CN102831164B - 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 present invention, about a kind of control method of hot-rolled steel section shearing system, refers to 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 steel rolling production-line, before being arranged in mm finishing mill unit, during for shaped steel hot rolling, stocking is cut off end to end, cataclasm, and possess fragmentation feature, for further rolling is ready, the quality of its serviceability directly has influence on production efficiency and the incision of product quality of roll line.Along with the development of continuous rolling mill, flying shear obtains to be applied more and more widely.

After the configuration of crank-linkage type shaped steel shearing system and each part design complete, the rate curve of the space tracking of flying shear blade, the rotating speed of crank and cutting edge can be predicted.Relative to the shaped steel rolled piece profile height of certain altitude, initial shear angle corresponding when cutting edge starts to shear can by calculating, and based on initial shear angle, can calculate the horizontal velocity of a now cutting edge relative to the rate curve of cutting edge.Occur that for avoiding rolled piece stifled steel or rolled piece are stretched the accidents such as distortion, hot rolling technology requirement cutting edge horizontal velocity can not differ too large with bar rolling speed.When starting to shear, the horizontal velocity of cutting edge is approximately about 1.03 times (empirical values) of rolled piece horizontal velocity.But, in technologist's design process, with owner exchange and determine according to production capacity shear rolled piece horizontal techniques speed after, the technological requirement of flying shear kinematic train has roughly been decided.But, in actual engineering design, designer works to tight deadlines or saves a large amount of trouble calculated, and adopt the method for analogy, often estimate according to the reduction gear ratio of existing drawing to shearing system, deposit large larger difference between cutting edge horizontal velocity and shaped steel rolled piece travelling speed when flying shear starts to shear during this just easily causes hot rolling to be produced, had a strong impact on flying shear shear effect and sectional shape quality, may also production capacity have been affected simultaneously.

In actual design process, should take into full account shearing technological requirement when selecting shearing system reduction gear ratio, when making to start to shear, cutting edge horizontal velocity reaches with shaped steel rolled piece travelling speed and mates requirement, thus makes flying shear reach best shear effect.Therefore, use a set of rational hot-rolled steel section shearing system reduction gear ratio control method to contribute to realizing better the shearing technological requirement of flying shear, and it can solve the too many waste that in engineering reality, the uneconomical design error of engineering staff causes well.Meanwhile, also make slip-stick artist add the understanding of hot-rolling flying shears being sheared to technological design, improve 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 and can increases work efficiency and the control method of the hot-rolled steel section shearing system reduction gear ratio of product quality

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

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

Step 2: solving of the cutting edge track under correspondence system reduction gear ratio and horizontal velocity, the minimum value i of given system slowdown ratio _minwith maximal value i _max, provide the interval [i of the reduction gear ratio of the system of technological requirement _min, i _max] after, make i _k=(i _min+ i _max)/2, according to formula n _cut=n _motor/ i _syscalculate the input speed of flying shear crank, then according to the relational expression ω=2 π n of rotating speed and angular velocity _cutjustice determines the input angular velocity of flying shear crank OC, and solves the horizontal velocity of cutting edge using this input angular velocity as the given value calculating cutting edge horizontal velocity; As the starting point calculated when being 0 ° using the corner of crank, solving according to the solving equation of flying shear blade space tracking and speed, obtain space tracking and the horizontal velocity value of upper scissor blade D point, and this result of calculation is preserved, wherein n _cutthe input speed of flying shear crank, n _motorshearing system motor output speeds, i _sysit is shearing system reduction gear ratio;

Step 3: the solving of cutting edge horizontal velocity during initial shear angle under correspondence system reduction gear ratio, obtains initial shear angle α ₁;

Step 4: given convergence franchise ε ₃, and press formula carry out iteration judgement, till the iteration convergence condition reaching above formula, obtain satisfactory system slowdown ratio, wherein V _{cut_angle}for the x direction speed of D point during initial shear angle in coordinate system xoy, 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, export the reduction gear ratio of shearing system.

As the starting point calculated when being 0 ° using the corner of crank, according to equation $\left\{\begin{array}{c}{m}_D=r_2\cos \left(\mathrm{\φ}\right)+r_5\cos ({\mathrm{\φ}}_3+{\mathrm{\φ}}_5)\\ n_D=r_2\sin \left(\mathrm{\φ}\right)+r_5\sin ({\mathrm{\φ}}_3+{\mathrm{\φ}}_5)\end{array}\right.,\left\{\begin{array}{c}{x}_D=m_D\cos \left({\mathrm{\φ}}_1\right)-n_D\sin \left({\mathrm{\φ}}_1\right)\\ y_D=m_D\sin \left({\mathrm{\φ}}_1\right)+n_D\cos \left({\mathrm{\φ}}_1\right)\end{array}\right.,$ Obtain the horizontal velocity value of the cutting edge that each angle is corresponding when the space tracking of upper scissor blade D point and crank rotate a circle, wherein n _dfor the n direction coordinate figure of D point in coordinate system mon, m _dfor the m direction coordinate figure of D point in coordinate system mon, r ₂for the length of crank OC, φ is the corner (i.e. crank OC turn over counterclockwise around O point for start angle with m axle angle) of crank OC, r ₅for connecting rod CD length, φ ₃for the angle of connecting rod BC and m axle forward; x _dfor the x direction coordinate figure of D point in coordinate system xoy, y _dfor the y direction coordinate figure of D point in coordinate system xoy, φ ₁for the angle of xoy coordinate system and mon coordinate system;

In described step 2, the solving equation of flying shear blade space tracking and speed is respectively:

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

Wherein, r ₂for crank OC length, crank OC angular velocity is ω, and crank OC corner is φ (i.e. crank OC turn over counterclockwise around O point for start angle with m axle angle), r ₁for fixed frame OA length, r ₃for connecting rod BC length, connecting rod BC angular velocity is ω ₃, r ₄for 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 ₅for connecting rod CD length, φ ₂for the value of ∠ OAB;

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

$\left[\begin{array}{cc}-r_3\sin \left({\mathrm{\φ}}_4\right)& -r_4\sin \left({\mathrm{\φ}}_2\right)\\ r_3\cos \left({\mathrm{\φ}}_4\right)& -r4\cos \left({\mathrm{\φ}}_2\right)\end{array}\right]\left[\begin{array}{c}{\mathrm{\ω}}_3\\ {\mathrm{\ω}}_4\end{array}\right]=\left[\begin{array}{c}{r}_2\sin \left(\mathrm{\φ}\right)\mathrm{\ω}\\ -r_2\cos \left(\mathrm{\φ}\right)\mathrm{\ω}\end{array}\right]---\left(3\right);$

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

Wherein:

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

M _cfor 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 _dfor the n direction coordinate figure of D point in coordinate system mon;

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

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

Wherein V _dmfor D point is along the speed of m axle, V _dnfor D point is along the speed of 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 _dfor the x direction coordinate figure of D point in coordinate system xoy;

Y _dfor 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 D point is determined according to technology arrangement in 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 cutting edge design registration; H is shaped steel rolled piece profile height; C is the distance of cutting edge and shaped steel rolled piece when starting to shear; E is the section bar also remaining not disconnected section relative height value reaching the relative shear degree of depth, and its value is 1 deduct relative shear depth value.

Initial shear angle α is obtained in described step 3 ₁specifically comprise:

(1) calculate when being 0 ° from φ, using the angle step Δ θ soundd out as the step-length of loop iteration, to each element of coordinates matrix of the D point solved in step 2 by formula carry out conversion and obtain iteration convergence judgment matrix, wherein a ε ₂be convergence franchise, travel through each element of this iteration convergence judgment matrix successively, if certain element does not meet formula then increase an angle step Δ θ, until meet formula till;

(3) again by formula x _d< 0 is to meeting formula iteration convergence judgment matrix in this element judge, if do not met, then increase an angle step Δ θ, go round and begin again successively, until formula with formula x _d< 0 meets simultaneously, can obtain flying shear initial shear angle α ₁.

In described step 4, according to interpolate value correlation technique, obtain flying shear initial shear angle α ₁time corresponding cutting edge D point horizontal velocity V _{cut_angle}.

In described step 4, if do not reach the condition of convergence, and if 1.03 × V _{cut_angle}< V _k, then i is made _max=i _k, reenter step 2 and carry out iterative computation, until reach the condition of convergence, find the system slowdown ratio meeting designing requirement; If do not reach the condition of convergence, and if 1.03 × V _{cut_angle}> V _k, then i is made _min=i _k, reenter step 2 and carry out iterative computation, until reach the condition of convergence, find the system slowdown ratio meeting designing requirement.

Under given each Parameter Conditions, described system slowdown ratio is 17.6096.

The present invention has the following advantages and good effect:

1) design that the present invention can be used as of flying shear Design of Crank useful supplements, and can reflect the principle that type of flying shear mechanism designs truly, for the accurate control of flying shear provides strong theories integration;

2) the present invention has abandoned all uncertain limitation that geometric construction brings completely, be conducive to the operating characteristic understanding flying shear better, have that good versatility, adaptability and speed are fast, computational accuracy high, convenient and swift, be worthy to be popularized and extension;

3) the present invention can adopt and solve in the running orbit to type of flying shear mechanism each point, all directions speed and angular velocity;

4) the present invention can realize the serializing design of hot-rolled steel section shearing system ratio of gear preferably, ductility is good, also there is good operability, the design efficiency of engineering staff can also be improved, and increase engineering staff shears technological design deep layer understanding to hot-rolling flying shears;

5) the present invention equally can as the strong instrument of hot-rolling flying shears choice of electrical machine and check, the anti-parameter such as release motor parameters and the angle of shear etc. when known shearing rolled piece horizontal velocity, there is good design and use dirigibility, also the related fields of flying shear design are gone for, as utilized the anti-angle of shear released to calculate the corner etc. of a cutting stroke of motor, all there is good referential.

Accompanying drawing explanation

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

Fig. 2 is that the flying shear initial shear angle design in the present invention solves schematic diagram;

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 is the sub-process figure that initial shear angle in the present invention solves enforcement;

Fig. 4 is the space tracking curve map of D point on upper scissor blade in the present invention.

Embodiment

For ease of having further understanding to method of the present invention, the existing preferred embodiment that develops simultaneously by reference to the accompanying drawings is described in detail as follows.

1. flying shear blade space tracking and the parameter logistics needed for speed calculating are expressed

The former figure of flying shear upper scissor blade movable machinery (lower scissor blade is symmetrical about rolling centerline with it), 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 by sword seat and connecting rod CD.Crank OC is driven by motor and does periodic gyration around its centre of gyration O.It by hinged secondary drivening rod BCD and upper scissor blade along set orbiting motion.One end B of connecting rod BCD is connected together by hinged pair and connecting rod AB, and connecting rod AB does the motion of certain limit around A point.Before shearing, the upper scissor blade of flying shear can rest on some positions of specifying, and is certain angle with horizontal direction.Shear flow process when the first base section bar after roughing enters, motor driving crank OC and then the planned course driving upper scissor blade to start along cutting edge is set move.After certain acceleration and uniform motion, 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 meets synchronous shear and require) of design.After shearing completes, due to the loss of energy, the upper scissor blade horizontal velocity of flying shear can decrease, flying shear enters braking procedure, until flying shear upper scissor blade is parked in the position of initial off-position angle of hot, a shearing cycle of flying shear completes, and enters the next shearing cycle, so go round and begin again, carry out start stop mode shearing.

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

Take OA as the coordinate axis of the coordinate axis of the m positive dirction of coordinate system mon, the x positive dirction being coordinate system xoy with horizontal left direction (as Fig. 1), successively as shown in Figure 1, set up and solve D locus of points relative coordinate system.

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

From vector equation: in coordinate system mon, following equation is had 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 shifted systems of type of flying shear mechanism, given error of calculation ε ₁, can φ be obtained by the method for iterative numerical ₃and φ ₄.Here newton-Simpson's method is adopted to solve.

Formula (1) is carried out a differentiate to time t, can obtain after Row sum-equal matrix of going forward side by side:

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

Being organized into matrix, can to obtain angular velocity equation as follows:

$\left[\begin{array}{cc}-r_3\sin \left({\mathrm{\&phi;}}_4\right)& -r_4\sin \left({\mathrm{\&phi;}}_2\right)\\ r_3\cos \left({\mathrm{\&phi;}}_4\right)& -r4\cos \left({\mathrm{\&phi;}}_2\right)\end{array}\right]\left[\begin{array}{c}{\mathrm{\&omega;}}_3\\ {\mathrm{\&omega;}}_4\end{array}\right]=\left[\begin{array}{c}{r}_2\sin \left(\mathrm{\&phi;}\right)\mathrm{\&omega;}\\ -r_2\cos \left(\mathrm{\&phi;}\right)\mathrm{\&omega;}\end{array}\right]---\left(3\right)$

Have the C hinge connecting cutting edge tip:

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

In 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;

Have the D point on cutting edge:

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

In 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 m axle of D point is V _dm, the speed along n axle is V _dn, ask first order derivative to obtain formula (5) to time t respectively:

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

The operation characteristic parameter of D point in coordinate system mon can be obtained in the hope of solution.The kinematic parameter of D point is converted in coordinate system xoy, if 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 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 schematic diagram as shown in Figure 2.When cutting edge starts to shear, the angle of crank OC and y-axis forward is α ₁.Crank OC rotates in the counterclockwise direction under the driving of motor.The rotating speed of crank OC reality can be obtained by the conversion relation of angular velocity and rotating speed.

Initial shear angle α ₁can try to achieve by the following method:

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

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

In formula: y _pit is the theoretical value that D point is determined according to technology arrangement in y positive dirction; H1 is the length of crank, i.e. the length of crank OC in Fig. 1; When H2 is D point most significant digit and the distance of crank, i.e. the length of connecting rod CD in Fig. 1; S is cutting edge design registration; H is shaped steel rolled piece profile height; C is the distance of cutting edge and shaped steel rolled piece when starting to shear; E is the section bar also remaining not disconnected section relative height value reaching the relative shear degree of depth, and its value is 1 deduct relative shear depth value.

Using formula (8) as reverse initial shear angle α ₁one in the middle of comparison variable, using formula (9) as reverse initial shear angle α ₁the condition of convergence of iterative computation.

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

In formula: y _dthat D point solves the y direction coordinate figure obtained, ε in coordinate system xoy by equation of locus ₂it is convergence franchise.

Running orbit due to flying shear blade is an occluded ellipse arc shape, and when the calculating of D point reaches the condition of convergence, the corner corresponding to the crank OC of this condition of convergence has two.Shear technological requirement from hot rolling, when flying shear rotates from initial off-position place, during first time contact-type steel rolling piece surface, the corner of crank OC is initial shear angle.The additional constraint condition at flying shear initial shear angle can be obtained from this condition.As shown in Figure 2, the velocity reversal of setting blank is along from left to right, and flying shear is rotated counterclockwise, then the right being positioned at the true origin O of coordinate system xoy in the displacement in x direction when D point can meet the demands.Namely have:

x _D＜0 (10)

Given various parameters initially, take crank angle as iteration object, after calculating the track of D point by formula (1), (4), (5) and formula (7), the theoretical coordinate value of the y positive dirction at D point place when starting to shear by formula (8) calculating again, be iteration object again with crank angle, by formula (9) and formula (10) condition of convergence as loop iteration, thus reverse goes out flying shear initial shear angle α ₁.

3. calculate judgment criterion

Technological requirement is sheared according to hot rolling, ensure that the speed shearing rolled piece can match with the speed of shearing system cutting edge when initial shear angle, using formula (11) as the judgment criterion calculating convergence in design, when namely shearing speed and the initial shear angle of rolled piece, the relative velocity difference of shearing system cutting edge need meet setting tolerance requirements 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 formula:

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

V _k-shear the x direction speed of rolled piece in coordinate system xoy;

ε ₃-convergence franchise.

Given one calculates franchise, then uses alternative manner, namely can obtain the speed of the shearing rolled piece that the speed with shearing system cutting edge when initial shear angle matches.

4. the input speed of flying shear crank

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

n _cut＝n _motor/i _sys(12)

In formula: n _cutit is the input speed of flying shear crank; n _motorit is shearing system motor output speeds; i _sysbe shearing system reduction gear ratio, after each reduction gear ratio iteration completes, its value always gets up-to-date deceleration ratio, till iteration convergence.

Input angular velocity according to the relation determination flying shear crank OC of rotating speed and angular velocity:

ω＝2πn _cut(13)

In 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, as shown in process flow diagram 3a, specifically comprises the following steps:

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

Table 1 calculating parameter

Step 2: solving of the cutting edge track under correspondence system reduction gear ratio 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, namely provide the interval [i of the reduction gear ratio of the system of technological requirement _min, i _max] after, make i _k=(i _min+ i _max)/2, the input speed of flying shear crank is calculated according to formula (12), determine 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 substituted in formula (1)-Shi (8) as the given value calculating cutting edge horizontal velocity solve.As the starting point calculated when being namely 0 ° using the corner of crank OC, with the step-length of very little angle step (if excessive, possibly cannot meet formula (11) condition of convergence in follow-up solving) as loop iteration, solve according to the solving equation (formula (1)-Shi (8)) of aforesaid flying shear blade space tracking and speed, obtain space tracking and the horizontal velocity value of upper scissor blade D point.

Step 3: during initial shear angle under correspondence system reduction gear ratio, cutting edge horizontal velocity solves.First according to known conditions determination initial shear angle α ₁.Initial shear angle α ₁solution procedure can be described below: given upper and lower cutting edge is running the cutting edge registration s at minimum point place, during length, the cutting edge D most significant digit of crank and distance H2, the shaped steel rolled piece profile height H of crank and the parameter value such as distance c of cutting edge and shaped steel rolled piece when starting to shear, calculate the theoretical value y of D point in y positive dirction by formula (8) _p.Calculate when being 0 ° from φ, using the angle step Δ θ soundd out as the step-length of loop iteration, by formula (9), conversion is carried out to each element of coordinates matrix of the D point solved in step 2 and obtains an iteration convergence judgment matrix.Travel through each element of this iteration convergence judgment matrix successively, if certain element does not meet formula (9), then increase an angle step, till meeting formula (9).By formula (10), this element met in the iteration convergence judgment matrix of formula (9) is judged again.If do not met, then increase an angle step, go round and begin again successively, until formula (9) and formula (10) meet simultaneously.Flying shear initial shear angle α can be obtained ₁.According to the method for interpolate value, obtain flying shear initial shear angle α ₁time corresponding cutting edge D point horizontal velocity V _{cut_angle}.

Step 4: given convergence franchise ε ₃, and carry out iteration judgement by formula (11).If calculate the iteration convergence condition reaching formula (11), then exit previous cycle, the system slowdown ratio meeting designing requirement that record is corresponding.If do not reach the condition of convergence, and if 1.03 × V _{cut_angle}< V _k, then i is made _max=i _k, reenter step 2 and carry out iterative computation, until (11) reach the condition of convergence, find the system slowdown ratio meeting designing requirement.If do not reach the condition of convergence, and if 1.03 × V _{cut_angle}> V _k, then i is made _min=i _k, reenter step 2 and carry out iterative computation, until (11) reach the condition of convergence, find the system slowdown ratio meeting designing requirement.If do not reach the condition of convergence.Go round and begin again like this, till the iteration convergence condition reaching formula (11), record now system slowdown ratio.

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

Root institute table 1 column data, and the solution procedure of foundation step 1-step 5, the system slowdown ratio that can obtain this flying shear known conditions applicable is 17.6096.If exceeded, under the rolled piece horizontal techniques rate request of regulation, motor exceedes rated speed, is unfavorable for the normal work of motor.If rolled piece horizontal techniques speed is smaller compared with the value in this method, then when flying shear can be made to start to shear by the rotating speed reducing motor, cutting edge horizontal velocity and shaped steel rolled piece travelling speed match.Therefore, the defining method giving the shearing system reduction gear ratio maximal value of applicable given systematic parameter of the present invention, has good operability and program voltinism.It has departed from three-dimensional parameterized software operating environment, reduces the labour intensity of project planner, has a good application prospect and the practicality of engineer applied.

Above embodiment is used for illustrative purposes only; but not limitation of the present invention; person skilled in the relevant technique; without departing from the spirit and scope of the present invention; the method can also be applied in the associated mechanisms such as cold-rolling flying shear; therefore all equivalent technical schemes, all fall into protection scope of the present invention.

Claims (5)

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

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

Step 2: solving of the cutting edge track under correspondence system reduction gear ratio and horizontal velocity, the minimum value i of given system slowdown ratio _minwith maximal value i _max, provide the interval [i of the reduction gear ratio of the system of technological requirement _min, i _max] after, make i _k=(i _min+ i _max)/2, according to formula n _cut=n _motor/ i _syscalculate the input speed of flying shear crank, then according to the relational expression ω=2 π n of rotating speed and angular velocity _cutjustice determines the input angular velocity of flying shear crank OC, and solves the horizontal velocity of cutting edge using this input angular velocity as the given value calculating cutting edge horizontal velocity; As the starting point calculated when being 0 ° using the corner of crank, solving according to the solving equation of flying shear blade space tracking and speed, obtain space tracking and the horizontal velocity value of upper scissor blade D point, and this result of calculation is preserved, wherein n _cutthe input speed of flying shear crank, n _motorshearing system motor output speeds, i _sysit is shearing system reduction gear ratio;

Step 3: the solving of cutting edge horizontal velocity during initial shear angle under correspondence system reduction gear ratio, obtains initial shear angle α ₁;

Step 4: given convergence franchise ε ₃, and press formula carry out iteration judgement, till the iteration convergence condition reaching above formula, if do not reach the condition of convergence, and if 1.03 × V _{cut_angle}<V _k, then i is made _max=i _k, reenter step 2 and carry out iterative computation, until reach the condition of convergence, find the system slowdown ratio meeting designing requirement; If do not reach the condition of convergence, and if 1.03 × V _{cut_angle}>V _k, then i is made _min=i _k, reenter step 2 and carry out iterative computation, until reach the condition of convergence, obtain satisfactory system slowdown ratio, wherein V _{cut_angle}for the x direction speed of D point during initial shear angle in coordinate system xoy, V _kfor shearing the x direction speed of rolled piece in coordinate system xoy, i _minfor the minimum value of system slowdown ratio, i _maxfor the maximal value of system slowdown ratio;

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

As the starting point calculated when being 0 ° using the corner of crank, according to equation $\left\{\begin{array}{c}{m}_D=r_2\&CenterDot;\cos \left(\mathrm{\&phi;}\right)+r_5\&CenterDot;\cos ({\mathrm{\&phi;}}_3+{\mathrm{\&phi;}}_5)\\ n_D=r_2\&CenterDot;\sin \left(\mathrm{\&phi;}\right)+r_5\&CenterDot;\sin ({\mathrm{\&phi;}}_3+{\mathrm{\&phi;}}_5)\end{array}\right.,$ $\left\{\begin{array}{c}{x}_D=m_D\cos \left({\mathrm{\&phi;}}_1\right)-n_D\sin \left({\mathrm{\&phi;}}_1\mathrm{\&phi;}\right)\\ y_D=m_D\sin \left({\mathrm{\&phi;}}_1\right)+n_D\cos \left({\mathrm{\&phi;}}_1\mathrm{\&phi;}\right)\end{array}\right.,$ Obtain the horizontal velocity value of the cutting edge that each angle is corresponding when the space tracking of upper scissor blade D point and crank rotate a circle, wherein n _dfor the n direction coordinate figure of D point in coordinate system mon, m _dfor the m direction coordinate figure of D point in coordinate system mon, r ₂for the length of crank OC, φ is the corner of crank OC, r ₅for connecting rod CD length, φ ₃for the angle of connecting rod BC and m axle forward; x _dfor the x direction coordinate figure of D point in coordinate system xoy, y _dfor the y direction coordinate figure of D point in coordinate system xoy, φ ₁for the angle of xoy coordinate system and mon coordinate system.

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

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

Wherein, r ₂for crank OC length, crank OC angular velocity is ω, and crank OC corner is φ, r ₁for fixed frame OA length, r ₃for connecting rod BC length, connecting rod BC angular velocity is ω ₃, r ₄for 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 ₅for connecting rod CD length, φ ₂for the value of ∠ OAB;

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

$\left[\begin{array}{cc}-r_3\sin \left({\mathrm{\&phi;}}_4\right)& -r_4\sin \left({\mathrm{\&phi;}}_2\right)\\ r_3\cos \left({\mathrm{\&phi;}}_4\right)& -r4\cos \left({\mathrm{\&phi;}}_2\right)\end{array}\right]\left[\begin{array}{c}{\mathrm{\&omega;}}_3\\ {\mathrm{\&omega;}}_4\end{array}\right]=\left[\begin{array}{c}{r}_2\sin \left(\mathrm{\&phi;}\right)\mathrm{\&omega;}\\ -r_2\cos \left(\mathrm{\&phi;}\right)\mathrm{\&omega;}\end{array}\right]---\left(3\right);$

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

Wherein:

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

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

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

Wherein:

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

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

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

Wherein V _dmfor D point is along the speed of m axle, V _dnfor D point is along the speed of n axle;

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

Wherein:

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

Y _dfor 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 D point is determined according to technology arrangement in 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 cutting edge design registration; H is shaped steel rolled piece profile height; C is the distance of cutting edge and shaped steel rolled piece when starting to shear; E is the section bar also remaining not disconnected section relative height value reaching the relative shear degree of depth, and its value is 1 deduct 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, obtain initial shear angle α in described step 3 ₁specifically comprise:

(1) calculate when being 0 ° from φ, using the angle step Δ θ soundd out as the step-length of loop iteration, to each element of coordinates matrix of the D point solved in step 2 by formula carry out conversion and obtain iteration convergence judgment matrix, wherein a ε ₂be convergence franchise, travel through each element of this iteration convergence judgment matrix successively, if certain element does not meet formula then increase an angle step Δ θ, until meet formula till;

(3) again by formula x _d<0 is to meeting formula iteration convergence judgment matrix in this element judge, if do not met, then increase an angle step Δ θ, go round and begin again successively, until formula with formula x _d<0 meets 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 described step 4, according to interpolate value correlation technique, obtain flying shear initial shear angle α ₁time corresponding cutting edge D point horizontal velocity V _{cut_angle}.

5. hot-rolled steel section shearing system reduction gear ratio control method as claimed in claim 1, it is characterized in that, described system slowdown ratio is 17.6096.