if so, performing step 8, and if not, performing step 6;
and 11, separating and synchronizing the trolley driving shaft, rapidly stopping and reversing, returning to the original position of the trolley at a high speed, and waiting for the arrival of the next cutting period.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (5)
1. A three-axis follow-up control method for a three-axis follow-up online cutting numerical control milling machine is realized based on a three-axis follow-up control device and is characterized by comprising the following steps:
step 1, starting a three-axis follow-up control device, carrying out self-checking, if the self-checking is passed, carrying out step 2, and if the self-checking is not passed, carrying out step 7;
step 2, setting system parameters by using an input/output module, enabling the triaxial servo control device to enter a preparation state, controlling a servo driving unit by a motion control unit to start a saw blade rotating shaft, and judging whether the saw blade rotating shaft rotates according to the linear velocity set by the motion control unit, if so, performing step 3, otherwise, continuing to wait until the saw blade rotating shaft rotates according to the linear velocity set by the motion control unit;
step 3, the milling machine enters an automatic state, whether a host production line is started or not is judged, and if yes, the step 4 is carried out;
step 4, starting a length measuring encoder, measuring the length and the linear speed of the welded pipe, sending the length and the linear speed to a motion control unit, if the length measuring encoder works normally, the motion control unit receives data of the length measuring encoder, performing step 5, and if not, performing step 8;
step 5, when the accumulated length of the length measuring encoder reaches the set pipe length quickly, the motion control unit sends a signal, the trolley driving shaft is quickly started to drive the trolley to move, and when the moving speed of the trolley and the moving speed of the welded pipe are kept synchronous, the accumulated pipe length of the length measuring encoder is just the set pipe length;
judging whether the operation is finished, if so, performing step 6, and if not, performing step 9;
step 6, the motion control unit sends out a signal, the feed propulsion shaft is started quickly, the welded pipe is cut according to a propulsion curve set by the motion control unit, and after the cutting is finished, the feed propulsion shaft is reversed quickly and returns to the original point;
judging whether the operation is finished, if so, performing step 11, and if not, performing step 10;
step 7, carrying out fault detection, removing faults and carrying out step 2;
step 8, stopping the production line, checking reasons, eliminating faults and performing step 3;
step 9, judging whether a fault exists, if so, performing step 8, and if not, performing step 5;
step 10, judging whether a fault exists, if so, performing step 8, and if not, performing step 6;
and 11, separating and synchronizing the trolley driving shaft, rapidly stopping and reversing, returning to the original position of the trolley at a high speed, and waiting for the arrival of the next cutting period.
2. The three-axis follow-up control method for the three-axis follow-up on-line cutting numerically controlled milling machine according to claim 1, wherein in the step 2, the set system parameters include the length of the welded pipe, the material, the outer diameter of the welded pipe, the wall thickness, the type of the saw blade, the diameter of the saw blade, the thickness of the saw blade, the number of teeth of the saw blade, and the maximum tooth load.
3. The three-axis follow-up control method for the three-axis follow-up on-line cutting numerically controlled milling machine according to claim 1, wherein in the step 2,
the linear velocity of the rotating shaft of the saw blade is calculated by the formula:
；
wherein V is the linear velocity,
=3.14, D is the saw blade diameter,
the rotating speed of the saw blade rotating shaft motor is adopted.
4. The three-axis follow-up control method for the three-axis follow-up on-line cutting numerically controlled milling machine according to claim 1, wherein in the step 3,
the calculation formula of the advancing speed of the feeding advancing shaft is as follows:
；
wherein,
in order to achieve a speed of propulsion,
is the speed of the saw blade motor, Z is the number of teeth of the saw blade, C is the feed amount of each tooth,is the position coefficient of the feed propulsion shaft.
5. The three-axis follow-up control method for the three-axis follow-up on-line cutting numerically controlled milling machine according to claim 4, wherein the position coefficient is different depending on the position of the thrust shaftIs not uniform, the position coefficient
The value range of (A) is 0.0-1.
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| CN105296685B (en) * | 2015-11-21 | 2018-08-28 | 北京恒图科技有限公司 | A kind of control method of four cutter head cutting apparatus of double crossbeams |
| CN106054818B (en) * | 2016-06-23 | 2018-10-02 | 天津钢管集团股份有限公司 | The permanent torque intelligent controlling device and operating method of steel billet cutting process |
| CN106424916A (en) * | 2016-12-08 | 2017-02-22 | 大连三高集团有限公司 | Automatic control system and automatic control method for flying saw machine |
| JP6898116B2 (en) * | 2017-03-09 | 2021-07-07 | コマツＮｔｃ株式会社 | Wire saw |
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| CN2820400Y (en) * | 2005-09-19 | 2006-09-27 | 洛阳市双勇机器制造有限公司 | Follower flying saw machine |
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| JPH08276317A (en) * | 1995-04-06 | 1996-10-22 | Sumitomo Metal Ind Ltd | Rotary hot saw cutting method |
| JP2004106101A (en) * | 2002-09-18 | 2004-04-08 | Nakata Mfg Co Ltd | Pipe cutting method |
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| CN2820400Y (en) * | 2005-09-19 | 2006-09-27 | 洛阳市双勇机器制造有限公司 | Follower flying saw machine |
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| JP特开2004-106101A 2004.04.08 |
| JP特开平8-276317A 1996.10.22 |
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