CN108255209B - Bending machine control method and system - Google Patents
Bending machine control method and system Download PDFInfo
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- CN108255209B CN108255209B CN201711341216.4A CN201711341216A CN108255209B CN 108255209 B CN108255209 B CN 108255209B CN 201711341216 A CN201711341216 A CN 201711341216A CN 108255209 B CN108255209 B CN 108255209B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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Abstract
The invention relates to a bending machine control method and system. The method comprises the following steps of monitoring the residual stroke distance Dis of the processing die; setting control logic of the processing mould; the control logic comprises that the machining die reaches a preset running speed according to the residual stroke distance Dis; and controlling the processing die through the control logic. The invention realizes the accurate monitoring of the processing mould through the grating ruler, and sets the control logic of the processing mould by monitoring the current position of the processing mould. The closed-loop and rapid production is realized through the control logic, and the production efficiency is improved.
Description
Technical Field
The invention relates to a metal plate processing technology, in particular to a bending machine control method and system.
Background
The bending technology of metal processing currently adopts the following schemes.
1) The flow direction of hydraulic oil is controlled by various valves, and the flow is controlled by a proportional valve in a way of adding a hydraulic valve into the hydraulic proportional valve; 2) the flow direction of hydraulic oil is controlled through a valve, the flow of the hydraulic pump is controlled through an asynchronous motor, and the flow is larger when the rotating speed is larger; 3) the purpose of controlling the flow of the servo pump is achieved by controlling the rotating speed of the servo motor in a mode of adding the servo pump to the synchronous servo motor, and the flow is larger when the rotating speed is larger; 4) the servo motor is used for controlling the lifting of the mechanism directly through the screw rod.
However, in any of the above methods, the processing mold applies force to the metal plate to complete the processing in the process of moving from the starting point to the target point, and then returns to the starting point to facilitate the processing of the next metal plate, thereby completing a complete cycle. However, the above-described operational flow of sheet metal processing is difficult to form a closed, rapid cycle due to the lack of an effective, rapid processing scheme for the current positional information of the processing tooling die.
Disclosure of Invention
The invention aims to provide a bending machine control method and system for controlling metal plate machining.
The technical scheme for solving the technical problems is as follows:
in a first aspect, the invention provides a bending machine control method, which comprises the following steps:
monitoring the residual stroke distance Dis of the processing die;
setting control logic of the processing mould; the control logic comprises that the machining die reaches a preset running speed according to the residual stroke distance Dis;
and controlling the processing die through the control logic.
Further, the step of enabling the machining die to reach a preset running speed according to the residual stroke distance Dis includes:
comparing the size relation between the residual stroke distance Dis and a preset distance parameter; the distance parameters include: a first distance parameter limit1, a second distance parameter limit2, a third distance parameter limit 3; wherein the first distance parameter limit1> the second distance parameter limit2> the third distance parameter limit 3; the first distance parameter limit1, the second distance parameter limit2 and the third distance parameter limit3 divide the stroke of the processing die into four stages;
in the first stage, when the residual stroke distance Dis is larger than or equal to the first distance limit1, setting the preset running speed of the processing die as the maximum speed;
second stage, when the first distance limit1>When the residual stroke distance Dis is larger than or equal to the second distance parameter limit 2; setting the saidThe preset running speed of the tool and the die is
A third stage when the second distance limit2> the remaining stroke distance Dis ≧ the third distance parameter limit 3; setting the preset running speed of the processing mould as a low speed;
a fourth stage, when the residual stroke distance Dis is less than the third distance limit3, setting the preset operating speed of the processing die to be 0;
where t is the duration of entry into the second phase, Kp、KiThe speed of the second stage and the speed of the first stage and the speed of the third stage are smoothly connected with each other.
Further, before setting the control logic of the processing mold, the method further includes calculating a total travel distance of the processing mold, where the total travel distance includes a total travel distance D of the platen positionPress and pressAnd total travel distance D of bending positionFolding device；
When the processing mould is positioned at the pressing plate position,
the first distance parameter limit1 ═ 0.5DPress and press；
The second distance parameter limit2 ═ 0.125DPress and press；
The third distance parameter limit3 is 0.001 mm;
when the processing mould is in a bending position;
the first distance parameter limit1 ═ 0.125DFolding device；
The second distance parameter limit2 ═ 0.0625DFolding device；
The third distance parameter limit3 is 0.001 mm.
Further, the control logic further includes, when the processing mold is in the first stage, the third stage, and the fourth stage, enabling the processing mold to reach a preset operating speed through a preset acceleration.
Further, before setting the control logic of the processing mold, the method further includes obtaining, through calculation or experiment, a preset acceleration that satisfies the following acceleration conditions:
the acceleration condition comprises that when the bending machine is in the fourth stage, the preset acceleration of the processing die enables a rear positioning mechanism of the bending machine not to shake.
Further, the acceleration condition further includes that, when in the first stage, the acceleration duration of the processing mold is less than or equal to 120 ms;
when in the third phase, the fourth phase; the acceleration duration of the processing die is less than or equal to 80 ms.
In a second aspect, the invention further provides a bending machine control system.
A bending machine control system comprises a processing die for processing a metal plate, and the system comprises the processing die for processing the metal plate, a servo motor for driving the processing die, a monitoring device for monitoring the current position of the processing die, and a driver for controlling the servo motor;
the driver is electrically connected with the monitoring device and the servo motor respectively; the driver is used to store the aforementioned control logic.
The monitoring device is a grating ruler.
The driver comprises an auxiliary encoder interface, and the driver is electrically connected with the grating ruler through the auxiliary encoder interface.
The invention realizes the accurate monitoring of the processing mould through the grating ruler, and sets the control logic of the processing mould by monitoring the current position of the processing mould. The closed-loop and rapid production is realized through the control logic, and the production efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of the operation of the bending machine of the present invention;
fig. 2 is a flow chart illustrating a bending machine control method according to the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1, processing a mould; 2, a rear positioning mechanism; 3, cutting tools; 4, a grating ruler; 5 a metal plate.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, a metal plate 5 is held and positioned by a rear positioning mechanism 2, and then the metal plate 5 is subjected to force application processing by a fixed tool 3 and a movable processing die 1. Wherein the processing mould 1 is a structure with a V-shaped groove at one end. The V-grooves serve to improve the present invention over existing control methods in which the mould 1 is machined.
Generally, the bending machine works in two states, namely a pressing plate state and a bending position. Wherein the pressing plate position is the process that the processing mould 1 pushes the metal plate until the metal plate is contacted with the cutter 3, and the total travel distance D of the pressing plate position can be calculated through the height of the processing mould 1 and the thickness of the metal platePress and press(ii) a The bending position is connected with the pressing plate position, and the metal plate is contacted with the cutter 3 to finish the working process of bending the metal plate; the total travel distance D of the pressing plate position can be calculated through the angle of the processing die 1 and the bending distance of the metal plateFolding device。
D obtained by calculationPress and press、DFolding device(ii) a Set up at the different distance parameters of clamp plate position and position of bending, wherein processing mold 1 is when the clamp plate position
First distance parameter limit1 ═ 0.5DPress and press；
Second distance parameter limit2 ═ 0.125DPress and press；
The third distance parameter limit3 is 0.001 mm;
when the processing mould 1 is in a bending position;
first distance parameter limit1 ═ 0.125DFolding device；
Second distance parameter limit2 ═ 0.0625DFolding device；
The third distance parameter limit3 is 0.001 mm.
The pressure plate position stroke and the bending position stroke are respectively divided into four stages by the distance parameters.
The bending machine control method specifically comprises the following working steps:
s1, monitoring the residual stroke distance Dis of the processing mould 1;
s2, setting a control logic of the processing mold 1; the control logic comprises that the machining die 1 reaches a preset running speed according to the residual stroke distance Dis;
and S3, controlling the processing mould 1 through the control logic.
The control logic may include, in part,
in the first stage, when the residual stroke distance Dis is larger than or equal to the first distance limit1, setting the preset running speed of the processing die 1 as the maximum speed; in actual production, the speed of the processing die 1 is controlled by controlling the rotating speed of a motor for driving the processing die 1, wherein the maximum speed is the rotating speed of a corresponding servo motor, and the rotating speed is 1800rpm or 1500rpm generally in the industry;
second stage, when the first distance limit1>When the residual stroke distance Dis is larger than or equal to the second distance parameter limit 2; setting the preset running speed of the processing die 1 to
Where t is the duration of entry into the second phase, Kp、KiThe speed of the second stage and the speed of the first stage and the speed of the third stage are smoothly connected with each other.
Wherein upon entering the second phase, the speed is maintained in accordance with the first phase, and wherein the second phase is performed at a speed which is substantially equal to the first phase
And Dis limit1, KpObtaining the product by reverse pushing; correspondingly, the last speed of the second stage is the third stage speed, known as KpK can be calculatediThe numerical value of (c).
A third stage when the second distance limit2> the remaining stroke distance Dis ≧ the third distance parameter limit 3; setting the preset running speed of the processing mould 1 as a low speed; similarly, the low speed corresponds to a rotation speed of 100rpm of the servo motor.
And in the fourth stage, when the residual stroke distance Dis < the third distance limit3, setting the preset operating speed of the processing die 1 to 0.
Through the scheme, the first stage is an acceleration stage of the processing mold 1, and the acceleration is positive and consistent with the speed direction; the second, third and fourth stages are deceleration stages of the processing mold 1, and the acceleration is negative, that is, opposite to the speed direction.
In fact, after the fourth phase of the bending position, the machining die 1 finishes machining one metal sheet 5, starts the reverse movement and returns to the original position to start machining the next metal sheet 5. This return process has less effect on the quality of the sheet metal 5 and is not within the scope of the present invention.
Preferably, the acceleration used in obtaining the preset running speed in the above-mentioned several stages is further set.
Wherein the acceleration condition comprises that when in the fourth stage, the preset acceleration of the processing die 1 enables the rear positioning mechanism 2 of the bending machine not to shake.
The acceleration conditions further comprise that, when in the first phase, the acceleration duration of the working mold 1 is less than or equal to 120 ms;
when in the third phase, the fourth phase; the acceleration duration of the working mold 1 is less than or equal to 80 ms. By setting the acceleration in this way, the influence of excessive acceleration and shaking on the processing quality of the metal plate 5 can be avoided on the premise of improving the processing efficiency of the metal plate 5.
In order to realize the control method, the invention provides a bending machine control system, which comprises a processing die 1 for processing a metal plate 5, wherein the system comprises the processing die 1 for processing the metal plate 5, a servo motor for driving the processing die 1, a monitoring device for monitoring the current position of the processing die 1 and a driver for controlling the servo motor;
the driver is respectively electrically connected with the monitoring device and the servo motor; the driver is used to store the aforementioned control logic.
The monitoring device is a grating ruler 4.
The driver comprises an auxiliary encoder interface, and the driver is electrically connected with the grating ruler 4 through the auxiliary encoder interface. By the driver comprising the auxiliary encoder interface, the data transmission speed between the grating ruler 4 and the driver is faster, and the hardware requirement for realizing the closed loop is obtained.
In the description herein, reference to the terms "embodiment one," "embodiment two," "example," "specific example," or "some examples," etc., means that a particular method, apparatus, or feature described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, methods, apparatuses, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A bending machine control method is characterized by comprising the following steps:
monitoring the residual stroke distance Dis of the processing die;
setting control logic of the processing mould; the control logic comprises that the machining die reaches a preset running speed according to the residual stroke distance Dis;
controlling the processing die through the control logic;
the step of enabling the machining die to reach the preset running speed according to the residual stroke distance Dis comprises the following steps:
comparing the size relation between the residual stroke distance Dis and a preset distance parameter; the distance parameters include: a first distance parameter limit1, a second distance parameter limit2, a third distance parameter limit 3; wherein the first distance parameter limit1> the second distance parameter limit2> the third distance parameter limit 3; the first distance parameter limit1, the second distance parameter limit2 and the third distance parameter limit3 divide the stroke of the processing die into four stages;
in the first stage, when the residual stroke distance Dis is larger than or equal to the first distance limit1, setting the preset running speed of the processing die as the maximum speed;
second stage, when the first distance limit1>When the residual stroke distance Dis is larger than or equal to the second distance parameter limit 2; setting the preset running speed of the processing die to
A third stage when the second distance limit2> the remaining stroke distance Dis ≧ the third distance parameter limit 3; setting the preset running speed of the processing mould as a low speed;
a fourth stage, when the residual stroke distance Dis is less than the third distance limit3, setting the preset operating speed of the processing die to be 0;
where t is the duration of entry into the second phase, Kp、KiThe speed of the second stage and the speed of the first stage and the speed of the third stage are smoothly connected with each other.
2. Method for controlling a bending machine according to claim 1,
the method comprises the following steps of calculating the total travel distance of the processing die before setting the control logic of the processing die, wherein the total travel distance comprises the total travel distance D of the pressing plate positionPress and pressAnd total bending strokeDistance DFolding device；
When the processing mould is positioned at the pressing plate position,
the first distance parameter limit1 ═ 0.5DPress and press；
The second distance parameter limit2 ═ 0.125DPress and press；
The third distance parameter limit3 is 0.001 mm;
when the processing mould is in a bending position;
the first distance parameter limit1 ═ 0.125DFolding device；
The second distance parameter limit2 ═ 0.0625DFolding device；
The third distance parameter limit3 is 0.001 mm.
3. Method for controlling a bending machine according to claim 1 or 2,
the control logic further includes, when in the first stage, the third stage, and the fourth stage, causing the processing mold to reach a preset operating speed by a preset acceleration.
4. Method for controlling a bending machine according to claim 3,
before the setting of the control logic of the processing mold, the method further comprises the following steps of obtaining preset acceleration meeting the following acceleration conditions through calculation or experiments:
the acceleration condition comprises that when the bending machine is in the fourth stage, the preset acceleration of the processing die enables a rear positioning mechanism of the bending machine not to shake.
5. Method for controlling a bending machine according to claim 4,
the acceleration condition further comprises that, when in the first stage, the acceleration duration of the working mold is less than or equal to 120 ms;
when in the third phase, the fourth phase; the acceleration duration of the processing die is less than or equal to 80 ms.
6. A bending machine control system is characterized in that,
the system comprises a processing die for processing the metal plate, a servo motor for driving the processing die, a monitoring device for monitoring the current position of the processing die and a driver for controlling the servo motor;
the driver is electrically connected with the monitoring device and the servo motor respectively; the drive is also configured to store and control the servo motor to execute the control logic of claims 1-5.
7. The bender control system according to claim 6, wherein said monitoring device is a grating scale.
8. The bender control system according to claim 7, wherein said driver includes an auxiliary encoder interface, said driver being electrically connected to said grating ruler through said auxiliary encoder interface.
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| CN201711341216.4A CN108255209B (en) | 2017-12-14 | 2017-12-14 | Bending machine control method and system |
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| CN201711341216.4A CN108255209B (en) | 2017-12-14 | 2017-12-14 | Bending machine control method and system |
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| CN108255209B true CN108255209B (en) | 2020-12-25 |
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| CN109772945B (en) * | 2019-01-15 | 2021-07-23 | 武汉菲仕运动控制系统有限公司 | Full-closed-loop electro-hydraulic servo driving method and system for bending machine |
| CN111842556B (en) * | 2020-07-14 | 2022-04-26 | 深圳市汇川技术股份有限公司 | Bending machine spindle speed control method, bending machine and readable storage medium |
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| JP2000293707A (en) * | 1999-03-30 | 2000-10-20 | Internatl Business Mach Corp <Ibm> | Method and device for adapting curved surface to point- set |
| CN1714965A (en) * | 2004-06-28 | 2006-01-04 | 发那科株式会社 | Servo motor control unit for press-forming machine |
| JP2009252220A (en) * | 2008-04-04 | 2009-10-29 | Kyotaka Kawanishi | Input device |
| CN102866665A (en) * | 2012-09-27 | 2013-01-09 | 华南理工大学 | Multi-axial synchronous control system and method for all-electric bending machine |
| CN103111500A (en) * | 2013-02-26 | 2013-05-22 | 昆山市天之衣精工机械设备有限公司 | Electric bending machine |
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- 2017-12-14 CN CN201711341216.4A patent/CN108255209B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000293707A (en) * | 1999-03-30 | 2000-10-20 | Internatl Business Mach Corp <Ibm> | Method and device for adapting curved surface to point- set |
| CN1714965A (en) * | 2004-06-28 | 2006-01-04 | 发那科株式会社 | Servo motor control unit for press-forming machine |
| JP2009252220A (en) * | 2008-04-04 | 2009-10-29 | Kyotaka Kawanishi | Input device |
| CN102866665A (en) * | 2012-09-27 | 2013-01-09 | 华南理工大学 | Multi-axial synchronous control system and method for all-electric bending machine |
| CN103111500A (en) * | 2013-02-26 | 2013-05-22 | 昆山市天之衣精工机械设备有限公司 | Electric bending machine |
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