CN108000737A - The winding mechanism of Buddha's warrior attendant wire cutting machine and the constant-tension control method based on the mechanism - Google Patents
The winding mechanism of Buddha's warrior attendant wire cutting machine and the constant-tension control method based on the mechanism Download PDFInfo
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- CN108000737A CN108000737A CN201810000030.0A CN201810000030A CN108000737A CN 108000737 A CN108000737 A CN 108000737A CN 201810000030 A CN201810000030 A CN 201810000030A CN 108000737 A CN108000737 A CN 108000737A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 30
- 238000004804 winding Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 19
- 229910003460 diamond Inorganic materials 0.000 claims abstract description 44
- 239000010432 diamond Substances 0.000 claims abstract description 44
- 238000012545 processing Methods 0.000 claims abstract description 13
- 230000007704 transition Effects 0.000 claims description 30
- 238000009434 installation Methods 0.000 claims description 12
- 229910052705 radium Inorganic materials 0.000 claims description 3
- HCWPIIXVSYCSAN-UHFFFAOYSA-N radium atom Chemical compound [Ra] HCWPIIXVSYCSAN-UHFFFAOYSA-N 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 2
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 238000005086 pumping Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 4
- 239000002210 silicon-based material Substances 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 230000004308 accommodation Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000593 degrading effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000009514 concussion Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 229910021421 monocrystalline silicon Inorganic materials 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 229910021420 polycrystalline silicon Inorganic materials 0.000 description 1
- 229920005591 polysilicon Polymers 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 235000012431 wafers Nutrition 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D5/00—Fine working of gems, jewels, crystals, e.g. of semiconductor material; apparatus or devices therefor
- B28D5/04—Fine working of gems, jewels, crystals, e.g. of semiconductor material; apparatus or devices therefor by tools other than rotary type, e.g. reciprocating tools
- B28D5/045—Fine working of gems, jewels, crystals, e.g. of semiconductor material; apparatus or devices therefor by tools other than rotary type, e.g. reciprocating tools by cutting with wires or closed-loop blades
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D5/00—Fine working of gems, jewels, crystals, e.g. of semiconductor material; apparatus or devices therefor
- B28D5/0058—Accessories specially adapted for use with machines for fine working of gems, jewels, crystals, e.g. of semiconductor material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D5/00—Fine working of gems, jewels, crystals, e.g. of semiconductor material; apparatus or devices therefor
- B28D5/0058—Accessories specially adapted for use with machines for fine working of gems, jewels, crystals, e.g. of semiconductor material
- B28D5/0064—Devices for the automatic drive or the program control of the machines
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D15/00—Control of mechanical force or stress; Control of mechanical pressure
- G05D15/01—Control of mechanical force or stress; Control of mechanical pressure characterised by the use of electric means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Wire Processing (AREA)
Abstract
The invention discloses a kind of winding mechanism of Buddha's warrior attendant wire cutting machine and the constant-tension control method based on the mechanism, it includes unwrapping wire roller, driving shaft, driven shaft, take-up roller, moves up and down module, pumping arm action, the first stator ring and the second stator ring, each mobile module is provided with mobile idler pulley, and each swing arm is provided with swing guide wheel；Diamond wire is drawn from unwrapping wire roller, and guide wheel and the first stator ring are swung through the first mobile idler pulley, first, then gauze is coiled on driving shaft and driven shaft, is then swung guide wheel and the second mobile idler pulley through the second stator ring, second, is finally introducing take-up roller；The key of the control method is the feeding forward references angular velocity omega for calculating feedforward controltWith angular speed soft limiting processing fine adjustment amount dωLIt is superimposed, the target angular velocity ω of line roller is obtained with thisy.The winding mechanism and control method can reduce guide wheel quantity, increase Buddha's warrior attendant Line stiffness, make cabling constant tension.
Description
Technical field
It is especially the winding mechanism of a kind of Buddha's warrior attendant wire cutting machine and based on this present invention relates to cutting mechanics apparatus field
The constant-tension control method of mechanism.
Background technology
In recent years, with the fast development of solar energy industry, for hard brittle materials such as monocrystalline silicon, polysilicon and piezoelectric ceramics
Demand rapidly rise.And main cutting apparatus of the Buddha's warrior attendant wire cutting machine as hard brittle materials such as solar silicon wafers, due to its tool
Had been more and more widely used for the advantages that stock-removing efficiency height, good processing stability.
Buddha's warrior attendant wire cutting machine is to cut silicon material using winding mechanism come routing traces.The Buddha's warrior attendant wire cutting of the prior art
The winding mechanism of machine includes vertical unwrapping wire roller, driving shaft, driven shaft, vertical take-up roller and 12 guide wheels, and diamond wire is from unwrapping wire
After roller is drawn, commutate successively by the bending of six guide wheels, then gauze is formed to winding multi-turn on driving shaft and driven shaft, and pass through
Cross six guide wheels and return to take-up roller.Buddha's warrior attendant wire cutting machine further includes the fixture for fixing silicon material, and fixture drives through lifting gear,
Silicon material is driven to be pushed to gauze, and the high-speed motion under the driving of winding mechanism of the diamond wire on gauze, realize cutting.
There are following defect for the winding mechanism of the Buddha's warrior attendant wire cutting machine of the prior art：Unwrapping wire roller and take-up roller are all vertically to set
Put, and by the way of 12 guide wheel coilings, guide wheel quantity is more, diamond wire coiling distance, line wheel lay cumbersome, Buddha's warrior attendant
The overall structure of wire cutting machine is not compact；And diamond wire often just needs bending deflecting once to cause diamond wire by a guide wheel
Rigidity is lost, and excessive guide wheel causes the Stiffness of diamond wire, influences the stability of tension force, broken string, wire jumper easily occurs
The problem of.
The content of the invention
The invention solves a technical problem be to provide one kind can reduce guide wheel quantity, shorten diamond wire around line-spacing
From, so that Buddha's warrior attendant line cutting machine structure is compact, increase Buddha's warrior attendant Line stiffness, the gold for making diamond wire tension stability, being not easy wire jumper broken string
The winding mechanism of firm wire cutting machine.
The technical solution of the present invention is to provide a kind of winding mechanism of Buddha's warrior attendant wire cutting machine, it includes unwrapping wire
Roller, driving shaft, driven shaft, take-up roller and diamond wire, the both ends of diamond wire are connected with unwrapping wire roller and take-up roller respectively, and diamond wire exists
Gauze is wound on driving shaft and driven shaft, above-mentioned unwrapping wire roller, driving shaft, driven shaft and take-up roller are installed in diamond wire and cut
In the rack of cutting mill；
Rack is equipped with the swing arm of the mobile module and upper and lower two identical tensions of upper and lower two transverse directions, unwrapping wire roller and take-up roller
It is transverse direction；
Upper and lower two mobile modules are separately installed with the first mobile idler pulley and the second mobile idler pulley, upper and lower two swing arms difference
First swing guide wheel and second is installed and swings guide wheel, the first stator ring and the second stator ring are also equipped with rack；
Diamond wire swings guide wheel through the first mobile idler pulley, first and the first stator ring commutates after the extraction of unwrapping wire roller, then
Multi-turn is coiled on driving shaft and driven shaft and forms gauze, then swings guide wheel and the second movement through the second stator ring, second
Guide wheel, is finally introducing take-up roller.
Using above structure Buddha's warrior attendant wire cutting machine winding mechanism compared with prior art, has the following advantages.
The application instead of 12 wheel coilings of the prior art with six wheel coilings, reduces guide wheel quantity, shortens Buddha's warrior attendant
Line around linear distance, make the compact overall structure of Buddha's warrior attendant wire cutting machine, and guide wheel lack diamond wire deflecting it is also few, rigidity is lost
It is small, therefore the rigidity of diamond wire is improved, it also ensure that line tension is stablized, avoid the situation of Frequent Line Replacement and broken string.Moreover, by
In unwrapping wire roller and to move up dynamic model group be transverse direction, thus the first mobile idler pulley can in the case where moving up the driving of dynamic model group transversely namely with
Unwrapping wire rolls out capable direction movement, in this way, the payingoff speed of unwrapping wire roller and the mobile speed of horizontal module can be adjusted targetedly
Degree so that the diamond wire between unwrapping wire roller and the first mobile idler pulley keeps vertical state, i.e., vertical unwrapping wire can cause unwrapping wire process
Smooth-going is stablized, and is avoided the occurrence of oblique pull situation, is effectively prevented the Buddha's warrior attendant particle on diamond wire from coming off, and further reduces the hidden of broken string
Suffer from；Similarly, take-up roller and the design of dynamic model group is moved down, also ensures that vertical take-up so that the smooth-going of take-up process is stablized, and is avoided tiltedly
Draw.Moreover identical tension swing arm and the design for swinging roller, provide constant tension force and support for diamond wire, further ensure that
The smooth-going of cabling is stablized, and further reduces broken string and wire jumper probability.
Each mobile module is preferably with the connection relation of corresponding mobile idler pulley：Mobile module is ball screw assembly, often
A mobile idler pulley is installed on through a mobile stent on the sliding block of corresponding ball screw assembly,；In this way, it both can guarantee that guide wheel was stablized
The movement of smooth-going, and precisely can easily regulate and control the transverse moving speed of guide wheel by the rotating speed of adjusting screw.
The structure of mobile stent is preferably that it includes tension sensor, shield, swivel mount and cantilever bearing, mobile idler pulley
It is connected with the contact of tension sensor, the main part of tension sensor is fixed on swivel mount, and shield is sleeved on outside main part and protects
Cover is fixed with swivel mount, and swivel mount bottom is fixed with an installation axle, and the cantilever of cantilever bearing is equipped with axis hole, and installation axle can turn
Dynamic cooperation is sheathed with clump weight and the locking nut for Shaft angle to be fixedly mounted, cantilever bearing in axis hole, and in installation axle
It is fixed on the sliding block of mobile module.In this way, unclamp locking nut, it is possible to it is convenient to adjust mobile idler pulley place plane, make receipts
The other Buddha's warrior attendant line segments that stagger of one section of Buddha's warrior attendant line segment calmly between line roller or unwrapping wire roller and mobile idler pulley, avoid interference with, make
Cabling wiring process is more convenient；And the setting of tension sensor can accurately measure the tension value at the guide wheel, in this, as rear
The control foundation of continuous winding displacement wiring, and the presence of clump weight can balance the weight of installation axle both sides so that cable guide pulley moves more
Steadily.
Each swing arm is preferably with the corresponding connection relation for swinging guide wheel：Two identical tension electricity up and down are installed in rack
Motivation, the output shaft of each identical tension motor are fixed with a swing arm, each swing arm and the main part of a tension sensor
It is fixed, swing guide wheel and be installed on the contact of corresponding tension sensor；In this way, it is on the one hand swing arm by identical tension motor
There is provided constant tension force, it is ensured that walk line stabilization, on the other hand, tension sensor can measure the tension force of the position in real time, as rear
The control foundation of continuous winding displacement wiring.
Preferably, rack is fixed with guide rail through cushion block, the first hold-down support and second is sliding combined with guide rail and is fixed
Bearing, is equipped with location hole on each hold-down support, and the positioning being useful for hold-down support and guide rail locking is screwed in location hole
Screw, two stator rings are separately mounted on two hold-down supports；In this way, unclamp positioning screw, it is possible to slide along guide rail
Fixing bracket, significantly adjusts the lateral position of the first stator ring and the second stator ring, easy to cabling and wiring.
The structure of first hold-down support is preferably that it includes first slide, column, transition T plates, transition riser and the first round
Seat, first slide coordinate with guide rail, and location hole is located in first slide, and column is fixed at the top of first slide, column and transition T
Plate is spirally connected through the first height to waist-shaped hole, and transition T plates and transition riser are spirally connected through the first depth to waist-shaped hole, transition riser and
One wheel seat is spirally connected through the first arcuate socket, and the first stator ring is installed on the first wheel seat；First, first slide and guide rail are matched somebody with somebody
Close, realize the adjusting to the first stator ring width, and the first height to waist-shaped hole and the first depth to waist-shaped hole then
The adjusting of height and depth direction is realized to the first stator ring；And first arcuate socket realize again to the first stator ring institute
In the adjusting of plane；That is, the adjusting of tri- directions of the first stator ring XYZ and pivot angle angle is realized, easy to cabling
And wiring.
The structure of second hold-down support is preferably that it includes second slide, transition L plates, pivot angle adjustable plate and the second wheel seat,
Second slide and guide rail coordinate, and location hole is located in second slide, and second slide and transition L plates are through the second depth to waist-shaped hole spiral shell
Connect, transition L plates and pivot angle adjustable plate are spirally connected through the second height to waist-shaped hole, and pivot angle adjustable plate and the second wheel seat are through the second arcuate socket
It is spirally connected, the second stator ring is installed on the second wheel seat；First, the cooperation of second slide and guide rail, realizes and is fixed to second
The adjusting of guide wheel width, and the second height then realizes the second stator ring to waist-shaped hole to waist-shaped hole and the second depth
The adjusting of height and depth direction；And second arcuate socket realize adjusting to plane where the second stator ring again；Namely
Say, the adjusting of tri- directions of the second stator ring XYZ and pivot angle angle is realized, easy to cabling and wiring.
The invention solves another technical problem be to provide one kind and can guarantee that diamond wire cabling is steady, walks line tension
It is constant, avoid the occurrence of the constant-tension control method of the winding mechanism of the Buddha's warrior attendant wire cutting machine of tension fluctuation.
Another technical solution of the present invention is to provide a kind of identical tension control of the winding mechanism of Buddha's warrior attendant wire cutting machine
Method processed, its step include：
A, when swing guide wheel is equal be subject to the setting tension force that diamond wire is walked line tension with identical tension motor provides, pendulum
Arm is located on datum line, and the pivot angle of swing arm this moment is setting pivot angle θs；And during cabling swing arm actual pivot angle θfSubtract setting pivot angle
θsValue be pivot angle error eθ；The e when the direction that swing arm is swung is identical with the direction of diamond wire tensioningθFor on the occasion of when swing arm is swung
Direction it is opposite with the direction of diamond wire tensioning when eθFor negative value；With pivot angle error eθFoundation in order to control, the target controlled are to make pendulum
Angle error eθFor 0；
B, feedforward control；
When just having started cabling, the linear velocity of line roller is equal with the linear velocity of driving shaft, with the initial linear velocity of line roller
To set linear velocity Vr,
By formula Rt=R0-2RwNpCalculate current line roller radius Rt, wherein R0It is the initial radium of line roller, RwIt is Buddha's warrior attendant
Line radius, NpIt is the number that outlet point on line roller is moved to the other end from one end；
Will setting linear velocity VrWith current line roller radius RtBring formula ω intot=Vr/Rt
To obtain feeding forward references angular velocity omegat；
C, feedback control；
With current pivot angle error eθ 0, previous moment pivot angle error eθ 0-t, the first two moment pivot angle error eθ 0-2t
Three values of feedback are foundation, by pid control algorithm, bring formula into
dω=kp(еθ 0-еθ 0-t)+kiеθ 0+kd[(еθ 0-еθ 0-t)-(еθ 0-t-еθ 0-2t)]
Calculate the initial fine adjustment amount d of angular velocityω, wherein, kp、kiAnd kdFor the control parameter of PID controller；
D, the initial fine adjustment amount d of angular velocityωFollowing soft limiting processing is done,
Work as dω≥dmaxWhen, dωL=dmax；
Work as dmin≤dω≤dmaxWhen, dωL=dω；
Work as dω≤dminWhen, dωL=dmin；
To obtain angular speed soft limiting processing fine adjustment amount dωL；Wherein, dminIt is the lower limit of angular speed fine adjustment amount,
dmaxIt is the upper limit value of angular speed fine adjustment amount；
E, the feeding forward references angular velocity omega for calculating feedforward controltWith angular speed soft limiting processing fine adjustment amount dωLIt is stacked
Add, the target angular velocity ω of line roller is obtained with thisy。
Using the above Buddha's warrior attendant wire cutting machine constant-tension control method compared with prior art, has the following advantages.
The principle of above-mentioned control method is as follows.
First, which have selected with pivot angle error eθ 0To carry out indirect control according to walking line tension, and propose
Make pivot angle error eθ 0For 0 target in order to control.Specifically, usually using swing arm vertical state as datum line, swing arm at this time
Pivot angle be to set pivot angle θs, guide wheel is swung at this time to be walked line tension be subject to diamond wire and set with what identical tension motor provided
Tension force is equal, and pivot angle error is 0, and diamond wire cabling is steady, cabling constant tension, which is exactly the control mesh of subsequent adjustment
Mark；When swing arm is swung towards the direction of diamond wire tensioning, illustrate cabling tension, line roller payingoff speed is relatively slow and driving shaft
Linear velocity it is relatively fast, so when pivot angle error amount for just, easy to accelerate to adjust to line roller；And swing arm and diamond wire tensioning
Direction backswing when, then illustrate that cabling is excessively loose, line roller payingoff speed is too fast and the linear velocity of driving shaft is slower, so when
Pivot angle error amount is negative, is adjusted easy to slow down to line roller.And it is because of main why line roller to be adjusted without being adjusted to driving shaft
Coiling is excessive on moving axis, twines into gauze and is directly contacted with silicon material, can not adjust.
The control mode of the application avoids the error that the fluctuation of tension value triggers, and clearly accurately reflects current oscillation
Deviation between actual tension and setting tension force that guide wheel is subject to, it is more directly perceived accurate.
Moreover, the application is the mode that is combined with feedback control of feedforward control, wherein, during feedforward control, take into full account
To with the progress of cabling, the change of line roller radius, specifically, the outlet point of line roller are often moved to another from one end of line roller
End once, just illustrates that the one layer of diamond wire wound outside line roller is pumped, is exactly that line roller diameter reduces two Buddha's warrior attendants in terms of section
The thickness of linear diameter, so the radius of line roller just reduces the thickness of two diamond wire radiuses.And outlet point is from one end of line roller
It is moved to the times N of the other endp, it is the servomotor on the mobile module by installation mobile idler pulley to count, specifically,
The outlet point synchronous translational of mobile idler pulley and line roller, in this way, outlet point moves once from line roller one end to the other end, mobile idler pulley
And the sliding block of mobile module equally it is mobile once, therefore the servomotor of mobile module can accurately count sliding block and outlet point
Mobile times Np.So change of the feedforward control to line roller radius is provided and targetedly adjusted, effectively eliminate by line roller half
Error caused by footpath changes so that feeding forward references angular velocity omegatMore precisely, the adjusting accuracy of feedforward control is improved.
Targetedly analyze feedback control procedure again, the fine adjustment amount d that when feedback control providesω, it is according to correction factor
It is multiplied by pivot angle error kiеθ 0, correction factor be multiplied by the difference k of pivot angle error at different momentsp(еθ 0-еθ 0-t), correction factor is multiplied by
The difference k of the difference of pivot angle error at different momentsd[(еθ 0-еθ 0-t)-(еθ 0-t-еθ 0-2t)] three amount superpositions and obtain.
Wherein kiеθ 0Meaning be, on the occasion of explanation cabling tension, line roller payingoff speed deficiency, therefore increase line roller angular speed,
And negative value illustrates that cabling is excessively loose, line roller payingoff speed is too fast, therefore reduces line roller angular speed.
And kp(еθ 0-еθ 0-t) meaning be that, compared to previous moment, pivot angle error amount becomes larger or diminishes, if
On the occasion of, then illustrate to walk that the situation of line skew is more degrading, therefore need to increase the amplitude adjusted, that is, increase fine adjustment amount dω；And
If negative value, then illustrate to walk that the situation of line skew is improving, thus to avoid fluctuating, it is not necessary to the so big amplitude of accommodation, i.e.,
Reduce fine adjustment amount dω。
And kd[(еθ 0-еθ 0-t)-(еθ 0-t-еθ 0-2t)] meaning be, first, pass through (the e of previous stepθ 0-еθ 0-t) value
It is positive and negative, have determined that away that the situation of line skew is degrading or is improving, and the result of the step is on the occasion of then saying
Bright, the speed of deterioration accelerates, or what is improved slow, then needs to increase the amplitude of accommodation, that is, increase fine adjustment amount dω；Such as
The result of the step is negative, then the speed for illustrating that speed of worsening is slack-off or improving accelerates, and to avoid fluctuating, can reduce adjusting
Amplitude, that is, reduce fine adjustment amount dω。
Finally, the meaning of soft limiting processing is：Prevent the initial fine adjustment amount d of angular speed that PID controller calculatesωCross
Greatly, tension force is caused larger fluctuation and concussion occur, so setting upper limit value and lower limit so that it is more gentle to adjust process
Stablize, realize and adjust target pivot angle error eθFor 0 speed faster, improve system stability.
Analyzed more than, which can realize the steady control of Buddha's warrior attendant wire cutting machine tension force, make cabling steadily,
Walk line tension to keep constant, avoid, due to broken string, wire jumper situation caused by tension fluctuation, ensureing cutting effect and Buddha's warrior attendant wire cutting
The overall stability of machine.
Brief description of the drawings
Fig. 1 is the positive structure diagram of the winding mechanism of Buddha's warrior attendant wire cutting machine of the present invention.
Fig. 2 is the structure diagram of the mobile stent of Buddha's warrior attendant wire cutting machine of the present invention.
Fig. 3 is the structure diagram of the second hold-down support of Buddha's warrior attendant wire cutting machine of the present invention.
Fig. 4 is the structure diagram after Fig. 2 deflection certain angles.
Fig. 5 is the structure diagram after Fig. 3 deflection certain angles.
Fig. 6 is the structure diagram of the first hold-down support of Buddha's warrior attendant wire cutting machine of the present invention.
Fig. 7 is the structure diagram after Fig. 6 deflection certain angles.
Fig. 8 is the swing arm and swing guide that the constant-tension control method of the winding mechanism of Buddha's warrior attendant wire cutting machine of the present invention is related to
The positive structure diagram of wheel.
1 shown in figure, unwrapping wire roller, 2, driving shaft, 3, take-up roller, 4, diamond wire, 5, rack, 6, swing arm, the 7, first movement
Guide wheel, the 8, second mobile idler pulley, 9, first swings guide wheel, and 10, second swings guide wheel, and the 11, first stator ring, 12, second is solid
Determine guide wheel, 13, ball screw assembly, 14, tension sensor, 14.1, main part, 14.2, contact, 15, shield, 16, swivel mount,
17th, cantilever bearing, 18, installation axle, the 19, second arcuate socket, 20, clump weight, 21, locking nut, 22, identical tension motor, 23,
Cushion block, 24, guide rail, 25, location hole, 26, first slide, 27, column, 28, transition T plates, 29, transition riser, 30, the first round
Seat, the 31, first height is to waist-shaped hole, and the 32, first depth is to waist-shaped hole, the 33, first arcuate socket, and 34, second slide, 35, transition L
Plate, 36, pivot angle adjustable plate, the 37, second wheel seat, the 38, second depth is to waist-shaped hole, and the 39, second height is to waist-shaped hole.
Embodiment
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, the winding mechanism of Buddha's warrior attendant wire cutting machine of the present invention, it includes
Including unwrapping wire roller 1, driving shaft 2, driven shaft, (driven shaft is located at driving shaft rear in front view, is blocked by it, but due to driven shaft
Ripe prior art content, Gu Tuzhong is not repeated), take-up roller 3 and diamond wire 4.Above-mentioned unwrapping wire roller 1, driving shaft
2nd, driven shaft and take-up roller 3 are installed in the rack 5 of Buddha's warrior attendant wire cutting machine；And unwrapping wire roller 1, driving shaft 2, driven shaft and take-up
Roller 3 drives by each different motor.Unwrapping wire roller 1 and take-up roller 3 are transverse direction.
Rack 5 is equipped with the mobile module of upper and lower two transverse directions, moves up dynamic model group and is provided with the first mobile idler pulley 7, moves down
Dynamic model group is provided with the second mobile idler pulley 8.Two mobile modules, the structures of two mobile idler pulleys are identical, each move mould
Group is ball screw assembly, 13, and each mobile idler pulley is installed on the sliding block of corresponding ball screw assembly, 13 through a mobile stent
On.And the structure of two mobile stents is also identical.
Each mobile stent includes tension sensor 14, shield 15, swivel mount 16 and cantilever bearing 17, and mobile idler pulley is with opening
The contact 14.2 of force snesor 14 connects, and the main part 14.1 of tension sensor 14 is fixed on swivel mount 16, and shield 15 is sleeved on
Main part 14.1 is outer and shield 15 is fixed with swivel mount 16, and 16 bottom of swivel mount is fixed with an installation axle 18, and cantilever bearing
17 cantilever is equipped with axis hole, and installation axle 18 rotatably coordinates in axis hole, and the part of the stretching axis hole of installation axle 18 is sheathed with and matches somebody with somebody
Pouring weight 20 and the locking nut 21 for 18 corner of axis to be fixedly mounted, cantilever bearing 17 are fixed on the sliding block of mobile module.
Two identical tension motor 22, the output shaft of upper identical tension motor 22 up and down are installed in rack 5 to be fixed with
Swing arm 6, the output shaft of lower identical tension motor 22 are fixed with lower swing arm 6.Upper swing arm 6 is provided with the first swing guide wheel 9, lower swing arm
6 are provided with the second swing guide wheel 10.Specifically, each swing arm 6 and the main part 14.1 of a tension sensor 14 are fixed, often
A guide wheel that swings is installed on the contact 14.2 of corresponding tension sensor 14.
The first stator ring 11 and the second stator ring 12 are also equipped with rack 5；Specifically, rack 5 is through cushion block 23
Guide rail 24 is fixed with, the first hold-down support and the second hold-down support are sliding combined with guide rail 24, is all provided with each hold-down support
There is location hole 25, the positioning screw for being useful for locking hold-down support and guide rail 24, two stator rings are screwed in location hole 25
It is separately mounted on two hold-down supports.
First hold-down support includes first slide 26, column 27, transition T plates 28,29 and first wheel seat 30 of transition riser, the
One slide 26 coordinates with guide rail 24, and location hole 25 is located in first slide 26, and column 27 is fixed on the top of first slide 26, column
27 and transition T plates 28 are spirally connected through the first height to waist-shaped hole 31, and transition T plates 28 and transition riser 29 are through the first depth to waist-shaped hole
32 are spirally connected, and 29 and first wheel seat 30 of transition riser is spirally connected through the first arcuate socket 33, and the first stator ring 11 is installed on the first wheel seat
On 30.
Second hold-down support includes second slide 34, transition L plates 35,36 and second wheel seat 37 of pivot angle adjustable plate, and second slides
Seat 34 coordinates with guide rail 24, and location hole 25 is located in second slide 34, and second slide 34 and transition L plates 35 are through the second depth to waist
Type hole 38 is spirally connected, and transition L plates 35 and pivot angle adjustable plate 36 are spirally connected through the second height to waist-shaped hole 39, pivot angle adjustable plate 36 and second
Wheel seat 37 is spirally connected through the second arcuate socket 19, and the second stator ring 12 is installed on the second wheel seat 37.
During positive cabling, 4 head end of diamond wire commutates into horizontal stroke after unwrapping wire roller 1 is drawn vertically around the first mobile idler pulley 7
To, then swing guide wheel 9 through first and commutate 180 degree, and commutate into vertical by the first stator ring 11, driving shaft is wrapped in vertically
2 and driven shaft on and coil multi-turn formed gauze, then transverse direction is commutated into through the second stator ring 12, then through the second swing guide
The commutation 180 degrees of wheel 10, commutate into through the second mobile idler pulley 8 vertical after, and 4 tail end of diamond wire finally introduces take-up roller 3 vertically.When
So, during reverse cabling, cabling order and direction contrast.
As shown in figure 8, the constant-tension control method of the winding mechanism based on Buddha's warrior attendant wire cutting machine of the present invention, its step is such as
Under.
A, when swing guide wheel be subject to diamond wire 4 to walk line tension equal with the setting tension force that identical tension motor 22 provides
When, swing arm 6 is located on datum line, and the pivot angle of swing arm this moment 6 is setting pivot angle θs；Usually using swing arm 6 straight down hang down as
Datum line.
And during cabling swing arm 6 actual pivot angle θfSubtract setting pivot angle θsValue be pivot angle error eθ；And above-mentioned actual pendulum
Angle θ f are to be measured by the encoder of identical tension motor 22 and fed back to PID controller.
The e when the direction that swing arm 6 is swung is identical with the direction of 4 tensioning of diamond wireθFor on the occasion of when the direction that swing arm 6 is swung
E when opposite with the direction of 4 tensioning of diamond wireθFor negative value；With pivot angle error eθFoundation in order to control, the target controlled are to miss pivot angle
Poor eθFor 0.
B, feedforward control is as follows.
When just having started cabling, the linear velocity of line roller is equal with the linear velocity of driving shaft, with the initial linear velocity of line roller
Namely the linear velocity of driving shaft 2 is setting linear velocity Vr.Line roller in the control method is finger ray roller 1 or take-up roller 3.
By formula Rt=R0-2RwNpCalculate current line roller radius Rt, wherein R0It is the initial radium of line roller, RwIt is Buddha's warrior attendant
4 radius of line, NpIt is the number that outlet point on line roller is moved to the other end from one end；In the present embodiment, R0For 200mm, and RwFor
0.03mm。
Will setting linear velocity VrWith current line roller radius RtBring formula ω intot=Vr/Rt
To obtain feeding forward references angular velocity omegat。
C, feedback control is as follows.
With current pivot angle error eθ 0, previous moment pivot angle error eθ 0-t, the first two moment pivot angle error eθ 0-2t
Three values of feedback are foundation, by pid control algorithm, bring formula into
dω=kp(еθ 0-еθ 0-t)+kiеθ 0+kd[(еθ 0-еθ 0-t)-(еθ 0-t-еθ 0-2t)]
Calculate the initial fine adjustment amount d of angular velocityω, kp、kiAnd kdFor the control parameter of PID controller；Wherein, kpFor
0.4, kiFor 0.1, kdFor 0.05.
D, the initial fine adjustment amount d of angular velocityωFollowing soft limiting processing is done,
Work as dω≥dmaxWhen, dωL=dmax；
Work as dmin≤dω≤dmaxWhen, dωL=dω；
Work as dω≤dminWhen, dωL=dmin；
To obtain angular speed soft limiting processing fine adjustment amount dωL；Wherein, dminIt is the lower limit of angular speed fine adjustment amount,
dmaxIt is the upper limit value of angular speed fine adjustment amount；In the present embodiment, dminFor -100rad/s, and dmaxFor 100rad/s.
E, the feeding forward references angular velocity omega for calculating feedforward controltThe angle speed obtained with feedback control and soft limiting processing
Spend soft limiting processing fine adjustment amount dωLIt is superimposed, the target angular velocity ω of line roller is obtained with thisy.It is inserted in formula ωy=ωt+
dωL。
Claims (8)
1. a kind of winding mechanism of Buddha's warrior attendant wire cutting machine, it include unwrapping wire roller (1), driving shaft (2), driven shaft, take-up roller (3) and
Diamond wire (4), the both ends of diamond wire (4) are connected with unwrapping wire roller (1) and take-up roller (3) respectively, and diamond wire (4) is in driving shaft (2)
With gauze is wound on driven shaft, above-mentioned unwrapping wire roller (1), driving shaft (2), driven shaft and take-up roller (3) are installed in Buddha's warrior attendant
In the rack (5) of wire cutting machine；
It is characterized in that：Rack (5) is equipped with the swing arm (6) of the mobile module and upper and lower two identical tensions of upper and lower two transverse directions,
Unwrapping wire roller (1) and take-up roller (3) are transverse direction；
Upper and lower two mobile modules are separately installed with the first mobile idler pulley (7) and the second mobile idler pulley (8), upper and lower two swing arms
(6) it is separately installed with the first swing guide wheel (9) and second and swings guide wheel (10), rack is also equipped with the first stator ring on (5)
(11) and the second stator ring (12)；
Diamond wire (4) is fixed through the first mobile idler pulley (7), the first swing guide wheel (9) and first and led after unwrapping wire roller (1) extraction
(11) commutation is taken turns, then multi-turn formation gauze is coiled on driving shaft (2) and driven shaft, then through the second stator ring (12), the
Two swing guide wheel (10) and the second mobile idler pulley (8), are finally introducing take-up roller (3).
2. the winding mechanism of Buddha's warrior attendant wire cutting machine according to claim 1, it is characterised in that：Each mobile module with it is corresponding
The connection relation of mobile idler pulley be：Mobile module is ball screw assembly, (13), and each mobile idler pulley is pacified through a mobile stent
On the sliding block of corresponding ball screw assembly, (13).
3. the winding mechanism of Buddha's warrior attendant wire cutting machine according to claim 2, it is characterised in that：Mobile stent is passed including tension force
Sensor (14), shield (15), swivel mount (16) and cantilever bearing (17), the contact of mobile idler pulley and tension sensor (14)
(14.2) connect, the main part (14.1) of tension sensor (14) is fixed on swivel mount (16), and shield (15) is sleeved on main part
(14.1) outside and shield (15) and swivel mount (16) are fixed, swivel mount (16) bottom is fixed with an installation axle (18), and cantilever
The cantilever of bearing (17) is equipped with axis hole, and installation axle (18) rotatably coordinates in axis hole, and is sheathed with counterweight in installation axle (18)
Block (20) and the locking nut (21) for axis (18) corner to be fixedly mounted, cantilever bearing (17) are fixed on the sliding block of mobile module
On.
4. the winding mechanism of Buddha's warrior attendant wire cutting machine according to claim 1, it is characterised in that：Each swing arm (6) with it is corresponding
The connection relation of swing guide wheel be：Two identical tension motor (22), each identical tension up and down are installed electronic in rack (5)
The output shaft of machine (22) and a swing arm (6) are fixed, the main part (14.1) of each swing arm (6) and a tension sensor (14)
It is fixed, swing guide wheel and be installed on the contact (14.2) of corresponding tension sensor (14).
5. the winding mechanism of Buddha's warrior attendant wire cutting machine according to claim 1, it is characterised in that：Rack (5) is through cushion block (23)
Guide rail (24) is fixed with, is sliding combined with the first hold-down support and the second hold-down support on guide rail (24), on each hold-down support
It is equipped with location hole (25), screws the positioning screw being useful for hold-down support and guide rail (24) locking in location hole (25), two
A stator ring is separately mounted on two hold-down supports.
6. the winding mechanism of Buddha's warrior attendant wire cutting machine according to claim 5, it is characterised in that：First hold-down support includes the
One slide (26), column (27), transition T plates (28), transition riser (29) and the first wheel seat (30), first slide (26) and guide rail
(24) coordinate, location hole (25) is located in first slide (26), and column (27) is fixed at the top of first slide (26), column (27)
Be spirally connected with transition T plates (28) through the first height to waist-shaped hole (31), transition T plates (28) and transition riser (29) through the first depth to
Waist-shaped hole (32) is spirally connected, and transition riser (29) and the first wheel seat (30) are spirally connected through the first arcuate socket (33), the first stator ring
(11) it is installed on the first wheel seat (30).
7. the winding mechanism of Buddha's warrior attendant wire cutting machine according to claim 5, it is characterised in that：Second hold-down support includes the
Two slides (34), transition L plates (35), pivot angle adjustable plate (36) and the second wheel seat (37), second slide (34) are matched somebody with somebody with guide rail (24)
Close, location hole (25) is located in second slide (34), and second slide (34) and transition L plates (35) are through the second depth to waist-shaped hole
(38) it is spirally connected, transition L plates (35) and pivot angle adjustable plate (36) are spirally connected through the second height to waist-shaped hole (39), pivot angle adjustable plate (36)
It is spirally connected with the second wheel seat (37) through the second arcuate socket (19), the second stator ring (12) is installed on the second wheel seat (37).
8. a kind of constant-tension control method of the winding mechanism of the Buddha's warrior attendant wire cutting machine based on described in claim 4, its feature exist
In：Its step includes：
A, it is equal be subject to the setting tension force that diamond wire (4) is walked line tension with identical tension motor (22) provides when swinging guide wheel
When, swing arm (6) is located on datum line, and the pivot angle of swing arm this moment (6) is setting pivot angle θs；And during cabling swing arm (6) actual pendulum
Angle θfSubtract setting pivot angle θsValue be pivot angle error eθ；Direction and the direction phase of diamond wire (4) tensioning when swing arm (6) swing
E at the same timeθFor on the occasion of the e when the direction that swing arm (6) is swung is opposite with the direction of diamond wire (4) tensioningθFor negative value；With pivot angle error
еθFoundation in order to control, the target controlled are to make pivot angle error eθFor 0；
B, feedforward control；
When just having started cabling, linear velocity and the linear velocity of driving shaft (2) of line roller be it is equal, using the initial linear velocity of line roller as
Set linear velocity Vr,
By formula Rt=R0-2RwNpCalculate current line roller radius Rt, wherein R0It is the initial radium of line roller, RwIt is diamond wire (4)
Radius, NpIt is the number that outlet point on line roller is moved to the other end from one end；
Will setting linear velocity VrWith current line roller radius RtBring formula ω intot=Vr/Rt
To obtain feeding forward references angular velocity omegat；
C, feedback control；
With current pivot angle error eθ 0, previous moment pivot angle error eθ 0-t, the first two moment pivot angle error eθ 0-2tThree
Value of feedback is foundation, by pid control algorithm, brings formula into
dω=kp(еθ 0-еθ 0-t)+kiеθ 0+kd[(еθ 0-еθ 0-t)-(еθ 0-t-еθ 0-2t)]
Calculate the initial fine adjustment amount d of angular velocityω, wherein, kp、kiAnd kdFor the control parameter of PID controller；
D, the initial fine adjustment amount d of angular velocityωFollowing soft limiting processing is done,
Work as dω≥dmaxWhen, dωL=dmax；
Work as dmin≤dω≤dmaxWhen, dωL=dω；
Work as dω≤dminWhen, dωL=dmin；
To obtain angular speed soft limiting processing fine adjustment amount dωL；Wherein, dminIt is the lower limit of angular speed fine adjustment amount, dmaxIt is angle
The upper limit value of fine speed adjustment section amount；
E, the feeding forward references angular velocity omega for calculating feedforward controltWith angular speed soft limiting processing fine adjustment amount dωLIt is superimposed,
The target angular velocity ω of line roller is obtained with thisy。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810000030.0A CN108000737A (en) | 2018-01-01 | 2018-01-01 | The winding mechanism of Buddha's warrior attendant wire cutting machine and the constant-tension control method based on the mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810000030.0A CN108000737A (en) | 2018-01-01 | 2018-01-01 | The winding mechanism of Buddha's warrior attendant wire cutting machine and the constant-tension control method based on the mechanism |
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| Publication Number | Publication Date |
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ID=62049896
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| CN201810000030.0A Pending CN108000737A (en) | 2018-01-01 | 2018-01-01 | The winding mechanism of Buddha's warrior attendant wire cutting machine and the constant-tension control method based on the mechanism |
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| CN115951637A (en) * | 2023-02-09 | 2023-04-11 | 青岛高测科技股份有限公司 | Control method and medium for wire cutting machine, control device and wire cutting machine |
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