CN103433593B - A kind of tubing cutting linear interpolation and dynamic compensating device and method - Google Patents
A kind of tubing cutting linear interpolation and dynamic compensating device and method Download PDFInfo
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- CN103433593B CN103433593B CN201310440406.7A CN201310440406A CN103433593B CN 103433593 B CN103433593 B CN 103433593B CN 201310440406 A CN201310440406 A CN 201310440406A CN 103433593 B CN103433593 B CN 103433593B
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Abstract
The invention discloses a kind of tubing cutting linear interpolation and dynamic compensating device and method, comprise lifting shaft connecting plate (8), it is characterized in that: described lifting shaft connecting plate (8) is provided with rotary cylinder (1) and cutting mechanism, 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.The present invention judges the position relationship of burning torch and workpiece by the presence or absence of three inductive switch signals, when the distance of tubing and burning torch changes, detection arm drives burning torch to fluctuate along with the change of distance, the height of burning torch can be regulated in real time, the spacing of guarantee burning torch and workpiece is a fixed value, and this detection compensation seamlessly transits, and avoids occurring sudden change, rapid dynamic response speed, can not produce hysteresis.
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 workpiece to rotate, and burning torch 12 moves around on workpiece generatrix direction, realize 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, effectively could ensure cut quality and cutting accuracy.Because tubing inherently exists certain geometrical deviation, the distortion of tubing in transportation in addition adding man-hour, the tubing of actual cutting is caused not to be the pipe of standard.When rotated, to tubing the difference in height between tubing and burning torch 12 constantly change, and distance hour easy damaged in collision burning torch 12, cannot cut off apart from burning torch time large 12 current interruption, highly constantly change making the tubing of cutting occur burr in addition, and cut quality is defective.In order to ensure cutting accuracy and cut quality, needing to detect the distance between workpiece and burning torch 12, then compensating, when guaranteeing work piece cut, the difference in height between burning torch 12 and workpiece is a fixed value.At present, pipe cutting equipment mainly contains two kinds of detection modes: one uses displacement or laser sensor, carries out pre-detection to workpiece, according to detection data, linear interpolation compensation is carried out to cutting track; One adopts mechanical float device to detect.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, adopt the mode to multipoint acquisition on cutting track, record burning torch 12 and the difference in height of workpiece on each point, then carry out the linear interpolation of multi-point, precompute to pass through mutually on track cutting-height a little, then carry out electrical compensation by controller.This compensation way needs to run on cutting track once in advance, greatly reduces cutting efficiency.In addition, displacement transducer and laser sensor price comparison high, add equipment cost.
Mechanical float checkout gear.Adding detection arm in the both sides of burning torch 12, is contacted by Universal caster between detection arm with workpiece, and when workpiece rotates, whole detection arm can change along with the height change of workpiece, reaches the object of detection.Though this floating installation does not need pre-detection, but structure comparison is large, and in order to the testing goal reached, detection arm of floating is closer from burning torch 12, when burning torch 12 needs to swing, during bevel cut, just limits 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 the height of burning torch in real time, 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: described lifting shaft connecting plate (8) is provided with rotary cylinder (1) and cutting mechanism, 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 lowermost position inductive switch (4), interposition inductive switch (5) and upper inductive switch (6), described lowermost position inductive switch (4), interposition inductive switch (5) and upper inductive switch (6) are equally spaced, described lowermost position inductive switch (4) is highly greater than interposition inductive switch (5), described interposition inductive switch (5) is highly greater than upper inductive switch (6), and the difference in height of described lowermost position 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 is to 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), lowermost position inductive switch (4), interposition inductive switch (5) and upper inductive switch (6) all connection control devices, 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, it is characterized in that: when comprising the steps: that (1) carries out work piece cut, controller controls rotary cylinder (1) and swings to level, makes interposition inductive switch (5) bottom and burning torch (12) cutting torch be in sustained height;
(2) after detection arm rotates to horizontal level, if lowermost position inductive switch (4), interposition inductive switch (5) and upper inductive switch (6) all do not have signal, then controller control servo drive motor declines fast, system is in detection SBR, when lowermost position inductive switch (4) has signal, servo drive motor declines slowly, and system starts to detect;
(2) when lowermost position inductive switch (4) has signal, when interposition inductive switch (5) and upper inductive switch (6) no signal, detection arm (3) and burning torch (12) decline simultaneously slowly, detection arm enters the slow dynamic adjustment process that declines, within the scope of the difference in height of lowermost position 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) when lowermost position inductive switch (4) and interposition inductive switch (5) have signal simultaneously, during upper inductive switch (6) no signal, detection arm (3) rises slowly, enter the slow dynamic adjustment process that rises, until during interposition inductive switch (5) no signal, stop rising;
(4) when lowermost position inductive switch (4) has signal, when interposition inductive switch (5) and upper inductive switch (6) have a signal, detection arm (3) first rises fast, when upper inductive switch (6) no signal, lowermost position 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 judges the position relationship of burning torch and workpiece by the presence or absence of three inductive switch signals, when the distance of tubing and burning torch changes, detection arm drives burning torch to fluctuate along with the change of distance, can regulate the height of burning torch in real time, ensures that the spacing of burning torch and workpiece is a fixed value, and this detection compensates and seamlessly transits, avoid occurring sudden change, rapid dynamic response speed, can not produce hysteresis.Because real-Time Compensation of the present invention ensure that the distance of burning torch and workpiece, whole cutting process there will not be the phenomenon of current interruption, and the cut quality of workpiece is good, and the groove accuracy 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 that can be real-time compensates, and improves working (machining) efficiency; Compared with mechanical float device, this detection system structure is simple, detection arm can be packed up at any time, take up room little.Due to mechanical float device self structure, in the angle that cutting limit burning torch swings, therefore can only the less workpiece of beveling angle, and this detection system does not affect burning torch pendulum angle.
Accompanying drawing explanation
Fig. 1 is the 3 dimensional drawing that the present invention cuts checkout gear.
Fig. 2 is the 3 dimensional drawing of detection arm of the present invention.
Fig. 3 is detection arm plumbness schematic diagram.
Fig. 4 is detection arm level schematic diagram.
Fig. 5 is the right TV structure schematic diagram of Fig. 4.
The slow dynamically imputation adjustment flow chart of Fig. 6.
In figure 1, rotary cylinder, 2, coupling spindle, 3, detection arm, 4, lowermost position inductive switch, 5, interposition inductive switch, 6, upper inductive switch, 7, processing work, 8, lifting shaft gusset piece, 9, balance staff arm, 10, balance staff gusset piece, 11, swinging axle, 12, burning torch.
Detailed description of the invention
Below in conjunction with accompanying drawing and preferred embodiment, the present invention is further described in detail.
See Fig. 1-Fig. 6, the present invention includes lifting shaft connecting plate 8, described lifting shaft connecting plate 8 is provided with rotary cylinder 1 and cutting mechanism, 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 lowermost position inductive switch 4, interposition inductive switch 5 and upper inductive switch 6, described lowermost position inductive switch 4, interposition inductive switch 5 and upper inductive switch 6 are equally spaced, described lowermost position inductive switch 4 is highly greater than interposition inductive switch 5, described interposition inductive switch 5 is highly greater than upper inductive switch 6, and the difference in height of described lowermost position 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 puts horizontal level, interposition inductive switch 5 bottom and described burning torch 12 cutting torch are in sustained height.
Described rotary cylinder connection 1, lowermost position inductive switch 4, interposition inductive switch 5 and upper inductive switch 6 all connection control devices, 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 the plumbness be in shown in Fig. 2, and before starting detection, rotary cylinder 1 drives detection arm 3 from the 90-degree rotation of state shown in Fig. 2, under rotating to the level shown in Fig. 3.After detection arm 3 arrives horizontal level, three inductive switches 4,5,6 are just in time in directly over the center line of processing work 7, are namely in directly over pipe peak.When processing work 7 rotates, inductive switch 4,5,6 and burning torch 12 are in directly over processing work 7 peak all the time, and when ensureing cutting, inductive switch 4, difference in height between 5,6 and processing work 7 are accurately.
As shown in Figure 3, when mounted, three inductive switches (4,5, No. 6 inductive switches) have setting height(from bottom)s different separately, inductive switch 5 is interposition switch, it and burning torch 12 are contour, two other lowermost position inductive switch 4 (corresponding points C) and upper inductive switch 6 (corresponding points A) differ ± 1mm with interposition inductive switch 5 (corresponding points B), constant spacing between interposition inductive switch 5 and processing work 7 is H, and namely processing work 7 is poor with the level altitude of burning torch 12.
Carry out adding man-hour at processing work 7, after detection arm 3 puts horizontal level, if three inductive switches 4,5,6 all do not have signal, show that interposition inductive switch 5 is greater than H with the spacing of processing work 7, then controller control servo drive motor declines fast, system is in and detects in preparation, and when having signal to lowermost position inductive switch 4, system starts to detect.After system starts detection, servo drive motor will adjust slowly, when lowermost position inductive switch 4 has signal, and when interposition inductive switch 5 and upper inductive switch 6 no signal, detection arm 3 declines with burning torch 12 simultaneously slowly, detection arm is entered as dynamic imputation adjustment process, at lowermost position inductive switch 4 with within the scope of the difference in height of interposition inductive switch 5, system adopts the decrease speed of linear interpolation method adjustment detection arm 3 and burning torch 12, position when smooth excessiveness has signal to interposition inductive switch 5.When lowermost position inductive switch 4 and interposition inductive switch 5 have signal simultaneously and upper inductive switch 6 no signal time, detection arm 3 rises slowly, until when interposition inductive switch 5 does not have a signal, stop rising, in lowermost position inductive switch 4 and the determined altitude range of upper inductive switch 6, detection system is in slow dynamic adjustment process all the time.When inductive switch 4,5,6 has a signal simultaneously, represent that burning torch 12 is less than fixed value with the distance of workpiece, detection arm 3 first rises fast, when when upper inductive switch 6 no signal, interposition inductive switch 5 and lowermost position inductive switch 4 have a signal, detection arm 3 starts slow rising, and detection system enters again slow dynamic adjustment process, until when interposition inductive switch 5 does not have a signal, stop rising.After whole process completes, detection arm 3 swings go back to upright position, namely gets back to the state shown in Fig. 2, detects complete.
The method that slow dynamic conditioning adopts: slow dynamic conditioning comprises decline slow dynamic conditioning and slow dynamic conditioning two processes that rise: A, B 2 and the distance between B, C 2 are set as 1mm, the pulse equivalency of servo controller is set as 0.01mm/pulse.Can set up linear interpolation function F=100-vt, F in whole slow dynamically imputation adjustment is the umber of pulse arriving the required adjustment of B point, and v is the speed of dynamic conditioning, and t is the dynamic conditioning time.Assuming that entering the slow dynamically imputation adjustment process (being adjusted to B point by C) that rises, until adjusting to burning torch 12 with the difference in height of processing work 7 is in the process of fixed value H (mm), in processing work 7 rotary course, height is constant, then processing work 7 is D=H-0.01F with the actual height difference of burning torch 12, is also D=H-1+0.01vt.The choosing of size of v is related to the speed of regulating the speed, because adjusting range is very little, it is adjustment in the scope of ± 1mm, too fast easy adjustment of regulating the speed is current interruption or collision burning torch 12 excessively, adjusted and easily make dynamic response reduce slowly, in this system, v (pulse/s) can be chosen within the scope of 50-75pulse/s and be advisable.In the slow dynamically imputation adjustment process (being adjusted to B point by A) of decline, then processing work 7 is D=H+0.01F with the actual height difference of burning torch 12, and be also D=H+1-0.01vt, the speed of regulating the speed is consistent with the adjustment process by C to B.If in slow dynamically imputation adjustment process, because the height of processing work 7 changes, make the process that adjustment process (being adjusted to B point by C) is directly excessively put to (being adjusted to B by A point), then interpolation function is constant, processing work 7 changes D=H+0.01F with the actual height difference of burning torch 12 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 difference of burning torch 12 by D=H+0.01F.
The present invention can pass through without the technical characteristic described or adopt existing techniques in realizing; do not repeat them here; certainly; above-mentioned explanation is not limitation of the present invention; the present invention is also not limited in above-mentioned citing; the change 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 cutting linear interpolation and dynamic compensating device, comprise lifting shaft connecting plate (8), it is characterized in that: described lifting shaft connecting plate (8) is provided with rotary cylinder (1) and cutting mechanism, 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 cutting linear interpolation according to claim 1 and dynamic compensating device, it is characterized in that: described inductive switch comprises lowermost position inductive switch (4), interposition inductive switch (5) and upper inductive switch (6), described lowermost position inductive switch (4), interposition inductive switch (5) and upper inductive switch (6) are equally spaced, described lowermost position inductive switch (4) is highly greater than interposition inductive switch (5), described interposition inductive switch (5) is highly greater than upper inductive switch (6), and the difference in height of described lowermost position 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 cutting linear interpolation according to claim 2 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 is to horizontal level, interposition inductive switch (5) bottom and described burning torch (12) cutting torch are in sustained height.
4. tubing cutting linear interpolation according to claim 3 and dynamic compensating device, it is characterized in that: described rotary cylinder connects (1), lowermost position inductive switch (4), interposition inductive switch (5) and upper inductive switch (6) all connection control devices, described controller connects servo drive motor, and described servo drive motor connects described lifting shaft connecting plate (8).
5. tubing cutting linear interpolation and a dynamic compensation method, is characterized in that: comprise the steps:
(1), when carrying out work piece cut, controller controls rotary cylinder (1) and swings to level, makes interposition inductive switch (5) bottom and burning torch (12) cutting torch be in sustained height;
(2) after detection arm rotates to horizontal level, if lowermost position inductive switch (4), interposition inductive switch (5) and upper inductive switch (6) all do not have signal, then controller control servo drive motor declines fast, system is in detection SBR, when lowermost position inductive switch (4) has signal, servo drive motor declines slowly, and system starts to detect;
(3) when lowermost position inductive switch (4) has signal, when interposition inductive switch (5) and upper inductive switch (6) no signal, detection arm (3) and burning torch (12) decline simultaneously slowly, detection arm enters the slow dynamic adjustment process that declines, within the scope of the difference in height of lowermost position 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) when lowermost position inductive switch (4) and interposition inductive switch (5) have signal simultaneously, during upper inductive switch (6) no signal, detection arm (3) rises slowly, enter the slow dynamic adjustment process that rises, until during interposition inductive switch (5) no signal, stop rising;
(5) when lowermost position inductive switch (4) has signal, when interposition inductive switch (5) and upper inductive switch (6) have a signal, detection arm (3) first rises fast, when upper inductive switch (6) no signal, lowermost position 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 cutting linear interpolation according to claim 5 and dynamic compensation method, 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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Citations (4)
| 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 |
| 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 |
| 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 |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0871744A (en) * | 1994-09-02 | 1996-03-19 | Kubota Corp | Groove preparation device of cylindrical work |
| SG11201401447PA (en) * | 2011-08-18 | 2014-07-30 | Victor Equipment Co | Air -carbon arc system for detecting and/or reducing irregularities in a work piece surface and method of using the same |
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- 2013-09-24 CN CN201310440406.7A patent/CN103433593B/en active Active
Patent Citations (4)
| 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 |
| 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 |
| 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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