CN113359615A - High-speed flying shear, control method, control device and storage medium - Google Patents
High-speed flying shear, control method, control device and storage medium Download PDFInfo
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- CN113359615A CN113359615A CN202110500125.0A CN202110500125A CN113359615A CN 113359615 A CN113359615 A CN 113359615A CN 202110500125 A CN202110500125 A CN 202110500125A CN 113359615 A CN113359615 A CN 113359615A
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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Abstract
The invention discloses a high-speed flying shear, a control method, a control device and a storage medium, wherein the high-speed flying shear comprises a main shaft, a driven shaft and a measuring encoder, the driven shaft rotates along with the main shaft according to a set track, a cutter is arranged on the driven shaft, and the measuring encoder is used for sending an encoding signal in response to the change of a standard value of the main shaft; the control method comprises the steps of responding to a coded signal, and calculating the motion position of a main shaft; calculating the motion position of the slave shaft in response to the judgment result that the motion position of the master shaft changes; based on the change of the standard value generated by the main shaft every time, the main shaft can immediately control the main shaft to react so as to deal with high-speed and high-precision cutting; the problem of insufficient precision caused by the fact that the control of the slave axis is performed according to the change of the master axis in the time period based on the time period in the prior art can be solved.
Description
Technical Field
The invention relates to the field of flying shears, in particular to a high-speed flying shear, a control method, a control device and a storage medium.
Background
A shearing machine for transversely shearing a rolled piece in operation is called a flying shear and is processing equipment capable of quickly cutting off iron plates, steel pipes and paper rolls.
At present, flying shears generally operate by the following control modes: at intervals of a time period, for example, 1 millisecond, the coded signals are read from the measuring encoder, the running position of the main shaft is calculated, and the running position of the driven shaft is calculated according to the running position of the main shaft, so that the motion mode of the driven shaft is determined. In the interval period, the flying shear system cannot adjust the running states of the main shaft and the driven shaft; the control mode cannot meet the requirement of high speed and high precision of industrial development.
Disclosure of Invention
The present invention is directed to solve at least one of the problems of the prior art, and provides a high-speed flying shear, a control method, a control device, and a storage medium.
The technical scheme adopted by the invention for solving the problems is as follows:
in a first aspect of the invention, a control method of a high-speed flying shear comprises a main shaft, a driven shaft and a measuring encoder, wherein the driven shaft rotates along with the main shaft according to a set track, a cutter for shearing a material to be sheared is installed on the driven shaft, and the measuring encoder is used for sending an encoding signal in response to the change of a standard value of the main shaft;
the control method comprises the following steps:
responding to the received coded signal, and calculating the motion position of the main shaft;
and calculating the motion position of the slave shaft in response to the judgment result that the motion position of the master shaft is changed.
The scheme has at least the following beneficial effects: the encoder responds to the change of a standard value of the main shaft and sends an encoding signal; after receiving a coding signal sent by the coder, the controller immediately calculates the motion position of the main shaft, and when the motion position of the main shaft changes, the motion position of the driven shaft is calculated; based on the change of the standard value generated by the main shaft every time, the main shaft can immediately control the response of the auxiliary shaft to deal with high-speed and high-precision cutting; this can avoid the problem of insufficient accuracy that has been caused by controlling the response of the slave axis based on the time period according to the change of the master axis within the time period.
According to the first aspect of the present invention, before the step of calculating the movement position of the slave axis in response to the determination result that the movement position of the master axis changes, the method further includes the steps of: and judging whether the movement position of the main shaft is changed or not.
According to the first aspect of the invention, the main shaft is connected with a conveying mechanism for conveying the material to be sheared, and the main shaft is used for controlling the feeding speed; the control method further comprises the following steps: and the tangential speed and the feeding speed of the cutter are the same by adjusting the relationship between the movement position of the main shaft and the movement position of the driven shaft.
In a second aspect of the present invention, a control device for a high speed flying shear comprises a main shaft, a driven shaft rotating along the main shaft according to a set track, and a measuring encoder, wherein a cutting tool for cutting a material to be cut is installed on the driven shaft, and the measuring encoder is configured to send an encoding signal in response to the main shaft changing a standard value; the control device is in communication connection with the measurement encoder;
the control device includes:
the first calculating unit is used for responding to a received coding signal and calculating the motion position of the main shaft;
and the second calculation unit is used for calculating the motion position of the slave shaft in response to the judgment result that the motion position of the master shaft changes.
The scheme has at least the following beneficial effects: the encoder responds to the change of a standard value of the main shaft and sends an encoding signal; after receiving a coding signal sent by the coder, the controller immediately calculates the motion position of the main shaft, and when the motion position of the main shaft changes, the motion position of the driven shaft is calculated; based on the change of the standard value generated by the main shaft every time, the main shaft can immediately control the response of the auxiliary shaft to deal with high-speed and high-precision cutting; this can avoid the problem of insufficient accuracy that has been caused by controlling the response of the slave axis based on the time period according to the change of the master axis within the time period.
According to a second aspect of the present invention, a control device of a high-speed flying shear further comprises a determination unit for determining whether a movement position of the main shaft changes.
According to a second aspect of the invention, the main shaft is connected with a conveying mechanism for conveying the material to be sheared, and the main shaft is used for controlling the feeding speed; the control device further comprises a uniform speed adjusting unit, and the tangential speed and the feeding speed of the cutter are the same by adjusting the relationship between the motion position of the main shaft and the motion position of the auxiliary shaft through the uniform speed adjusting unit.
In a third aspect of the invention, a high-speed flying shear comprises a control device according to the second aspect of the invention.
The scheme has at least the following beneficial effects: the encoder responds to the change of a standard value of the main shaft and sends an encoding signal; after receiving a coding signal sent by the coder, the controller immediately calculates the motion position of the main shaft, and when the motion position of the main shaft changes, the motion position of the driven shaft is calculated; based on the change of the standard value generated by the main shaft every time, the main shaft can immediately control the response of the auxiliary shaft to deal with high-speed and high-precision cutting; this can avoid the problem of insufficient accuracy that has been caused by controlling the response of the slave axis based on the time period according to the change of the master axis within the time period.
In a fourth aspect of the invention, a control apparatus for a high speed flying shear comprises at least one control processor and a memory for communicative connection with the at least one control processor; the memory stores instructions executable by the at least one control processor to enable the at least one control processor to perform the control method of the first aspect of the invention.
The scheme has at least the following beneficial effects: the encoder responds to the change of a standard value of the main shaft and sends an encoding signal; after receiving a coding signal sent by the coder, the controller immediately calculates the motion position of the main shaft, and when the motion position of the main shaft changes, the motion position of the driven shaft is calculated; based on the change of the standard value generated by the main shaft every time, the main shaft can immediately control the response of the auxiliary shaft to deal with high-speed and high-precision cutting; this can avoid the problem of insufficient accuracy that has been caused by controlling the response of the slave axis based on the time period according to the change of the master axis within the time period.
In a fifth aspect of the present invention, a storage medium stores computer-executable instructions that, when executed by a control processor, implement a control method according to the first aspect of the present invention.
The scheme has at least the following beneficial effects: the encoder responds to the change of a standard value of the main shaft and sends an encoding signal; after receiving a coding signal sent by the coder, the controller immediately calculates the motion position of the main shaft, and when the motion position of the main shaft changes, the motion position of the driven shaft is calculated; based on the change of the standard value generated by the main shaft every time, the main shaft can immediately control the response of the auxiliary shaft to deal with high-speed and high-precision cutting; this can avoid the problem of insufficient accuracy that has been caused by controlling the response of the slave axis based on the time period according to the change of the master axis within the time period.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a flow chart of a control method of a high-speed flying shear according to an embodiment of the present invention;
FIG. 2 is another flow chart of a control method of the high-speed flying shear according to an embodiment of the present invention;
FIG. 3 is a structural diagram of a control device of a high-speed flying shear according to an embodiment of the present invention;
fig. 4 is a structural diagram of a circuit control system of a high-speed flying shear according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1, an embodiment of a first aspect of the present invention provides a control method for a high-speed flying shear. The high-speed flying shear comprises a main shaft, a driven shaft and a measuring encoder 200, wherein the driven shaft rotates along with the main shaft according to a set track, a cutter for shearing a material to be sheared is arranged on the driven shaft, and the measuring encoder 200 is used for sending an encoding signal in response to the change of a standard value of the main shaft; the control method comprises the following steps: step S100, responding to a received coding signal, and calculating the motion position of a main shaft; and step S300, responding to the judgment result that the movement position of the main shaft changes, and calculating the movement position of the auxiliary shaft.
In this embodiment, the encoder sends an encoded signal in response to the spindle changing a standard value; after receiving a coding signal sent by the coder, the controller immediately calculates the motion position of the main shaft, and when the motion position of the main shaft changes, the motion position of the driven shaft is calculated; the slave axis is controlled to react immediately to the high speed and high precision cutting based on each change in the standard value of the master axis.
This can avoid the problem of insufficient accuracy caused by controlling the slave axis to react according to the change of the master axis in the time period based on the time period in the past, because under the environment of high accuracy, in one clock period, the encoder already sends a plurality of encoding signals, and the controller can only wait for one clock period to react.
It should be noted that the spindle may be a reference axis of the actuator for obtaining the position of the actuator, and may be a rotating shaft driven by a servo motor or an asynchronous motor and synchronized with the axis of the actuator, for example. Alternatively, the main shaft may be a virtual shaft, which is used only to indicate the current position or speed of the material to be cut being conveyed. The standard value of the spindle variation is set manually, and may be an angle of the spindle variation, for example, set to 10 degrees; it is also possible that the distance of the main axis varies, for example set to 1 mm. Of course in this embodiment the main shaft is connected to a transport mechanism for transporting the material to be sheared, the main shaft being used to control the feed rate.
The flying shear can be applied to production equipment such as a steel bar cold rolling mill and the like to control the cutting of steel bars; or to a paper cutter to control the cutting work. The actuating mechanism is driven by a servo motor to operate, and a driven shaft in the actuating mechanism is connected to a rotating shaft of the actuating mechanism through a transmission mechanism, wherein a cutting tool is installed on the driven shaft.
In addition, the main shaft may move at an unequal speed or at an equal speed. For the case where the spindle does not move at the same speed, when the index value is a specific distance of the spindle variation, the time interval of the coded signal transmitted by the measurement encoder 200 is different. When the value is marked as a specific distance where the spindle changes for the time when the spindle moves at a constant velocity, the time interval during which the measurement encoder 200 transmits the encoded signal is the same.
Some embodiments of the first aspect of the present invention, before the step of calculating the movement position of the slave axis in response to the determination result that the movement position of the master axis changes, further include the steps of: and step S200, judging whether the movement position of the main shaft is changed.
Specifically, the current motion position of the spindle is calculated according to a received current coding signal, and then the current motion position of the spindle is compared with a previous motion position of the spindle obtained according to a previous coding signal to judge whether the motion position of the spindle changes.
It should be noted that the encoder does not send an encoded signal when the spindle is not moving.
In certain embodiments of the first aspect of the present invention, the control method further comprises: the tangential speed and the feeding speed of the cutter are the same by adjusting the relationship between the movement position of the main shaft and the movement position of the driven shaft.
It should be noted that the length of the material to be cut to length is determined by the number of revolutions of the main shaft, and at the same time, the tangential speed of the cutter and the feed speed need to be kept the same, i.e. so-called speed synchronization for flying shears, in order to avoid damage to the cutter or deformation of the material to be cut. The tangential speed of the cutter is influenced by the movement position of the driven shaft, and the feeding speed is influenced by the movement position of the main shaft, so that the tangential speed of the cutter and the feeding speed are the same by adjusting the relationship between the movement position of the main shaft and the movement position of the driven shaft.
In addition, for the high-speed flying shear, an electronic cam is used. With ECAM, any slave shaft or group of slave shafts can be connected to the master shaft to simulate the motion of a mechanical cam. This allows one or more axes to be periodically synchronized with the main axis. The spindle may be driven by any motor or an encoder. The controller processes the ECAM function as a table of slave shaft position versus master shaft position in one cycle. The circulation from the shaft includes rapid acceleration to the speed of the catch-up transport mechanism, positioning the cut at high speed, then rapid deceleration, and finally return to the starting position.
Referring to fig. 3, in an embodiment of the second aspect of the present invention, a control device 100 for a high speed flying shear includes a main shaft, a driven shaft rotating along the main shaft according to a set track, and a measuring encoder 200, a tool for shearing a material to be sheared is mounted on the driven shaft, the measuring encoder 200 is configured to send an encoding signal in response to the main shaft changing a standard value; the control device 100 is in communication connection with the measurement encoder 200;
the control device 100 includes a first calculation unit 110 and a second calculation unit 130; the first calculating unit 110 is used for responding to a received coded signal and calculating the motion position of the main shaft; the second calculation unit 130 is configured to calculate the movement position of the slave axis in response to the determination result that the movement position of the master axis is changed.
In this embodiment, the encoder sends an encoded signal in response to the spindle changing a standard value; after receiving a coding signal sent by the coder, the controller immediately calculates the motion position of the main shaft, and when the motion position of the main shaft changes, the motion position of the driven shaft is calculated; the slave axis is controlled to react immediately to the high speed and high precision cutting based on each change in the standard value of the master axis. This can avoid the problem of insufficient accuracy that has been caused by controlling the response of the slave axis based on the time period according to the change of the master axis within the time period.
In some embodiments of the second aspect of the present invention, the control device 100 of the high-speed flying shear further includes a determination unit 120, and the determination unit 120 is configured to determine whether the movement position of the spindle changes.
In certain embodiments of the second aspect of the present invention, the main shaft is connected to a transport mechanism for transporting the material to be sheared, the main shaft being adapted to control the feed rate; the control device 100 further comprises a constant speed adjusting unit, and the constant speed adjusting unit enables the tangential speed and the feeding speed of the cutter to be the same by adjusting the relationship between the movement position of the main shaft and the movement position of the auxiliary shaft.
The control device 100 for the high-speed flying shear according to the second aspect of the present invention adopts the control method for the high-speed flying shear according to the first aspect of the present invention, has the same technical solutions, solves the same technical problems, and has the same technical effects, and therefore, the detailed description thereof is omitted.
Embodiments of a third aspect of the invention provide a high speed flying shear comprising a control apparatus 100 as embodiments of the second aspect of the invention.
The high-speed flying shear comprises a main shaft, a driven shaft and a measuring encoder 200, wherein the driven shaft rotates along with the main shaft according to a set track, a cutter for shearing a material to be sheared is installed on the driven shaft, and the measuring encoder 200 is used for sending an encoding signal in response to the change of a standard value of the main shaft.
The control device 100 includes a first calculation unit 110, a judgment unit 120, and a second calculation unit 130; the first calculating unit 110 is used for responding to a received coded signal and calculating the motion position of the main shaft; the second calculation unit 130 is configured to calculate the movement position of the slave axis in response to the determination result that the movement position of the master axis is changed. The determination unit 120 is used for determining whether the movement position of the spindle changes.
The high-speed flying shear adopts an electronic cam. With ECAM, any slave shaft or group of slave shafts can be connected to the master shaft to simulate the motion of a mechanical cam. This allows one or more axes to be periodically synchronized with the main axis. The spindle may be driven by any motor or an encoder. The control device 100 processes the ECAM function as a relational table of the relative relationship of the slave axis position and the master axis position in one cycle. The circulation from the shaft includes rapid acceleration to the speed of the catch-up transport mechanism, positioning the cut at high speed, then rapid deceleration, and finally return to the starting position.
Referring to fig. 4, in the circuit control system of the high-speed flying shear, the control device 100 adopts an MCU model of STM32F750, the measurement encoder 200 adopts an FPGA encoder model of XC6SLx45, the measurement encoder 200 is connected to the differential signal processor 500, the differential signal processor 500 adopts a model of 26LS31, the control device 100 stores data in a FLASH memory unit 400 model of 25W40, and the controller adopts a logic digital processor 300 model of EL357 to perform logic digital operation.
In an embodiment of a fourth aspect of the invention, there is provided a control apparatus for a high speed flying shear, comprising at least one control processor and a memory for communicative connection with the at least one control processor; the communication interface is used for the memory and the processor to communicate with the outside; the memory stores instructions executable by the at least one control processor to enable the at least one control processor to perform a control method as an embodiment of the first aspect of the invention.
If the memory, the processor and the communication interface are implemented independently, the memory, the processor and the communication interface may be connected to each other through a bus and perform communication with each other. The bus may be an industry standard architecture bus, a peripheral interconnect bus, an extended industry standard architecture bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc.
Optionally, in a specific implementation, if the memory, the processor, and the communication interface are integrated on a chip, the memory, the processor, and the communication interface may complete mutual communication through the internal interface.
An embodiment of a fifth aspect of the present invention provides a storage medium. The storage medium stores computer-executable instructions which, when executed by the control processor, implement a control method as an embodiment of the first aspect of the invention.
The computer readable media of embodiments of the present invention may be computer readable signal media or computer readable storage media or any combination of the two. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable read-only memory (CDROM). Additionally, the computer-readable storage medium may even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
In an embodiment of the present invention, the storage medium may comprise a propagated data signal with the computer-readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, input method, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, radio frequency, or any suitable combination of the foregoing.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and the present invention shall fall within the protection scope of the present invention as long as the technical effects of the present invention are achieved by the same means.
Claims (9)
1. The control method of the high-speed flying shear is characterized in that the high-speed flying shear comprises a main shaft, a driven shaft and a measuring encoder, wherein the driven shaft rotates along with the main shaft according to a set track, a cutter for shearing a material to be sheared is installed on the driven shaft, and the measuring encoder is used for sending an encoding signal in response to the change of a standard value of the main shaft;
the control method comprises the following steps:
responding to the received coded signal, and calculating the motion position of the main shaft;
and calculating the motion position of the slave shaft in response to the judgment result that the motion position of the master shaft is changed.
2. The control method of a high-speed flying shear according to claim 1, further comprising, before the step of calculating the movement position of the slave axis in response to the determination result that the movement position of the master axis changes, the steps of:
and judging whether the movement position of the main shaft is changed or not.
3. The control method of the high-speed flying shear of claim 1, wherein the main shaft is connected with a conveying mechanism for conveying the material to be sheared, and the main shaft is used for controlling the feeding speed; the control method further comprises the following steps: and the tangential speed and the feeding speed of the cutter are the same by adjusting the relationship between the movement position of the main shaft and the movement position of the driven shaft.
4. The control device of the high-speed flying shear is characterized by comprising a main shaft, a driven shaft and a measuring encoder, wherein the driven shaft rotates along with the main shaft according to a set track, a cutter for shearing a material to be sheared is mounted on the driven shaft, and the measuring encoder is used for sending an encoding signal in response to the change of a standard value of the main shaft; the control device is in communication connection with the measurement encoder;
the control device includes:
the first calculating unit is used for responding to a received coding signal and calculating the motion position of the main shaft;
and the second calculation unit is used for calculating the motion position of the slave shaft in response to the judgment result that the motion position of the master shaft changes.
5. The control device of a high-speed flying shear of claim 4, further comprising a judging unit for judging whether the movement position of the main shaft changes.
6. The control device of the high-speed flying shear of claim 4, wherein the main shaft is connected with a conveying mechanism for conveying materials to be sheared, and the main shaft is used for controlling the feeding speed; the control device further comprises a uniform speed adjusting unit, and the tangential speed and the feeding speed of the cutter are the same by adjusting the relationship between the motion position of the main shaft and the motion position of the auxiliary shaft through the uniform speed adjusting unit.
7. High-speed flying shear, characterized in that it comprises a control device according to any one of claims 4 to 6.
8. A control device for a high speed flying shear comprising at least one control processor and a memory for communicative connection with the at least one control processor; the memory stores instructions executable by the at least one control processor to enable the at least one control processor to perform the control method of any one of claims 1 to 3.
9. Storage medium, characterized in that it stores computer-executable instructions which, when executed by a control processor, implement a control method according to any one of claims 1 to 3.
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