CN102831164A - Hot-rolled steel section flying shear system speed reduction ratio control method - Google Patents

Abstract

The invention discloses a kind of hot-rolled steel section shearing system reduction ratio control methods, this method comprises the following steps that the relevant parameter equation established according to parameter and meet theory of mechanics, obtain the horizontal velocity value of space tracking and crank each angle corresponding cutting edge when rotating a circle of upper scissor blade D point, according to the technique requirement of hot-rolled steel section flying shear shearing, cutting edge initial shear angle is obtained

, give convergence franchise

, and it is iterated judgement, until reaching the iteration convergence condition of above formula, obtain system slowdown ratio. The present invention gives the determination methods of the shearing system reduction ratio maximum value of suitable given system parameter, have good operability and sequencing. It reduces the labor intensity of project planner departing from three-dimensional parameterized software operating environment, has a good application prospect and the practicability of engineer application.

Description

A kind of hot-rolled steel section shearing system reduction gear ratio control method

Technical field

The control method of the relevant a kind of hot-rolled steel section shearing system of the present invention is meant a kind of hot-rolled steel section shearing system reduction gear ratio control method especially.

Background technology

Flying shear is one of equipment important on the steel rolling production-line; Before being arranged in mm finishing mill unit; When being used for the shaped steel hot rolling, to stocking cut off end to end, cataclasm, and possess fragmentation feature; Rolling ready for further, the quality of its serviceability directly has influence on the production efficiency and the incision of product quality of roll line.Along with the development of continuous rolling mill, flying shear has obtained application more and more widely.

After configuration of crank-linkage type shaped steel shearing system and the completion of each Component Design, the rate curve of the space tracking of flying shear blade, the rotating speed of crank and cutting edge can be foreseen.With respect to the shaped steel rolled piece profile height of certain altitude, pairing initial shear angle can be through calculating when cutting edge began to shear, based on the initial shear angle, with respect to the rate curve of cutting edge can calculate one this moment cutting edge horizontal velocity.For avoiding rolled piece stifled steel or the rolled piece accidents such as distortion that are stretched to occur, hot rolling technology requirement cutting edge horizontal velocity and bar rolling speed can not differ too big.When beginning to shear, the horizontal velocity of cutting edge is approximately about 1.03 times (empirical value) of rolled piece horizontal velocity.Yet in technologist's design process, after confirming to shear the horizontal techniques speed of rolled piece with owner's interchange and according to production capacity, the technological requirement of flying shear kinematic train has roughly been decided.Yet; In actual engineering design, the designer works to tight deadlines or saves the trouble of great amount of calculation, and adopts the method for analogy; Often the reduction gear ratio of shearing system is estimated according to existing drawing; This just cause easily hot rolling produce in flying shear deposit between cutting edge horizontal velocity and the shaped steel rolled piece travelling speed when beginning to shear greatly than big-difference, had a strong impact on flying shear shear effect and sectional shape quality, the while might also can influence production capacity.

In actual design process, when selecting the shearing system reduction gear ratio, should take into full account the shearing technological requirement, make that cutting edge horizontal velocity and shaped steel rolled piece travelling speed reach the coupling requirement when beginning to shear, thereby make flying shear reach best shear effect.Therefore, use one to overlap the shearing technological requirement that rational hot-rolled steel section shearing system reduction gear ratio control method will help to realize better flying shear, and it can solve the too many waste that engineering staff's uneconomical design error causes in the engineering reality well.Simultaneously, also make the slip-stick artist increase the understanding of the hot rolling flying shear being sheared technological design, improved the design level of self.

Summary of the invention

In view of this, fundamental purpose of the present invention is to provide a kind of control method that can increase work efficiency with the hot-rolled steel section shearing system reduction gear ratio of product quality

For achieving the above object, the present invention provides a kind of hot-rolled steel section shearing system reduction gear ratio control method, and this method includes following steps:

Step 1, set up the correlation parameter equation meet mechanical principle according to parameter, given hot rolling flying shear mechanism respectively forms the correlation parameter of parts: the length of the length of the length of fixed frame OA, connecting rod AB, the length of connecting rod BC, connecting rod CD and length, the included angle of crank OC ₅And φ ₁, wherein O is a coordinate origin, A is that upper tool post is fixedly connected hinge, B point is that connecting rod AB is connected hinge with connecting rod BC, connecting rod BC and connecting rod CD weld together, the C point is crank OC and the hinge that is connected of connecting rod BC, the D point be upper scissor blade a bit, φ ₅Be the angle between connecting rod BC and the connecting rod CD, φ ₁Be the angle between coordinate system mon and the coordinate system xoy;

Step 2: corresponding system slowdown than under cutting edge track and horizontal velocity find the solution the minimum value i of given system slowdown ratio _MinWith maximal value i _Max, provide the interval [i of reduction gear ratio of the system of technological requirement _Min, i _Max] after, make i _k=(i _Min+ i _Max)/2 are according to formula n _Cut=n _Motor/ i _SysCalculate the input speed of flying shear crank, again according to the relational expression ω=2 π n of rotating speed and angular velocity _CutJustice is confirmed the input angular velocity of flying shear crank OC, and finds the solution the horizontal velocity of cutting edge with this input angular velocity as the given value of calculating the cutting edge horizontal velocity; As the starting point of calculating, find the solution when being 0 °, obtain space tracking and horizontal velocity value that upper scissor blade D is ordered, and this result of calculation is preserved, wherein n according to the solving equation of flying shear blade space tracking and speed with the corner of crank _CutBe the input speed of flying shear crank, n _MotorBe shearing system motor output speed, i _SysIt is the shearing system reduction gear ratio;

Step 3: corresponding system slowdown than under the initial shear angle time the finding the solution of cutting edge horizontal velocity, obtain initial shear angle α ₁

Step 4: given convergence franchise ε ₃, and by formula

Carry out iteration and judge, till the iteration convergence condition that reaches following formula, obtain satisfactory system slowdown ratio, wherein V _{Cut_angle}The x direction speed of D point in coordinate system xoy during for the initial shear angle, V _KFor shearing the x direction speed of rolled piece in coordinate system xoy;

Step 5: according to the calculating convergence result of step 4, the reduction gear ratio of output shearing system.

When being 0 ° with the corner of crank as the starting point of calculating, according to equation $\left\{\begin{array}{c}{m}_D=r_2\·\mathrm{Cos}\left(\mathrm{\φ}\right)+r_5\·\mathrm{Cos}({\mathrm{\φ}}_3+{\mathrm{\φ}}_5)\\ n_D=r_2\·\mathrm{Sin}\left(\mathrm{\φ}\right)+r_5\·\mathrm{Sin}({\mathrm{\φ}}_3+{\mathrm{\φ}}_5)\end{array}\right.,$ $\left\{\begin{array}{c}{x}_D=m_D\mathrm{Cos}\left({\mathrm{\φ}}_1\right)-n_D\mathrm{Sin}\left({\mathrm{\φ}}_1\right)\\ y_D=m_D\mathrm{Sin}\left({\mathrm{\φ}}_1\right)+n_D\mathrm{Cos}\left({\mathrm{\φ}}_1\right)\end{array}\right.,$ The horizontal velocity value of the corresponding cutting edge of each angle, wherein n when obtaining space tracking that upper scissor blade D orders and crank and rotating a circle _DBe the n direction coordinate figure of D point in coordinate system mon, m _DBe the m direction coordinate figure of D point in coordinate system mon, r ₂Be the length of crank OC, φ is the corner (being that crank OC is the angle that start angle turns over around the O point counterclockwise with the m axle) of crank OC, r ₅Be connecting rod CD length, φ ₃Angle for connecting rod BC and m axle forward; x _DBe the x direction coordinate figure of D point in coordinate system xoy, y _DBe the y direction coordinate figure of D point in coordinate system xoy, φ ₁Angle for xoy coordinate system and mon coordinate system;

The solving equation of flying shear blade space tracking and speed is respectively in the said step 2:

$\left\{\begin{array}{c}{r}_2\cos \left(\mathrm{\φ}\right)+r_3\cos \left({\mathrm{\φ}}_4\right)=r_1-r_4\cos \left({\mathrm{\φ}}_2\right)\\ r_2\sin \left(\mathrm{\φ}\right)+r_3\sin \left({\mathrm{\φ}}_4\right)=r_4\sin \left({\mathrm{\φ}}_2\right)\end{array}\right.---\left(1\right);$

Wherein, r ₂Be crank OC length, crank OC angular velocity is ω, and crank OC corner is φ (being that crank OC is the angle that start angle turns over around the O point counterclockwise with the m axle), r ₁Be fixed frame OA length, r ₃Be connecting rod BC length, connecting rod BC angular velocity is ω ₃, r ₄Be connecting rod AB length, connecting rod two actors playing the same role in a theatrical work speed is ω ₄, the angle of connecting rod AB and m axle forward is φ ₄, r ₅Be connecting rod CD length, φ ₂Value for ∠ OAB;

$\left\{\begin{array}{c}-r_3\sin \left({\mathrm{\φ}}_4\right){\mathrm{\ω}}_3-r_4\sin \left({\mathrm{\φ}}_2\right){\mathrm{\ω}}_4=r_2\sin \left(\mathrm{\φ}\right)\mathrm{\ω}\\ r_3\cos \left({\mathrm{\φ}}_4\right){\mathrm{\ω}}_3-r_4\cos \left({\mathrm{\φ}}_2\right){\mathrm{\ω}}_4=-r_2\cos \left(\mathrm{\φ}\right)\mathrm{\ω}\end{array}\right.---\left(2\right);$

$\left[\begin{array}{cc}-r_3\sin \left({\mathrm{\φ}}_4\right)& -r_4\sin \left({\mathrm{\φ}}_2\right)\\ r_3\cos \left({\mathrm{\φ}}_4\right)& -r_4\cos \left({\mathrm{\φ}}_2\right)\end{array}\right]\left[\begin{array}{c}{\mathrm{\ω}}_3\\ {\mathrm{\ω}}_4\end{array}\right]=\left[\begin{array}{c}{r}_2\sin \left(\mathrm{\φ}\right)\mathrm{\ω}\\ -r_2\cos \left(\mathrm{\φ}\right)\mathrm{\ω}\end{array}\right]---\left(3\right);$

$\left\{\begin{array}{c}{m}_C=r_2\cos \left(\mathrm{\φ}\right)\\ n_C=r_2\sin \left(\mathrm{\φ}\right)\end{array}\right.---\left(4\right);$

Wherein:

n _CBe the n direction coordinate figure of C point in coordinate system mon;

m _CBe the m direction coordinate figure of C point in coordinate system mon;

$\left\{\begin{array}{c}{m}_D=r_2\·\cos \left(\mathrm{\φ}\right)+r_5\·\cos ({\mathrm{\φ}}_3+{\mathrm{\φ}}_5)\\ n_D=r_2\·\sin \left(\mathrm{\φ}\right)+r_5\·\sin ({\mathrm{\φ}}_3+{\mathrm{\φ}}_5)\end{array}\right.---\left(5\right);$

Wherein:

n _DBe the n direction coordinate figure of D point in coordinate system mon;

m _DBe the m direction coordinate figure of D point in coordinate system mon;

$\left[\begin{array}{c}{V}_{\mathrm{Dm}}\\ V_{\mathrm{Dn}}\end{array}\right]=\left[\begin{array}{cc}-r_2\sin \left(\mathrm{\φ}\right)& -r_5\sin ({\mathrm{\φ}}_3+{\mathrm{\φ}}_5)\\ r_2\cos \left(\mathrm{\φ}\right)& r_5\cos ({\mathrm{\φ}}_3+{\mathrm{\φ}}_5)\end{array}\right]\left[\begin{array}{c}{\mathrm{\ω}}_2\\ {\mathrm{\ω}}_3\end{array}\right]---\left(6\right);$

V wherein _DmBe the speed of D point along the m axle, V _DnBe the speed of D point along the n axle;

$\left\{\begin{array}{c}{x}_D=m_D\cos \left({\mathrm{\φ}}_1\right)-n_D\sin \left({\mathrm{\φ}}_1\right)\\ y_D=m_D\sin \left({\mathrm{\φ}}_1\right)+n_D\cos \left({\mathrm{\φ}}_1\right)\end{array}\right.---\left(7\right);$

Wherein:

x _DBe the x direction coordinate figure of D point in coordinate system xoy;

y _DBe the y direction coordinate figure of D point in coordinate system xoy;

And

$y_P=H1+H2-\frac{s}{2}-\frac{H}{2}-c---\left(8\right);$

Wherein: y _PIt is the theoretical value that the D point is confirmed according to technology arrangement in the y positive dirction; H1 is the length of crank OC; When H2 is D point most significant digit and the distance of crank; S is a cutting edge design registration; H is a shaped steel rolled piece profile height; C is the distance of cutting edge and shaped steel rolled piece when beginning to shear; E is the also remaining disconnected section relative height value of section bar that reaches the relative shear degree of depth, and its value is 1 to deduct the relative shear depth value.

Obtain initial shear angle α in the said step 3 ₁Specifically comprise:

(1) when φ is 0 °, begin to calculate, with the angle step Δ θ that the sounds out step-length as loop iteration, each element of coordinates matrix that the D that finds the solution in the step 2 is ordered is by formula

Convert and obtain iteration convergence judgment matrix, wherein a ε ₃Be the convergence franchise, travel through this each element of iteration convergence judgment matrix successively, if certain element does not satisfy formula

Then increase an angle step Δ θ, until satisfying formula

Till;

(3) again by formula x _D<0 pair is satisfied formula

The iteration convergence judgment matrix in this element judge, if do not satisfy, then increase an angle step Δ θ, go round and begin again successively, until formula

With formula x _D<0 satisfies simultaneously, can obtain flying shear initial shear angle α ₁

In said step 4,, obtain flying shear initial shear angle α according to the interpolate value correlation technique ₁The time the corresponding cutting edge D horizontal velocity V of ordering _{Cut_angle}

In said step 4, if do not reach the condition of convergence, and if 1.03 * V _{Cut_angle}<v _k, then make i _Max=i _k, get into step 2 again and carry out iterative computation, until Reach the condition of convergence, find the system slowdown ratio that adheres to specification; If do not reach the condition of convergence, and if 1.03 * V _{Cut_angle}>V _k, then make i _Min=i _k, get into step 2 again and carry out iterative computation, until Reach the condition of convergence, find the system slowdown ratio that adheres to specification.

Under each given parameter condition, said system slowdown ratio is 17.6096.

The present invention has the following advantages and good effect:

1) the present invention's useful design can be used as flying shear toggle design replenishes, and can reflect flying shear mechanism designing principle truly, for the accurate control of flying shear provides strong theoretical the support;

2) the present invention has abandoned all uncertain limitation that geometric construction brings fully, helps understanding better the operating characteristic of flying shear, has characteristics such as good versatility, adaptability and speed are fast, computational accuracy height, and is convenient and swift, is worthy to be popularized and extend;

3) the present invention can prolong the running orbit, all directions speed and the angular velocity that are used for flying shear mechanism each point and finds the solution;

4) the present invention can realize the serializing design of hot-rolled steel section shearing system ratio of gear preferably; Ductility is good; Also have good operability, can also improve engineering staff's design efficiency, and increase the engineering staff shears technological design to the hot rolling flying shear profound level understanding;

5) the present invention can be used as the strong tool of hot rolling flying shear choice of electrical machine and check equally; The anti-parameters such as the motor parameters and the angle of shear of releasing under the situation of known shearing rolled piece horizontal velocity; Have good design and use dirigibility; Also go for the related fields of flying shear design, as utilize the angle of shear of anti-release to calculate the corner etc. of a cutting stroke of motor, all have good reference property.

Description of drawings

Fig. 1 is a flying shear upper scissor blade movable machinery schematic diagram in the prior art;

Fig. 2 finds the solution synoptic diagram for the design of the flying shear initial shear angle among the present invention;

Fig. 3 a is hot-rolled steel section shearing system reduction gear ratio control method implementing procedure figure provided by the invention;

Fig. 3 b finds the solution the sub-process figure of enforcement for the initial shear angle among the present invention;

The space tracking curve map that Fig. 4 is ordered for D on the upper scissor blade among the present invention.

Embodiment

For ease of method of the present invention is had further understanding, the existing preferred embodiment that develops simultaneously in conjunction with the accompanying drawings is described in detail as follows.

1. the required parameter logical expression of flying shear blade space tracking and speed calculation

The former figure of flying shear upper scissor blade movable machinery (lower scissor blade is with it about the rolling centerline symmetry), as shown in Figure 1.

It is made up of crank OC, connecting rod AB and connecting rod BCD: wherein connecting rod BCD is welded by connecting rod BC and connecting rod CD, and upper scissor blade is connected as a single entity through sword seat and connecting rod CD.Crank OC does periodic gyration through motor-driven around its centre of gyration O.It is through moving connecting rod BCD of hinged subband and the set orbiting motion in upper scissor blade edge.The end B of connecting rod BCD connects together through hinged pair and connecting rod AB, and connecting rod AB does the motion of certain limit around the A point.Before the shearing, the upper scissor blade of flying shear can rest on some appointed positions, and is certain included angle with horizontal direction.When getting into the shearing flow process through the first base section bar after the roughing, direct motor drive crank OC and then drive upper scissor blade begin to move along the set planned course of cutting edge.Through after the certain acceleration and uniform motion, the flying shear upper scissor blade reaches the level of shear speed (theory thinks that the horizontal velocity of cutting edge is approximately about 1.03 times of rolled piece horizontal velocity and just can satisfies shearing requirement synchronously) of design.After shearing completion, because the loss of energy, the upper scissor blade horizontal velocity of flying shear can decrease; Flying shear gets into braking procedure; Be parked in the position at initial off-position angle until the flying shear upper scissor blade, shearing cycle of flying shear accomplishes, and gets into the next shearing cycle; So go round and begin again, carry out start stop mode and shear.

The D point is on the cutting edge a bit, and its track can be found the solution through the equation of motion and geometric relationship, and is specific as follows:

With OA is the coordinate axis of the m positive dirction of coordinate system mon, with level left direction (like Fig. 1) be the coordinate axis of the x positive dirction of coordinate system xoy, as shown in Figure 1 successively, set up and to find the solution D locus of points relative coordinate system.

If crank OC length is r ₂, angular velocity is ω, and its corner is φ (being that crank OC is the angle that start angle turns over around the O point counterclockwise with the m axle), and fixed frame OA length is r ₁, connecting rod BC length is r ₃, angular velocity is ω ₃, with the angle of m axle forward be φ ₃, connecting rod AB length is r ₄, angular velocity is ω ₄, with the angle of m axle forward be φ ₄, connecting rod CD length is r ₅, the value of ∠ OAB is φ ₂The angle of xoy coordinate system and mon coordinate system is φ ₁

Can know by vector equation: in coordinate system mon, have following equality to set up:

$\left\{\begin{array}{c}{r}_2\cos \left(\mathrm{\&phi;}\right)+r_3\cos \left({\mathrm{\&phi;}}_4\right)=r_1-r_4\cos \left({\mathrm{\&phi;}}_2\right)\\ r_2\sin \left(\mathrm{\&phi;}\right)+r_3\sin \left({\mathrm{\&phi;}}_4\right)=r_4\sin \left({\mathrm{\&phi;}}_2\right)\end{array}\right.---\left(1\right)$

System of equations (1) is the nonlinear angle displacement system of equations of flying shear mechanism, given error of calculation ε ₁, can obtain φ through the method for numerical value iteration ₃And φ ₄Here adopt newton-Simpson's method to find the solution.

Formula (1) is carried out a differentiate to time t, and can get after adjusting:

$\left\{\begin{array}{c}-r_3\sin \left({\mathrm{\&phi;}}_4\right){\mathrm{\&omega;}}_3-r_4\sin \left({\mathrm{\&phi;}}_2\right){\mathrm{\&omega;}}_4=r_2\sin \left(\mathrm{\&phi;}\right)\mathrm{\&omega;}\\ r_3\cos \left({\mathrm{\&phi;}}_4\right){\mathrm{\&omega;}}_3-r_4\cos \left({\mathrm{\&phi;}}_2\right){\mathrm{\&omega;}}_4=-r_2\cos \left(\mathrm{\&phi;}\right)\mathrm{\&omega;}\end{array}\right.---\left(2\right)$

Being organized into matrix, can to get the angular velocity equation following:

$\left[\begin{array}{cc}-r_3\sin \left({\mathrm{\&phi;}}_4\right)& -r_4\sin \left({\mathrm{\&phi;}}_2\right)\\ r_3\cos \left({\mathrm{\&phi;}}_4\right)& -r_4\cos \left({\mathrm{\&phi;}}_2\right)\end{array}\right]\left[\begin{array}{c}{\mathrm{\&omega;}}_3\\ {\mathrm{\&omega;}}_4\end{array}\right]=\left[\begin{array}{c}{r}_2\sin \left(\mathrm{\&phi;}\right)\mathrm{\&omega;}\\ -r_2\cos \left(\mathrm{\&phi;}\right)\mathrm{\&omega;}\end{array}\right]---\left(3\right)$

C hinge to connecting the cutting edge tip has:

$\left\{\begin{array}{c}{m}_C=r_2\cos \left(\mathrm{\&phi;}\right)\\ n_C=r_2\sin \left(\mathrm{\&phi;}\right)\end{array}\right.---\left(4\right)$

In the formula:

n _CThe n direction coordinate figure of-C point in coordinate system mon;

m _CThe m direction coordinate figure of-C point in coordinate system mon;

D on cutting edge point is had:

$\left\{\begin{array}{c}{m}_D=r_2\&CenterDot;\cos \left(\mathrm{\&phi;}\right)+r_5\&CenterDot;\cos ({\mathrm{\&phi;}}_3+{\mathrm{\&phi;}}_5)\\ n_D=r_2\&CenterDot;\sin \left(\mathrm{\&phi;}\right)+r_5\&CenterDot;\sin ({\mathrm{\&phi;}}_3+{\mathrm{\&phi;}}_5)\end{array}\right.---\left(5\right)$

In the formula:

n _DThe n direction coordinate figure of-D point in coordinate system mon;

m _DThe m direction coordinate figure of-D point in coordinate system mon.

If the speed along the m axle that D is ordered is V _Dm, be V along the speed of n axle _Dn, ask first order derivative to obtain formula (5) to time t respectively:

$\left[\begin{array}{c}{V}_{\mathrm{Dm}}\\ V_{\mathrm{Dn}}\end{array}\right]=\left[\begin{array}{cc}-r_2\sin \left(\mathrm{\&phi;}\right)& -r_5\sin ({\mathrm{\&phi;}}_3+{\mathrm{\&phi;}}_5)\\ r_2\cos \left(\mathrm{\&phi;}\right)& r_5\cos ({\mathrm{\&phi;}}_3+{\mathrm{\&phi;}}_5)\end{array}\right]\left[\begin{array}{c}{\mathrm{\&omega;}}_2\\ {\mathrm{\&omega;}}_3\end{array}\right]---\left(6\right)$

Can obtain the operation characteristic parameter of D point in coordinate system mon in the hope of separating.The kinematic parameter that D is ordered is converted among the coordinate system xoy, and establishing the coordinate of D point in xoy is (x _D, y _D), conversion formula is:

$\left\{\begin{array}{c}{x}_D=m_D\cos \left({\mathrm{\&phi;}}_1\right)-n_D\sin \left({\mathrm{\&phi;}}_1\right)\\ y_D=m_D\sin \left({\mathrm{\&phi;}}_1\right)+n_D\cos \left({\mathrm{\&phi;}}_1\right)\end{array}\right.---\left(7\right)$

In the formula:

x _DThe x direction coordinate figure of-D point in coordinate system xoy;

y _DThe y direction coordinate figure of-D point in coordinate system xoy, as shown in Figure 4.

2. the calculating at initial shear angle

Flying shear initial shear angle synoptic diagram is as shown in Figure 2.When cutting edge began to shear, the angle of crank OC and y axle forward was α ₁Crank OC counterclockwise rotates in the driving lower edge of motor.The actual rotating speed of crank OC can obtain through the conversion relation of angular velocity and rotating speed.

Initial shear angle α ₁Can try to achieve through following method:

Try to achieve the trajectory coordinates of D point in the xoy coordinate system according to formula (1), (4), (5) and formula (7).When cutting edge began to shear, the y coordinate figure that D is ordered can obtain through following formula (8):

$y_P=H1+H2-\frac{s}{2}-\frac{H}{2}-c---\left(8\right)$

In the formula: y _PIt is the theoretical value that the D point is confirmed according to technology arrangement in the y positive dirction; H1 is the length of crank, i.e. the length of crank OC among Fig. 1; When H2 is D point most significant digit and the distance of crank, the i.e. length of connecting rod CD among Fig. 1; S is a cutting edge design registration; H is a shaped steel rolled piece profile height; C is the distance of cutting edge and shaped steel rolled piece when beginning to shear; E is the also remaining disconnected section relative height value of section bar that reaches the relative shear degree of depth, and its value is 1 to deduct the relative shear depth value.

With formula (8) as the anti-initial shear angle α that asks ₁One in the middle of comparison variable, with formula (9) as the anti-initial shear angle α that asks ₁The condition of convergence of iterative computation.

$\left|\frac{y_D-y_P}{y_P}\right|\&le;{\mathrm{\&epsiv;}}_2---\left(9\right)$

In the formula: y _DBe that the D point is found the solution the y direction coordinate figure that obtains, ε through equation of locus in coordinate system xoy ₂It is the convergence franchise.

Because the running orbit of flying shear blade is an occluded ellipse arc shape, when the calculating of D point reaches the condition of convergence, there are two corresponding to the corner of the crank OC of this condition of convergence.Shear technological requirement from hot rolling, when flying shear when initial off-position begins to rotate, the corner of crank OC is the initial shear angle during contact-type steel rolling piece surface for the first time.Can obtain the additional constraint condition at flying shear initial shear angle from this condition.By shown in Figure 2, the velocity reversal of setting blank is right along left-hand, and flying shear is rotated counterclockwise, and then can meet the demands on the right-hand of true origin O that the displacement of x direction is positioned at coordinate system xoy when the D point.Promptly have:

x _D<0 （10）

Given initial various parameters; With the crank angle is the iteration object; After calculating the track that D orders by formula (1), (4), (5) and formula (7), calculating the theoretical coordinate value of the y positive dirction that D point belongs to when beginning to shear again by formula (8), is the iteration object once more with the crank angle; With formula (9) and formula (10) the condition of convergence as loop iteration, thus the anti-flying shear initial shear angle α that obtains ₁

3. calculating judgment criterion

Shear technological requirement according to hot rolling; The speed that guarantees to shear rolled piece can be complementary with the speed of shearing system cutting edge when the initial shear angle; In the design with formula (11) as calculating judgment criterion of convergent, the relative velocity difference of the speed of promptly shearing rolled piece shearing system cutting edge during with the initial shear angle need satisfy the requirement of setting franchise with the ratio of the speed of shearing rolled piece.Expression formula is:

$\left|\frac{1.03\&times;V_{\mathrm{cut}\_\mathrm{angle}}-V_k}{V_k}\right|{\&le;\mathrm{\&epsiv;}}_3---\left(11\right)$

In the formula:

V _{Cut_angle}The x direction speed of D point in coordinate system xoy during-initial shear angle;

V _KThe x direction speed of-shearing rolled piece in coordinate system xoy;

ε ₃-convergence franchise.

Given one is calculated franchise, uses alternative manner then, the speed of the shearing rolled piece that promptly can obtain being complementary with the speed of shearing system cutting edge when the initial shear angle.

4. the input speed of flying shear crank

After the shearing system reduction gear ratio is confirmed, can confirm the input speed of flying shear crank according to reduction gear ratio:

n _cut=n _motor/i _sys （12）

In the formula: n _CutIt is the input speed of flying shear crank; n _MotorIt is shearing system motor output speed; i _SysBe the shearing system reduction gear ratio, after each reduction gear ratio iteration was accomplished, its value was always got up-to-date deceleration ratio, till iteration convergence.

Confirm the input angular velocity of flying shear crank OC according to the relation of rotating speed and angular velocity:

ω=2πn _cut （13）

In the formula: ω is the angular velocity of flying shear crank OC; n _CutIt is the input speed of flying shear crank.

Hot-rolled steel section shearing system reduction gear ratio control method provided by the invention, its designing and calculating specifically may further comprise the steps shown in process flow diagram 3a:

Step 1: set up the correlation parameter equation that meets mechanical principle according to parameter.Given hot rolling flying shear mechanism respectively forms the correlation parameter of parts: the length of the length of the length of fixed frame OA, connecting rod AB, the length of connecting rod BC, connecting rod CD and length, the included angle of crank OC ₅And φ ₁, wherein O is a coordinate origin, and A is that upper tool post is fixedly connected hinge, and the B point is that connecting rod AB is connected hinge with connecting rod BC, and connecting rod BC and connecting rod CD weld together, and the C point is crank OC and the hinge that is connected of connecting rod BC.The D point be upper scissor blade a bit, φ ₅Be the angle between connecting rod BC and the connecting rod CD, φ ₁Be the angle between coordinate system mon and the coordinate system xoy.These concrete input parameters all are after the flying shear entity component is simplified by mechanical principle synoptic diagram Fig. 1, to obtain, and have the entity specific aim.Press the listed calculating parameter of table 1 then, simplify obtaining each length of connecting rod and corresponding angle value among Fig. 1 respectively.Set up corresponding coordinate system mon and coordinate system xoy.

Table 1 calculating parameter

Step 2: corresponding system slowdown than under the finding the solution of cutting edge track and horizontal velocity.According to the technological requirement of system slowdown ratio, the minimum value i of given system slowdown ratio _MinWith maximal value i _Max, promptly provide the interval [i of reduction gear ratio of the system of technological requirement _Min, i _Max] after, make i _k=(i _Min+ i _Max)/2; Calculate the input speed of flying shear crank according to formula (12); Confirm the input angular velocity of flying shear crank OC again according to the relational expression (13) of rotating speed and angular velocity, and this input angular velocity is found the solution in (8) as given value substitution formula (the 1)-Shi that calculates the cutting edge horizontal velocity.When promptly being 0 ° with the corner of crank OC as the starting point of calculating; With the step-length of very little angle step (if excessive then in follow-up finding the solution, possibly can't satisfy formula (11) condition of convergence) as loop iteration; Solving equation (formula (1)-Shi (8)) according to aforesaid flying shear blade space tracking and speed is found the solution, and obtains space tracking and horizontal velocity value that upper scissor blade D is ordered.

Step 3: corresponding system slowdown than under the initial shear angle time the finding the solution of cutting edge horizontal velocity.At first confirm initial shear angle α according to known conditions ₁Initial shear angle α ₁Solution procedure can be described below: given upper and lower cutting edge is at the cutting edge registration s of operation lowermost; When the length of crank, cutting edge D most significant digit and the distance H 2 of crank, shaped steel rolled piece profile height H and the parameter values such as distance c of cutting edge and shaped steel rolled piece when beginning to shear, calculate the theoretical value y of D point in the y positive dirction by formula (8) _PWhen φ is 0 °, begin to calculate, with the angle step Δ θ that the sounds out step-length as loop iteration, each element of coordinates matrix that the D that finds the solution in the step 2 is ordered converts by formula (9) and obtains an iteration convergence judgment matrix.Travel through this each element of iteration convergence judgment matrix successively, if certain element does not satisfy formula (9), then increase an angle step, till satisfying formula (9).By formula (10) this element in the iteration convergence judgment matrix that satisfies formula (9) is judged again.If do not satisfy, then increase an angle step, go round and begin again successively, satisfy simultaneously until formula (9) and formula (10).Can obtain flying shear initial shear angle α ₁According to the method for interpolate value, obtain flying shear initial shear angle α ₁The time the corresponding cutting edge D horizontal velocity V of ordering _{Cut_angle}

Step 4: given convergence franchise ε ₃, and carry out iteration by formula (11) and judge.If calculate the iteration convergence condition that has reached formula (11), then withdraw from current circulation, the system slowdown that the adheres to specification ratio that record is corresponding.If do not reach the condition of convergence, and if 1.03 * V _{Cut_angle}<v _k, then make i _Max=i _k, get into step 2 again and carry out iterative computation, reach the condition of convergence until (11), find the system slowdown ratio that adheres to specification.If do not reach the condition of convergence, and if 1.03 * V _{Cut_angle}>V _k, then make i _Min=i _k, get into step 2 again and carry out iterative computation, reach the condition of convergence until (11), find the system slowdown ratio that adheres to specification.If do not reach the condition of convergence.Go round and begin again like this, till the iteration convergence condition that reaches formula (11), record system slowdown ratio this moment.

Step 5: according to the calculating convergence result of formula (11), output system reduction gear ratio.。

Root institute table 1 column data, and according to the solution procedure of step 1-step 5, the system slowdown ratio that can obtain being fit to this flying shear known conditions is 17.6096.If surpass, under the rolled piece horizontal techniques rate request of regulation, motor surpasses rated speed, is unfavorable for the operate as normal of motor.If rolled piece horizontal techniques speed is smaller than the value in this method, cutting edge horizontal velocity and shaped steel rolled piece travelling speed are complementary in the time of then can making flying shear begin to shear through the reduction rotating speed of motor.Therefore, the peaked definite method of shearing system reduction gear ratio that is fit to given systematic parameter that provided of the present invention has good operability and program voltinism.It has broken away from three-dimensional parameterized software operating environment, has reduced project planner's labour intensity, has a good application prospect and the practicality of practical applications.

Above embodiment only supplies to explain the present invention's usefulness; But not limitation of the present invention; The technician in relevant technologies field under the situation that does not break away from the spirit and scope of the present invention, can also be applied to this method in the associated mechanisms such as cold rolling flying shear; Therefore all technical schemes that are equal to all fall into protection scope of the present invention.

Claims (6)

1. hot-rolled steel section shearing system reduction gear ratio control method is characterized in that this method includes following steps:

Step 1, set up the correlation parameter equation meet mechanical principle according to parameter, given hot rolling flying shear mechanism respectively forms the correlation parameter of parts: the length of the length of the length of fixed frame OA, connecting rod AB, the length of connecting rod BC, connecting rod CD and length, the included angle of crank OC ₅And φ ₁, wherein O is a coordinate origin, A is that upper tool post is fixedly connected hinge, B point is that connecting rod AB is connected hinge with connecting rod BC, connecting rod BC and connecting rod CD weld together, the C point is crank OC and the hinge that is connected of connecting rod BC, the D point be upper scissor blade a bit, φ ₅Be the angle between connecting rod BC and the connecting rod CD, φ ₁Be the angle between coordinate system mon and the coordinate system xoy;

Step 2: corresponding system slowdown than under cutting edge track and horizontal velocity find the solution the minimum value i of given system slowdown ratio _MinWith maximal value i _Max, provide the interval [i of reduction gear ratio of the system of technological requirement _Min, i _Max] after, make i _k=(i _Min+ i _Max)/2 are according to formula n _Cut=n _Motor/ i _SysCalculate the input speed of flying shear crank, again according to the relational expression ω=2 π n of rotating speed and angular velocity _CutJustice is confirmed the input angular velocity of flying shear crank OC, and finds the solution the horizontal velocity of cutting edge with this input angular velocity as the given value of calculating the cutting edge horizontal velocity; As the starting point of calculating, find the solution when being 0 °, obtain space tracking and horizontal velocity value that upper scissor blade D is ordered, and this result of calculation is preserved, wherein n according to the solving equation of flying shear blade space tracking and speed with the corner of crank _CutBe the input speed of flying shear crank, n _MotorBe shearing system motor output speed, i _SysIt is the shearing system reduction gear ratio;

Step 3: corresponding system slowdown than under the initial shear angle time the finding the solution of cutting edge horizontal velocity, obtain initial shear angle α ₁

Step 4: given convergence franchise ε ₃, and by formula

Carry out iteration and judge, till the iteration convergence condition that reaches following formula, obtain satisfactory system slowdown ratio, wherein V _{Cut_angle}The x direction speed of D point in coordinate system xoy during for the initial shear angle, V _KFor shearing the x direction speed of rolled piece in coordinate system xoy;

Step 5: according to the calculating convergence result of step 4, the reduction gear ratio of output shearing system.

When being 0 ° with the corner of crank as the starting point of calculating, according to equation

The horizontal velocity value of the corresponding cutting edge of each angle, wherein n when obtaining space tracking that upper scissor blade D orders and crank and rotating a circle _DBe the n direction coordinate figure of D point in coordinate system mon, m _DBe the m direction coordinate figure of D point in coordinate system mon, r ₂Be the length of crank OC, φ is the corner of crank OC, r ₅Be connecting rod CD length, φ ₃Angle for connecting rod BC and m axle forward; x _DBe the x direction coordinate figure of D point in coordinate system xoy, y _DBe the y direction coordinate figure of D point in coordinate system xoy, φ ₁Angle for xoy coordinate system and mon coordinate system.

2. hot-rolled steel section shearing system reduction gear ratio control method as claimed in claim 1 is characterized in that the solving equation of flying shear blade space tracking and speed is respectively in the said step 2:

Wherein, r ₂Be crank OC length, crank OC angular velocity is ω, and crank OC corner is φ, r ₁Be fixed frame OA length, r ₃Be connecting rod BC length, connecting rod BC angular velocity is ω ₃, r ₄Be connecting rod AB length, connecting rod two actors playing the same role in a theatrical work speed is ω ₄, the angle of connecting rod AB and m axle forward is φ ₄, r ₅Be connecting rod CD length, φ ₂Value for ∠ OAB;

Wherein:

n _CBe the n direction coordinate figure of C point in coordinate system mon;

m _CBe the m direction coordinate figure of C point in coordinate system mon;

Wherein:

n _DBe the n direction coordinate figure of D point in coordinate system mon;

m _DBe the m direction coordinate figure of D point in coordinate system mon;

V wherein _DmBe the speed of D point along the m axle, V _DnBe the speed of D point along the n axle;

Wherein:

x _DBe the x direction coordinate figure of D point in coordinate system xoy;

y _DBe the y direction coordinate figure of D point in coordinate system xoy;

And

Wherein: y _PIt is the theoretical value that the D point is confirmed according to technology arrangement in the y positive dirction; H1 is the length of crank OC; When H2 is D point most significant digit and the distance of crank; S is a cutting edge design registration; H is a shaped steel rolled piece profile height; C is the distance of cutting edge and shaped steel rolled piece when beginning to shear; E is the also remaining disconnected section relative height value of section bar that reaches the relative shear degree of depth, and its value is 1 to deduct the relative shear depth value.

3. hot-rolled steel section shearing system reduction gear ratio control method as claimed in claim 2 is characterized in that, obtains initial shear angle α in the said step 3 ₁Specifically comprise:

(1) when φ is 0 °, begin to calculate, with the angle step Δ θ that the sounds out step-length as loop iteration, each element of coordinates matrix that the D that finds the solution in the step 2 is ordered is by formula

Convert and obtain iteration convergence judgment matrix, wherein a ε ₂Be the convergence franchise, travel through this each element of iteration convergence judgment matrix successively, if certain element does not satisfy formula

Then increase an angle step Δ θ, until satisfying formula

Till;

(3) again by formula x _D<0 pair is satisfied formula

The iteration convergence judgment matrix in this element judge, if do not satisfy, then increase an angle step Δ θ, go round and begin again successively, until formula

With formula x _D<0 satisfies simultaneously, can obtain flying shear initial shear angle α ₁

4. hot-rolled steel section shearing system reduction gear ratio control method as claimed in claim 1 is characterized in that, in said step 4, according to the interpolate value correlation technique, obtains flying shear initial shear angle α ₁The time the corresponding cutting edge D horizontal velocity V of ordering _{Cut_angle}

5. hot-rolled steel section shearing system reduction gear ratio control method as claimed in claim 1 is characterized in that, in said step 4, if do not reach the condition of convergence, and if 1.03 * V _{Cut_angle}<v _k, then make i _Max=i _k, get into step 2 again and carry out iterative computation, until

Reach the condition of convergence, find the system slowdown ratio that adheres to specification; If do not reach the condition of convergence, and if 1.03 * V _{Cut_angle}>V _k, then make i _Min=i _k, get into step 2 again and carry out iterative computation, until Reach the condition of convergence, find the system slowdown ratio that adheres to specification.

6. hot-rolled steel section shearing system reduction gear ratio control method as claimed in claim 1 is characterized in that said system slowdown ratio is 17.6096.

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