CN103433593A - Pipe cutting linear interpolation and dynamic compensating device and pipe cutting linear interpolation and dynamic compensation method - Google Patents
Pipe cutting linear interpolation and dynamic compensating device and pipe cutting linear interpolation and dynamic compensation method Download PDFInfo
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- CN103433593A CN103433593A CN2013104404067A CN201310440406A CN103433593A CN 103433593 A CN103433593 A CN 103433593A CN 2013104404067 A CN2013104404067 A CN 2013104404067A CN 201310440406 A CN201310440406 A CN 201310440406A CN 103433593 A CN103433593 A CN 103433593A
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Abstract
The invention discloses a pipe cutting linear interpolation and dynamic compensation device and a pipe cutting linear interpolation and dynamic compensation method. The device comprises a lifting shaft connecting plate (8), and is characterized in that the lifting shaft connecting plate (8) is provided with a rotary cylinder (1) and a cutting mechanism, the rotary cylinder (1) is connected with a detection arm (3) through a coupling shaft (2), the front end of the detection arm (3) is provided with a group of inductive switches; the position relation of a cutting gun and a workpiece can be judged according to the the existence of three inductive switch signals, when the distance between the pipe and the cutting gun is changed, the detection arm is used for driving the cutting gun to float up and down along the change of the distance so as to regulate the height of the cutting gun in real time and guarantee that the distance between the cutting gun and the workpiece is a fixed value; since the detection compensation is in smooth transition, the sudden change is avoided, the dynamic response speed is fast, and the hysteresis phenomenon is avoided.
Description
Technical field
The present invention relates to tubing cutting field, specifically, relate to a kind of tubing cutting linear interpolation and dynamic compensating device and method.
Background technology
During pipe cutting equipment work, need the workpiece rotation, and burning torch 12 moves around on the workpiece generatrix direction, realizes the cutting process of tubing.According to the requirement of cutting technique, the distance of burning torch 12 and workpiece is a fixed value substantially, could effectively guarantee cut quality and cutting accuracy.Just there is certain geometrical deviation due to tubing man-hour itself adding, the distortion of tubing in transportation in addition, the tubing that causes actual cutting is not the pipe of standard.When rotated, the difference in height between tubing and burning torch 12 is constantly to change to tubing, distance hour easy damaged in collision burning torch 12, and when distance is large, burning torch 12 current interruptions can't be cut off, and highly constantly change and make the tubing cut burr occur in addition, and cut quality is defective.In order to guarantee cutting accuracy and cut quality, need to detect the distance between workpiece and burning torch 12, then compensate, while guaranteeing work piece cut, the difference in height between burning torch 12 and workpiece is a fixed value.At present, mainly contain two kinds of detection modes on the pipe cutting equipment: a kind of is to use displacement or laser sensor, and workpiece is carried out to pre-detection, according to detecting data, cutting track is carried out to the linear interpolation compensation; A kind of is to adopt the mechanical float device to be detected.There is following weak point in these two kinds of modes at present:
The pre-detection compensation way of displacement or laser sensor.Before work piece cut, the mode of employing to multipoint acquisition on cutting track, record the difference in height of burning torch on each point 12 and workpiece, then carries out the linear interpolation of multi-point, precompute pass through mutually on track cutting-height a little, then carry out electrical compensation by controller.This compensation way needs on cutting track, to move once in advance, greatly reduces cutting efficiency.In addition, displacement transducer and laser sensor price comparison are high, have increased equipment cost.
The mechanical float checkout gear.Both sides at burning torch 12 add detection arm, between detection arm and workpiece, are to contact by Universal caster, and when workpiece rotates, whole detection arm can change and change along with the height of workpiece, reaches the purpose of detection.Though this floating installation does not need pre-detection, but structure is larger, for the testing goal reached, the detection arm of floating is closer from burning torch 12, when burning torch 12 needs to swing, during bevel cut, has just limited the angle of groove.Therefore, this mechanical float device has larger limitation.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of tubing cutting linear interpolation and dynamic compensating device and method, regulates in real time the height of burning torch, improves cut quality and the cutting accuracy of workpiece.
The present invention adopts following technical scheme to realize goal of the invention:
A kind of tubing cutting linear interpolation and dynamic compensating device, comprise lifting shaft connecting plate (8), it is characterized in that: be provided with rotary cylinder (1) and cutting mechanism on described lifting shaft connecting plate (8), described rotary cylinder (1) connects detection arm (3) by coupling spindle (2), and the front end of described detection arm (3) is provided with one group of inductive switch.
As the further restriction to the technical program, described inductive switch comprises the most the next inductive switch (4), interposition inductive switch (5) and upper inductive switch (6), the most the next described inductive switch (4), interposition inductive switch (5) and upper inductive switch (6) are equally spaced, the most the next described inductive switch (4) highly is greater than interposition inductive switch (5), described interposition inductive switch (5) highly is greater than upper inductive switch (6), and the difference in height of the most the next described inductive switch (4) and interposition inductive switch (5) equals the difference in height of described interposition inductive switch (5) and upper inductive switch (6).
As the further restriction to the technical program, described cutting mechanism comprises swinging axle (11), described swinging axle (11) connects balance staff arm (9) by balance staff connecting plate (10), the other end of described balance staff arm (9) is provided with burning torch (12), when detection arm (3) pendulum arrives horizontal level, interposition inductive switch (5) bottom and described burning torch (12) cutting torch are in sustained height.
As the further restriction to the technical program, described rotary cylinder connects (1), the most the next inductive switch (4), interposition inductive switch (5) all is connected controller with upper inductive switch (6), described controller connects servo drive motor, and described servo drive motor connects described lifting shaft connecting plate (8).
A kind of tubing cutting linear interpolation and dynamic compensation method, is characterized in that: comprise the steps:
(1), while carrying out work piece cut, controller is controlled rotary cylinder (1) and is swung to level, makes interposition inductive switch (5) bottom and described burning torch (12) cutting torch in sustained height;
(2) after detection arm rotates to horizontal level, if the most the next inductive switch (4), interposition inductive switch (5) and upper inductive switch (6) all do not have signal, controller is controlled the servo drive motor fast-descending, system is in detecting SBR, when the most the next inductive switch (4) when signal is arranged, servo drive motor descends slowly, and system starts to detect;
(2) signal is arranged when the most the next inductive switch (4), when interposition inductive switch (5) and upper inductive switch (6) no signal, detection arm (3) and burning torch (12) descend simultaneously slowly, detection arm enters the slow dynamic adjustment process that descends, in the difference in height scope of the most the next inductive switch (4) and interposition inductive switch (5), by slow dynamic adjustment process, be smoothly transitted into the position that interposition inductive switch (5) has signal;
(3) signal is arranged simultaneously when the most the next inductive switch (4) and interposition inductive switch (5), during upper inductive switch (6) no signal, detection arm (3) is slow to rise, and enters the slow dynamic adjustment process that rises, until during interposition inductive switch (5) no signal, stop rising;
(4) signal is arranged when the most the next inductive switch (4), interposition inductive switch (5) and upper inductive switch (6) are while having signal, the first fast rise of detection arm (3), when upper inductive switch (6) no signal and the most the next inductive switch (4) and interposition inductive switch (5) have signal simultaneously, go to step (3);
(5), after whole cutting process completes, detection arm (3) resets to upright position.
As the further restriction to the technical program, the speed of the slow dynamic adjustment process of described decline and the slow dynamic adjustment process that rises is all 50-75pulse/s.
Compared with prior art, advantage of the present invention and good effect are: the present invention is by the position relationship that has or not to judge burning torch and workpiece of three inductive switch signals, when the distance of tubing and burning torch changes, detection arm drives burning torch and fluctuates along with the variation of distance, can regulate in real time the height of burning torch, guarantees that between burning torch and workpiece, distance is a fixed value, and this detection compensation seamlessly transits, avoid sudden change occurring, rapid dynamic response speed, can not produce hysteresis.Because real-Time Compensation of the present invention has guaranteed the distance of burning torch and workpiece, whole cutting process not there will be the phenomenon of current interruption, and the cut quality of workpiece is good, and the groove precision cut out is high.With the compensation way ratio of pre-detection, the present invention only needs three inductive switches, does not need the displacement transducer that price is more expensive, provides cost savings; And do not need to detect in advance, detection compensation that can be real-time, improved working (machining) efficiency; With the mechanical float device, compare, this detection system is simple in structure, can at any time detection arm be packed up, and takes up room little.Due to mechanical float device self structure, limited in when cutting the angle that burning torch swings, therefore can only the less workpiece of beveling angle, and this detection system does not affect the burning torch pendulum angle.
The accompanying drawing explanation
Fig. 1 is the 3 dimensional drawing that the present invention cuts checkout gear.
The 3 dimensional drawing that Fig. 2 is detection arm of the present invention.
Fig. 3 is detection arm plumbness schematic diagram.
Fig. 4 is detection arm level schematic diagram.
The right TV structure schematic diagram that Fig. 5 is Fig. 4.
Flow chart is adjusted in the slow dynamically interpolation of Fig. 6.
In figure 1, rotary cylinder, 2, coupling spindle, 3, detection arm, 4, the most the next inductive switch, 5, interposition inductive switch, 6, the upper inductive switch, 7, processing work, 8, the lifting shaft gusset piece, 9, balance staff arm, 10, the balance staff gusset piece, 11, swinging axle, 12, burning torch.
The specific embodiment
Below in conjunction with accompanying drawing and preferred embodiment, the present invention is further described in detail.
Referring to Fig. 1-
Fig. 6, the present invention includes lifting shaft connecting plate 8, on described lifting shaft connecting plate 8, is provided with rotary cylinder 1 and cutting mechanism, and described rotary cylinder 1 connects detection arm 3 by coupling spindle 2, and the front end of described detection arm 3 is provided with one group of inductive switch.
Described inductive switch comprises the most the next inductive switch 4, interposition inductive switch 5 and upper inductive switch 6, the most the next described inductive switch 4, interposition inductive switch 5 and upper inductive switch 6 are equally spaced, the most the next described inductive switch 4 highly is greater than interposition inductive switch 5, described interposition inductive switch 5 highly is greater than upper inductive switch 6, and the difference in height of the most the next described inductive switch 4 and interposition inductive switch 5 equals the difference in height of described interposition inductive switch 5 and upper inductive switch 6.
Described cutting mechanism comprises swinging axle 11, described swinging axle 11 connects balance staff arm 9 by balance staff connecting plate 10, the other end of described balance staff arm 9 is provided with burning torch 12, and when detection arm 3 pendulum arrive horizontal level, interposition inductive switch 5 bottoms and described burning torch 12 cutting torch are in sustained height.
Described rotary cylinder connection 1, the most the next inductive switch 4, interposition inductive switch 5 all are connected controller with upper inductive switch 6, and described controller connects servo drive motor, and described servo drive motor connects described lifting shaft connecting plate 8.
Under normal condition, detection arm 3 is to be in the plumbness shown in Fig. 2, and before starting to detect, rotary cylinder 1 drives detection arm 3 from the 90-degree rotation of state shown in Fig. 2, rotates under the level shown in Fig. 3.After detection arm 3 arrives horizontal levels, three inductive switches 4,5,6 just in time be in processing work 7 center line directly over, be in the pipe peak directly over.When processing work 7 rotation, inductive switch 4,5,6 and burning torch 12 are in directly over processing work 7 peaks all the time, and the difference in height while guaranteeing cutting between inductive switch 4,5,6 and processing work 7 is accurately.
As shown in Figure 3, when mounted, three inductive switches (4,5, No. 6 inductive switches) have different separately setting height(from bottom)s, inductive switch 5 is the interposition switch, it and burning torch 12 are contour, two other the most the next inductive switch 4(corresponding points C) and upper inductive switch 6(corresponding points A) with interposition inductive switch 5(corresponding points B) differ ± 1mm, the constant spacing between interposition inductive switch 5 and processing work 7 is H, the level altitude of processing work 7 and burning torch 12 is poor.
Added man-hour at processing work 7, detection arm 3 pendulum are after horizontal level, if three inductive switches 4,5,6 all do not have signal, show that interposition inductive switch 5 and the spacing of processing work 7 are greater than H, controller is controlled the servo drive motor fast-descending, system in detect preparing, while to the most the next inductive switch 4, signal being arranged till, system starts detection.After system starts to detect, servo drive motor will be adjusted slowly, when the most the next inductive switch 4 has signal, and interposition inductive switch 5 is during with upper inductive switch 6 no signal, detection arm 3 and burning torch 12 slow decline simultaneously, detection arm is advanced as dynamic interpolation adjustment process, in the difference in height scope of the most the next inductive switch 4 and interposition inductive switch 5, system adopts the linear interpolation method to adjust the decrease speed of detection arm 3 and burning torch 12, position when smooth excessiveness has signal to interposition inductive switch 5.When the most the next inductive switch 4 and interposition inductive switch 5 have signal and during upper inductive switch 6 no signal simultaneously, detection arm 3 rises slowly, until interposition inductive switch 5 is not while there is no signal, stop rising, in the most the next inductive switch 4 and the determined altitude range of upper inductive switch 6, detection system is all the time in slow dynamic adjustment process.When inductive switch 4,5,6 has signal simultaneously, mean that burning torch 12 and the distance of workpiece are less than fixed value, the first fast rise of detection arm 3, when upper inductive switch 6 no signals and interposition inductive switch 5 and the most the next inductive switch 4 when signal is arranged, detection arm 3 starts slow the rising, and detection system enters again slow dynamic adjustment process, until interposition inductive switch 5 is not while there is no signal, stop rising.After whole process completes, detection arm 3 swings go back to upright position, gets back to the state shown in Fig. 2, detects complete.
The slow method adopted of dynamically adjusting: slow dynamically the adjustment comprising slow dynamically the adjustment and slow two processes of dynamically adjusting that rise that descend: the distance between 2 of A, 2 of B and B, C is set as to 1mm, the pulse equivalency of servo controller is set as to 0.01mm/pulse.Can set up linear interpolation function F=100-vt in whole slow dynamic interpolation adjustment, F is for arriving the umber of pulse of the required adjustment of B point, and v is the speed of dynamically adjusting, and t is the dynamic adjustment time.Suppose and entering the slow dynamically interpolation adjustment process (by C, being adjusted to the B point) that rises, until adjust to burning torch 12, with the difference in height of processing work 7, be fixed value H(mm) process in, in processing work 7 rotary courses, be highly constant, processing work 7 is poor with the actual height of burning torch 12 is D=H-0.01F, also is D=H-1+0.01vt.The relation of choosing of the size of v the speed of regulating the speed, because adjusting range is very little, to adjust in the scope of ± 1mm, regulate the speed too fast easy adjustment excessively and current interruption or collision burning torch 12, adjusted and easily made slowly the dynamic response reduction, v(pulse/s in this system) can be chosen in the 50-75pulse/s scope and be advisable.In the slow dynamically interpolation adjustment process (being adjusted to the B point by A) that descends, processing work 7 is poor with the actual height of burning torch 12 is D=H+0.01F, also is D=H+1-0.01vt, and the speed of regulating the speed is consistent with the adjustment process by C to B.If in slow dynamically interpolation adjustment process, because the height of processing work 7 changes, the process that adjustment process (by C, being adjusted to the B point) is directly excessively put to (by the A point, being adjusted to B), interpolation function is constant, processing work 7 changes D=H+0.01F with the actual height of burning torch 12 is poor into by D=H-0.01F, otherwise transfer process is contrary, processing work 7 is converted into D=H-0.01F with the actual height of burning torch 12 is poor by D=H+0.01F.
The present invention can pass through or adopt existing techniques in realizing without the technical characterictic of describing; do not repeat them here; certainly; above-mentioned explanation is not limitation of the present invention; the present invention also is not limited in above-mentioned giving an example; the variation that those skilled in the art make in essential scope of the present invention, remodeling, interpolation or replacement, also should belong to protection scope of the present invention.
Claims (6)
1. a tubing cuts linear interpolation and dynamic compensating device, comprise lifting shaft connecting plate (8), it is characterized in that: be provided with rotary cylinder (1) and cutting mechanism on described lifting shaft connecting plate (8), described rotary cylinder (1) connects detection arm (3) by coupling spindle (2), and the front end of described detection arm (3) is provided with one group of inductive switch.
2. tubing according to claim 1 cuts linear interpolation and dynamic compensating device, it is characterized in that: described inductive switch comprises the most the next inductive switch (4), interposition inductive switch (5) and upper inductive switch (6), the most the next described inductive switch (4), interposition inductive switch (5) and upper inductive switch (6) are equally spaced, the most the next described inductive switch (4) highly is greater than interposition inductive switch (5), described interposition inductive switch (5) highly is greater than upper inductive switch (6), and the difference in height of the most the next described inductive switch (4) and interposition inductive switch (5) equals the difference in height of described interposition inductive switch (5) and upper inductive switch (6).
3. tubing according to claim 2 cuts linear interpolation and dynamic compensating device, it is characterized in that: described cutting mechanism comprises swinging axle (11), described swinging axle (11) connects balance staff arm (9) by balance staff connecting plate (10), the other end of described balance staff arm (9) is provided with burning torch (12), when detection arm (3) pendulum arrives horizontal level, interposition inductive switch (5) bottom and described burning torch (12) cutting torch are in sustained height.
4. tubing according to claim 3 cuts linear interpolation and dynamic compensating device, it is characterized in that: described rotary cylinder connects (1), the most the next inductive switch (4), interposition inductive switch (5) all is connected controller with upper inductive switch (6), described controller connects servo drive motor, and described servo drive motor connects described lifting shaft connecting plate (8).
5. a tubing cuts linear interpolation and dynamic compensation method, it is characterized in that: comprise the steps:
(1), while carrying out work piece cut, controller is controlled rotary cylinder (1) and is swung to level, makes interposition inductive switch (5) bottom and described burning torch (12) cutting torch in sustained height;
(2) after detection arm rotates to horizontal level, if the most the next inductive switch (4), interposition inductive switch (5) and upper inductive switch (6) all do not have signal, controller is controlled the servo drive motor fast-descending, system is in detecting SBR, when the most the next inductive switch (4) when signal is arranged, servo drive motor descends slowly, and system starts to detect;
(3) signal is arranged when the most the next inductive switch (4), when interposition inductive switch (5) and upper inductive switch (6) no signal, detection arm (3) and burning torch (12) descend simultaneously slowly, detection arm enters the slow dynamic adjustment process that descends, in the difference in height scope of the most the next inductive switch (4) and interposition inductive switch (4), by slow dynamic adjustment process, be smoothly transitted into the position that interposition inductive switch (5) has signal;
(4) signal is arranged simultaneously when the most the next inductive switch (4) and interposition inductive switch (5), during upper inductive switch (6) no signal, detection arm (3) is slow to rise, and enters the slow dynamic adjustment process that rises, until during interposition inductive switch (5) no signal, stop rising;
(5) signal is arranged when the most the next inductive switch (4), interposition inductive switch (5) and upper inductive switch (6) are while having signal, the first fast rise of detection arm (3), when upper inductive switch (6) no signal and the most the next inductive switch (4) and interposition inductive switch (5) have signal simultaneously, go to step (3);
(6), after whole cutting process completes, detection arm (3) resets to upright position.
6. tubing according to claim 5 cuts linear interpolation and dynamic compensation method, it is characterized in that: the speed of the slow dynamic adjustment process of described decline and the slow dynamic adjustment process that rises is all 50-75pulse/s.
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| CN201310440406.7A CN103433593B (en) | 2013-09-24 | 2013-09-24 | A kind of tubing cutting linear interpolation and dynamic compensating device and method |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0571624A1 (en) * | 1990-04-17 | 1993-12-01 | Kabushiki Kaisha Komatsu Seisakusho | Method of controlling torch height in plasma cutting |
| JPH0871744A (en) * | 1994-09-02 | 1996-03-19 | Kubota Corp | Groove preparation device of cylindrical work |
| CN201253730Y (en) * | 2008-08-11 | 2009-06-10 | 山东法因数控机械股份有限公司 | Cutting torch floating apparatus of pipe cutting machine |
| CN102896411A (en) * | 2011-07-30 | 2013-01-30 | 武陟县盛彩打印设备制造厂 | Radial arc voltage heightening device of numerical control plasma cutting machine |
| US20130043220A1 (en) * | 2011-08-18 | 2013-02-21 | Victor Equipment Company | Air-carbon arc system and apparatus for detecting and/or reducing irregularities in a work piece surface and method of using the same |
| CN203509299U (en) * | 2013-09-24 | 2014-04-02 | 济南华汉电气科技有限公司 | Pipe cutting linear interpolation and dynamic compensation device |
-
2013
- 2013-09-24 CN CN201310440406.7A patent/CN103433593B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0571624A1 (en) * | 1990-04-17 | 1993-12-01 | Kabushiki Kaisha Komatsu Seisakusho | Method of controlling torch height in plasma cutting |
| JPH0871744A (en) * | 1994-09-02 | 1996-03-19 | Kubota Corp | Groove preparation device of cylindrical work |
| CN201253730Y (en) * | 2008-08-11 | 2009-06-10 | 山东法因数控机械股份有限公司 | Cutting torch floating apparatus of pipe cutting machine |
| CN102896411A (en) * | 2011-07-30 | 2013-01-30 | 武陟县盛彩打印设备制造厂 | Radial arc voltage heightening device of numerical control plasma cutting machine |
| US20130043220A1 (en) * | 2011-08-18 | 2013-02-21 | Victor Equipment Company | Air-carbon arc system and apparatus for detecting and/or reducing irregularities in a work piece surface and method of using the same |
| CN203509299U (en) * | 2013-09-24 | 2014-04-02 | 济南华汉电气科技有限公司 | Pipe cutting linear interpolation and dynamic compensation device |
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