CN105458038A - Online calculating method for plate quality in high-speed numerically controlled plate stamping process - Google Patents

Abstract

The invention discloses an online calculating method for plate quality in a high-speed numerically controlled plate stamping process. The online calculating method for the plate quality in the high-speed numerically controlled plate stamping process comprises the following steps: clamping a plate by a clamp; fixing the clamp on a nut of a ball screw mechanism; driving a screw of the ball screw mechanism by using a motor; and calculating in real time to obtain the quality of the plate by acquiring electromagnetic torque T of the motor when the motor drives the screw to run at stable speed. The quality of the plate can be calculated in real time by acquiring the electromagnetic torque T of the motor, in the stamping process, quality change of the plate can be obtained by real-time calculation, the circumstance that equipment such as an instrument is used for measuring the quality change of the plate after a punching machine stops is avoided, and production efficiency is not affected.

Description

Board quality on-line calculation method in high-speed numeric control plate stamping process

Technical field

The invention belongs to the technical field that Digit Control Machine Tool controls, be specifically related to board quality on-line calculation method in a kind of high-speed numeric control plate stamping process.

Background technology

In high-speed numeric control plate stamping system, panel feeding system is the important component part of whole punch press, primarily of compositions such as X, Y servomotor, transmission mechanism, guiding rail and feeding tables, its purposes to be clipped in the plate on clamp, and X, Y direction are done move and locate fast according to instruction.

Existing panel feeding system belongs to half-closed loop control, and photoelectric encoder is actual, and what detect is physical location and the speed of motor, instead of the physical location of sheet material.And in actual applications, the control object of the overwhelming majority is workbench, as long as think that feeding table has put in place, sheet material just located.And between feeding table to sheet material, in fact also have transmission device, also distortion and vibration can be produced because of high-speed motion between this, make sheet material can produce vibration shakiness at stamping-out point place, not only can cause the reduction of workpiece machining accuracy, the mold and punching head of the undershoot that also can fracture.Therefore, be necessary that study in the vibration at stamping-out point place, the design for the Orientation control algorithm of follow-up sheet material provides effective foundation to when lower sheet material moves at a high speed.

In order to study vibration when lower sheet material moves at a high speed, need the sheet material by testing different quality, when high-speed cruising stops to stamping-out point (impact point) place, the corresponding vibration period.From physical knowledge, when mechanical system is constant, when board quality and size constancy, the corresponding vibration period is constant.Obtain the vibration period of sheet material at stamping-out point place, the quality of sheet material at stamping-out point place must be obtained.And in punching course, sheet material is due to by continuous punching, the quality of sheet material declines, and because lower stamping die size is in change, and the quality that sheet material reduces cannot estimation on line; And punch press is in work process, can not stops and to measure with equipment such as instruments, therefore, need to carry out in line computation the quality of sheet material in punching course, and do not affect production efficiency.

Above-mentioned discussion content object be to reader introduce may to below by the various aspects of technology relevant for the various aspects of the present invention be described and/or advocate, believe that this discussion content contributes to for reader with background's information, to be conducive to understanding various aspects of the present invention better, therefore, should be appreciated that it is discuss to read these with this angle, instead of admit prior art.

Summary of the invention

The object of the invention is to avoid deficiency of the prior art and board quality on-line calculation method in a kind of high-speed numeric control plate stamping process is provided, its can under the prerequisite not affecting production efficiency to punching course in the quality of sheet material carry out more accurate in line computation.

Object of the present invention is achieved through the following technical solutions:

Board quality on-line calculation method in a kind of high-speed numeric control plate stamping process is provided, wherein sheet material is clamped by clamp, clamp is fixed on the nut of ball screw framework, the screw rod of ball screw framework is by driven by motor, when electric motor driven screw stable speed operation, by gathering the electromagnetic torque T of motor, calculate the quality of sheet material in real time.

On-line calculation method is specific as follows:

In mechanical rotation system, according to Newton's law, have:

$T-(T_l+T_{mg})=J\frac{d\mathrm{\ω}}{dt}---\left(1\right)$

Wherein, T is the electromagnetic torque of motor, T _lfor converting the load torque on motor shaft from nut to clamp, T _mgconvert the load torque on motor shaft for sheet material, J is system rotary inertia, and ω is motor shaft rotating machinery angular speed, for motor shaft rotating machinery angular acceleration;

In Leadscrew drive system, according to Newton's law, have:

T _a＝F _a×p _h/2πk′(2)

Wherein, T _afor the driving moment of leading screw, F _afor the axial load power of leading screw, p _hfor the helical pitch of leading screw, the forward efficiency that k ' is leading screw;

The axial load of leading screw comprises nut, clamp and sheet material, is provided with hairbrush below sheet material, if the damped coefficient of hairbrush is μ, then has:

F _a＝F _l+μmg(3)

Wherein, F _lconvert the axial load power on leading screw for nut, clamp, m is the quality of sheet material;

The driving moment T of leading screw _aload torque can be equivalent to, that is:

T _a＝T _l+T _mg(4)

Formula (3), formula (4) are updated to formula (2), have:

T _l+T _mg＝(F _l+μmg)×p _h/2πk′(5)

Formula (5) is updated to formula (1), has:

$T-(F_l+\mathrm{\μ}mg)\×p_h/2{\mathrm{\πk}}^{\′}=J\frac{d\mathrm{\ω}}{dt}---\left(6\right)$

As motor drag load stable speed operation, have:

$J\frac{d\mathrm{\ω}}{dt}=0---\left(7\right)$

Formula (7) is updated to formula (6), after arrangement:

$m=\frac{2{\mathrm{\πk}}^{\′}}{\mathrm{\μ}g\×p_h}T-\frac{F_l}{\mathrm{\μ}g}---\left(8\right)$

In formula (8), p _hfor guide screw lead, leading screw parameter can be inquired about and obtain; K ', μ are mechanical system preset parameter, are obtained by test; F _lconvert the axial load power on leading screw for nut, clamp, when mechanical system is constant, it is that fixed value is constant, obtains by test, that is, can calculate the quality m of sheet material in real time by obtaining motor electromagnetic torque T.

Wherein, make:

$k_1=\frac{2{\mathrm{\πk}}^{\′}}{\mathrm{\μ}g\×p_h},k_2=\frac{F_l}{\mathrm{\μ}g}---\left(9\right)$

Formula (9) is updated to formula (8), has:

m＝k ₁T-k ₂(10)

Test parameter k ₁, k ₂step is as follows:

1., under clamp zero load, allow motor at t ₀in time, with a certain constant speed n ₀run;

2. step 1. middle t is obtained ₀motor electromagnetic torque T in time period _m0;

3. clamp gripping known quality is allowed to be m ₁sheet material, allow motor with step 1. in same constant speed n ₀, run t ₀time;

4. step 3. middle t is obtained ₀motor electromagnetic torque T in time period _m1;

By previous step 2., can obtain:

k ₁T _m0-k ₂＝0(11)

By previous step 4., can obtain:

k ₁T _m1-k ₂＝m ₁(12)

According to formula (11), formula (12), can obtain:

$k_1=\frac{m_1}{T_{m1}-T_{m0}},k_2=\frac{m_1}{T_{m1}-T_{m0}}\·T_{m0}---\left(13\right)$

According to above-mentioned parameter k ₁, k ₂value calculate sheet material random quality m, specific as follows:

Formula (13) is updated to formula (10), has:

$m=\frac{m_1}{T_{m1}-T_{m0}}(T-T_{m0})---\left(14\right)$

Order:

$k_m=\frac{m_1}{T_{m1}-T_{m0}}---\left(15\right)$

Formula (15) is updated to formula (14), has:

m＝k _m(T-T _m0)(16)

In formula (16), T _m0, T _m1, T is respectively when the motor speed of service is all a certain constant speed n ₀time, corresponding unloaded time motor torque, load be known sheet material m ₁under motor torque, load be require line computation sheet material m motor torque; Namely, in plate stamping process, along with the punching of mould undershoot, board quality can reduce, and the random quality m formula (16) of sheet material is come in line computation.

Wherein, the data that described motor electromagnetic torque T is fed back by photoelectric encoder calculate, and described photoelectric encoder rotates with motor, are detected angular displacement and the rotary speed of motor by the frequency exporting pulse.

The present invention can calculate the quality of sheet material in real time by obtaining motor electromagnetic torque T, in punching course, the mass change of sheet material can calculate acquisition in real time, does not need punch press to stop to measure with equipment such as instruments, does not affect production efficiency.

Accompanying drawing explanation

The invention will be further described to utilize accompanying drawing, but the embodiment in accompanying drawing does not form any limitation of the invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, can also obtain other accompanying drawing according to the following drawings.

Fig. 1 is the motor-load rotation system schematic diagram in high-speed numeric control plate stamping process in board quality on-line calculation method.

Fig. 2 is test parameter k ₁, k ₂flow chart.

Fig. 3 is according to parameter k ₁, k ₂calculate the flow chart of the random quality m of sheet material.

Detailed description of the invention

Technical scheme of the present invention is understood better in order to make those skilled in the art, below in conjunction with the drawings and specific embodiments, the present invention is described in further detail, it should be noted that, when not conflicting, the feature in the embodiment of the application and embodiment can combine mutually.

Board quality on-line calculation method in high-speed numeric control plate stamping process of the present invention, wherein sheet material is clamped by clamp, and clamp is fixed on the nut of ball screw framework, and the screw rod of ball screw framework is by driven by motor.As shown in Figure 1, in motor-load rotation system, nut becomes a load T to sheet material equivalence _l, sheet material equivalence becomes an another load T _mg, the electromagnetic torque of motor is T, ω is motor shaft rotating machinery angular speed.When electric motor driven screw stable speed operation, by gathering the electromagnetic torque T of motor, calculate the quality of sheet material in real time.The data that described motor electromagnetic torque T feeds back by photoelectric encoder calculate, and described photoelectric encoder rotates with motor, are detected angular displacement and the rotary speed of motor by the frequency exporting pulse.

On-line calculation method is specific as follows:

In mechanical rotation system, according to Newton's law, have:

$T-(T_l+T_{mg})=J\frac{d\mathrm{\ω}}{dt}---\left(1\right)$

Wherein, T is the electromagnetic torque of motor, T _lfor converting the load torque on motor shaft from nut to clamp, T _mgconvert the load torque on motor shaft for sheet material, J is system rotary inertia, and ω is motor shaft rotating machinery angular speed, for motor shaft rotating machinery angular acceleration;

In Leadscrew drive system, according to Newton's law, have:

T _a＝F _a×p _h/2πk′(2)

Wherein, T _afor the driving moment of leading screw, F _afor the axial load power of leading screw, p _hfor the helical pitch of leading screw, the forward efficiency that k ' is leading screw;

The axial load of leading screw comprises nut, clamp and sheet material, is provided with hairbrush below sheet material, if the damped coefficient of hairbrush is μ, then has:

F _a＝F _l+μmg(3)

Wherein, F _lconvert the axial load power on leading screw for nut, clamp, m is the quality of sheet material;

The driving moment T of leading screw _aload torque can be equivalent to, that is:

T _a＝T _l+T _mg(4)

Formula (3), formula (4) are updated to formula (2), have:

T _l+T _mg＝(F _l+μmg)×p _h/2πk′(5)

Formula (5) is updated to formula (1), has:

$T-(F_l+\mathrm{\μ}mg)\×p_h/2{\mathrm{\πk}}^{\′}=J\frac{d\mathrm{\ω}}{dt}---\left(6\right)$

As motor drag load stable speed operation, have:

$J\frac{d\mathrm{\ω}}{dt}=0---\left(7\right)$

Formula (7) is updated to formula (6), after arrangement:

$m=\frac{2{\mathrm{\πk}}^{\′}}{\mathrm{\μ}g\×p_h}T-\frac{F_l}{\mathrm{\μ}g}---\left(8\right)$

In formula (8), p _hfor guide screw lead, leading screw parameter can be inquired about and obtain; K ', μ are mechanical system preset parameter, are obtained by test; F _lconvert the axial load power on leading screw for nut, clamp, when mechanical system is constant, it is that fixed value is constant, obtains by test, that is, can calculate the quality m of sheet material in real time by obtaining motor electromagnetic torque T.

Concrete, order:

$k_1=\frac{2{\mathrm{\πk}}^{\′}}{\mathrm{\μ}g\×p_h},k_2=\frac{F_l}{\mathrm{\μ}g}---\left(9\right)$

Formula (9) is updated to formula (8), has:

m＝k ₁T-k ₂(10)

As shown in Figure 2, test parameter k ₁, k ₂step is as follows:

1., under clamp zero load, allow motor at t ₀in time, with a certain constant speed n ₀run;

2. by the data that photoelectric encoder feeds back, step 1. middle t is obtained ₀motor electromagnetic torque T in time period _m0;

3. clamp gripping known quality is allowed to be m ₁sheet material, allow motor with step 1. in same constant speed n ₀, run t ₀time;

4. by the data that photoelectric encoder feeds back, step 3. middle t is obtained ₀motor electromagnetic torque T in time period _m1;

By previous step 2., can obtain:

k ₁T _m0-k ₂＝0(11)

By previous step 4., can obtain:

k ₁T _m1-k ₂＝m ₁(12)

According to formula (11), formula (12), can obtain:

$k_1=\frac{m_1}{T_{m1}-T_{m0}},k_2=\frac{m_1}{T_{m1}-T_{m0}}\·T_{m0}---\left(13\right)$

K can be calculated ₁, k ₂numerical value.

As shown in Figure 3, according to above-mentioned parameter k ₁, k ₂value calculate sheet material random quality m, specific as follows:

Formula (13) is updated to formula (10), has:

$m=\frac{m_1}{T_{m1}-T_{m0}}(T-T_{m0})---\left(14\right)$

Order:

$k_m=\frac{m_1}{T_{m1}-T_{m0}}---\left(15\right)$

Formula (15) is updated to formula (14), has:

m＝k _m(T-T _m0)(16)

In formula (15), (16), T _m0, T _m1, T is respectively when the motor speed of service is all a certain constant speed n ₀time, corresponding unloaded time motor torque, load be known sheet material m ₁under motor torque, load be require line computation sheet material m motor torque; Namely, in plate stamping process, along with the punching of mould undershoot, board quality can reduce, and the random quality m formula (16) of sheet material is come in line computation.

Set forth a lot of detail in description above so that fully understand the present invention, but the present invention can also adopt other to be different from other modes described here and implement, and therefore, can not be interpreted as limiting the scope of the invention.

In a word; those skilled in the art although the present invention illustrates above-mentioned preferred embodiment, should illustrate, although can carry out various change and remodeling; unless such change and remodeling deviate from scope of the present invention, otherwise all should be included in protection scope of the present invention.

Claims (4)

1. board quality on-line calculation method in a high-speed numeric control plate stamping process, wherein sheet material is clamped by clamp, clamp is fixed on the nut of ball screw framework, the screw rod of ball screw framework is by driven by motor, it is characterized in that, when electric motor driven screw stable speed operation, by gathering the electromagnetic torque T of motor, calculate the quality of sheet material in real time.

2. board quality on-line calculation method in high-speed numeric control plate stamping process according to claim 1, is characterized in that, specific as follows:

In mechanical rotation system, according to Newton's law, have:

$T-(T_l+T_{mg})=J\frac{d\mathrm{\ω}}{dt}---\left(1\right)$

Wherein, T is the electromagnetic torque of motor, T _lfor converting the load torque on motor shaft from nut to clamp, T _mgconvert the load torque on motor shaft for sheet material, J is system rotary inertia, and ω is motor shaft rotating machinery angular speed, for motor shaft rotating machinery angular acceleration;

In Leadscrew drive system, according to Newton's law, have:

T _a＝F _a×p _h/2πk′(2)

Wherein, T _afor the driving moment of leading screw, F _afor the axial load power of leading screw, p _hfor the helical pitch of leading screw, the forward efficiency that k ' is leading screw;

The axial load of leading screw comprises nut, clamp and sheet material, is provided with hairbrush below sheet material, if the damped coefficient of hairbrush is μ, then has:

F _a＝F _l+μmg(3)

Wherein, F _lconvert the axial load power on leading screw for nut, clamp, m is the quality of sheet material;

The driving moment T of leading screw _aload torque can be equivalent to, that is:

T _a＝T _l+T _mg(4)

Formula (3), formula (4) are updated to formula (2), have:

T _l+T _mg＝(F _l+μmg)×p _h/2πk′(5)

Formula (5) is updated to formula (1), has:

$T-(F_l+\mathrm{\μ}mg)\×p_h/2{\mathrm{\πk}}^{\′}=J\frac{d\mathrm{\ω}}{dt}---\left(6\right)$

As motor drag load stable speed operation, have:

$J\frac{d\mathrm{\ω}}{dt}=0---\left(7\right)$

Formula (7) is updated to formula (6), after arrangement:

$m=\frac{2{\mathrm{\πk}}^{\′}}{\mathrm{\μ}g\×p_h}T-\frac{F_l}{\mathrm{\μ}g}---\left(8\right)$

In formula (8), p _hfor guide screw lead, leading screw parameter can be inquired about and obtain; K ', μ are mechanical system preset parameter, are obtained by test; F _lconvert the axial load power on leading screw for nut, clamp, when mechanical system is constant, it is that fixed value is constant, obtains by test, that is, can calculate the quality m of sheet material in real time by obtaining motor electromagnetic torque T.

3. board quality on-line calculation method in high-speed numeric control plate stamping process according to claim 2, is characterized in that, order:

$k_1=\frac{2{\mathrm{\πk}}^{\′}}{\mathrm{\μ}g\×p_h},k_2=\frac{F_l}{\mathrm{\μ}g}---\left(9\right)$

Formula (9) is updated to formula (8), has:

m＝k ₁T-k ₂(10)

Test parameter k ₁, k ₂step is as follows:

1., under clamp zero load, allow motor at t ₀in time, with a certain constant speed n ₀run;

2. step 1. middle t is obtained ₀motor electromagnetic torque T in time period _m0;

3. clamp gripping known quality is allowed to be m ₁sheet material, allow motor with step 1. in same constant speed n ₀, run t ₀time;

4. step 3. middle t is obtained ₀motor electromagnetic torque T in time period _m1;

By previous step 2., can obtain:

k ₁T _m0-k ₂＝0(11)

By previous step 4., can obtain:

k ₁T _m1-k ₂＝m ₁(12)

According to formula (11), formula (12), can obtain:

$k_1=\frac{m_1}{T_{m1}-T_{m0}},k_2=\frac{m_1}{T_{m1}-T_{m0}}\·T_{m0}---\left(13\right)$

According to above-mentioned parameter k ₁, k ₂value calculate sheet material random quality m, specific as follows:

Formula (13) is updated to formula (10), has:

$m=\frac{m_1}{T_{m1}-T_{m0}}(T-T_{m0})---\left(14\right)$

Order:

$k_m=\frac{m_1}{T_{m1}-T_{m0}}---\left(15\right)$

Formula (15) is updated to formula (14), has:

m＝k _m(T-T _m0)(16)

In formula (15), (16), T _m0, T _m1, T is respectively when the motor speed of service is all a certain constant speed n ₀time, corresponding unloaded time motor torque, load be known sheet material m ₁under motor torque, load be require the motor torque at the sheet material m of line computation; Namely, in plate stamping process, along with the punching of mould undershoot, board quality can reduce, and the random quality m formula (16) of sheet material is come in line computation.

4. board quality on-line calculation method in the high-speed numeric control plate stamping process according to claim 1 or 2 or 3, it is characterized in that, the data that described motor electromagnetic torque T is fed back by photoelectric encoder calculate, described photoelectric encoder rotates with motor, is detected angular displacement and the rotary speed of motor by the frequency exporting pulse.