CN113815100B - Servo cutter control method and device - Google Patents
Servo cutter control method and device Download PDFInfo
- Publication number
- CN113815100B CN113815100B CN202111119825.1A CN202111119825A CN113815100B CN 113815100 B CN113815100 B CN 113815100B CN 202111119825 A CN202111119825 A CN 202111119825A CN 113815100 B CN113815100 B CN 113815100B
- Authority
- CN
- China
- Prior art keywords
- cutter
- shaft
- gypsum board
- rotating
- synchronous
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B11/00—Apparatus or processes for treating or working the shaped or preshaped articles
- B28B11/12—Apparatus or processes for treating or working the shaped or preshaped articles for removing parts of the articles by cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
- B28B17/0036—Cutting means, e.g. water jets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
- B28B17/0063—Control arrangements
-
- 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
- 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
- G05B19/4097—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 characterised by using design data to control NC machines, e.g. CAD/CAM
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Ceramic Engineering (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Cutting Processes (AREA)
Abstract
The invention discloses a servo cutter control method and a device, wherein an electronic gear is added between a cutter rotating cutter shaft and a material shaft of a gypsum board production line, and a synchronous relation between the electronic gear and the material shaft is established; establishing a synchronous relation between the upper cutter rotating shaft and the lower cutter rotating shaft, and simultaneously establishing a synchronous relation between the cutter rotating shafts and the electronic gear; determining a speed adjusting mode of a cutter rotating shaft according to the target shearing length of the gypsum board, and setting a CAM curve about the synchronous process of the cutter rotating shaft and the electronic gear; respectively connecting the CAM curve with a cutter rotating cutter shaft and an electronic gear, and adjusting the cutter rotating cutter shaft according to the CAM curve and the advancing position of the gypsum board production line to carry out shearing work; the invention does not need to consider mechanical loss, can realize stepless speed regulation through software, has good transmission flexibility, can randomly modify the gear ratio and has high control precision.
Description
Technical Field
The invention relates to the technical field of gypsum board production lines, in particular to a servo cutter control method and device.
Background
Three control of edge cutting is an essential process in the production of gypsum board. The gypsum board is cut edge at high speed through the position of the high-speed saw under the pushing of the crawler.
Traditional cutter cutting board is by a servo motor drive cutter, lower cutter is cuted, servo motor shaft is connected with the belt pulley, this belt pulley passes through the belt with cutter side belt pulley and is connected, then cutter side belt pulley is coaxial has the pinion, it rotates to drive lower cutter gear wheel through the pinion, the gear wheel of going up the cutter and the gear wheel antiport of lower cutter, control through mechanical gear drive like this, and mechanical gear drive distance is short, there is mechanical loss, the drive ratio is limited easily, this control mode is very unfavorable for three accuse to advance saw the limit, cause the trouble easily, also cause the increase of putting useless board, every gypsum board has cut long simultaneously and has caused the waste, be unfavorable for the improvement of input output rate.
Disclosure of Invention
The invention aims to provide a servo cutter control method and a servo cutter control device, and aims to solve the technical problems that in the prior art, a mechanical gear is short in transmission distance, mechanical loss exists, and the transmission ratio is easily limited.
In order to solve the technical problems, the invention specifically provides the following technical scheme:
a servo cutter apparatus comprising:
the upper cutter servo motor is used for independently installing an upper cutter;
the lower cutter servo motor is used for independently mounting the lower cutter;
the output shafts of the upper cutter servo motor and the lower cutter servo motor are synchronous through an electronic gear;
the upper cutter or the lower cutter is respectively synchronous with a gypsum board production line through a CAM (computer aided manufacturing) CAM, and the electronic gear and the CAM CAM are both connected with a motion controller;
and the motion controller regulates and controls the working parameters of the CAM CAM and synchronously regulates and controls the working parameters of the electronic gear according to the corresponding relation between the rotating position of the lower cutter servo motor and the advancing position of the gypsum board production line, so that the horizontal component speed of the upper cutter and the lower cutter at the shearing position is the same as the advancing speed of the gypsum board production line.
In a preferred embodiment of the present invention, the CAM and the electronic gear are externally connected encoders.
In order to solve the technical problems, the invention further provides the following technical scheme: a control method of a servo cutter device comprises the following steps:
As a preferable scheme of the present invention, in step 100 and step 200, an encoder signal of a material shaft of the gypsum board production line is obtained to determine a traveling speed of the gypsum board production line and a traveling position of a gypsum board, a motion controller determines a time for each gypsum board to pass through the cutter rotating shaft according to the traveling speed of the gypsum board production line and the traveling position of the gypsum board, and the motion controller regulates, according to the time for each gypsum board to pass through the cutter rotating shaft, the start of the cutter rotating shaft and accelerates to perform a shearing operation in synchronization with the traveling speed of the gypsum board production line.
As a preferred aspect of the present invention, in step 300, the implementation process of the motion controller regulating and controlling the start of the cutter rotating shaft and accelerating to be synchronous with the advancing speed of the gypsum board production line includes determining a target shearing length of the gypsum board, comparing the target shearing length of the gypsum board with the cutter circumference of the cutter rotating shaft, and determining a speed adjustment mode of the cutter rotating shaft according to the comparison result, where the speed adjustment mode includes the following three conditions:
when the target shearing length is smaller than the circumference of the cutter, the cutter rotating cutter shaft is divided into a speed stabilizing section, a synchronous section and a speed reducing section in one rotation circle, the cutter rotating cutter shaft is accelerated to exceed the advancing speed of the gypsum board production line in the speed stabilizing section and then is decelerated to the advancing speed of the gypsum board production line, the cutter rotating cutter shaft is kept synchronous with the advancing speed of the gypsum board production line in the synchronous section, and the cutter rotating cutter shaft is decelerated to a set value in the speed reducing section;
when the target shearing length is equal to the circumference of the cutter, the cutter rotating cutter shaft is divided into synchronous sections when rotating for one circle, and the cutter rotating cutter shaft always runs at the same speed as the advancing speed of the gypsum board production line;
when the target shearing length is larger than the circumference of the cutter, the cutter rotating cutter shaft is divided into an accelerating section, a synchronous section and a decelerating section in one rotation circle, the cutter rotating cutter shaft is accelerated to be the same as the advancing speed of the gypsum board production line in the accelerating section, the advancing speed of the cutter rotating cutter shaft is maintained to be the same as the advancing speed of the gypsum board production line in the synchronous section, and finally the cutter rotating cutter shaft is decelerated to stop in the decelerating section.
As a preferred aspect of the present invention, the cutter rotating shaft is divided into an upper cutter rotating shaft and a lower cutter rotating shaft, the upper cutter rotating shaft and the lower cutter rotating shaft rotate synchronously, and the movement trajectories of the upper cutter and the lower cutter mounted on the upper cutter rotating shaft and the lower cutter rotating shaft are divided into three steps when the target shearing length is greater than the circumference of the cutter, and the three steps are respectively: the device comprises an acceleration section, a synchronization section and a deceleration section, wherein the upper cutter and the lower cutter are lifted from zero speed to the same speed as the plate advancing speed in the acceleration section;
the horizontal component of the linear velocity of the upper cutter and the lower cutter in the synchronous section is the same as the advancing speed of the plate;
and the upper cutter and the lower cutter are decelerated to stop in the deceleration section.
As a preferable scheme of the present invention, in step 300, the CAM curve includes a start synchronization curve corresponding to the acceleration section, a disengagement synchronization curve corresponding to the deceleration section, and a synchronization cutting curve corresponding to the synchronization section, the CAM curve is used to determine a position relationship between the acceleration section, the synchronization section, and the deceleration section of the cutter rotating shaft, respectively, and the advancing position of the gypsum board, and the cutter rotating shaft completes the cutting work of a single gypsum board according to a combined curve of the start synchronization curve, the synchronization cutting curve, and the disengagement synchronization curve;
the abscissa of the CAM curve is the target shearing length of the gypsum board, the ordinate is the track perimeter C =2 pi r of one circle of rotation of the cutter blade and the cutter rotating shaft, and r is the combined radius of the cutter blade and the cutter rotating shaft.
As a preferred scheme of the present invention, the CAM curve generates a combined circulation curve according to the start synchronization curve, the synchronous cutting curve and the deviation synchronization curve, and the combined circulation curve in the CAM curve completes the shearing work of a single gypsum board according to the corresponding relationship between the gypsum board advancing position and the cutter rotating knife shaft rotating position in the start synchronization curve and the deviation synchronization curve;
the rotating position of the rotating cutter shaft of the cutter takes the position right below the cutting edge of the cutter as the original point, and the rotating position of the rotating cutter shaft of the cutter is determined according to the clockwise or anticlockwise direction, and the rotating position
Wherein theta is the rotation angle of the cutter rotating shaft, and r is the combined radius of the cutter blade and the cutter rotating shaft.
As a preferred aspect of the present invention, in step 400, the target shearing length of the gypsum board and the track perimeter of the cutting edge of the cutter and the one-round rotation of the cutter rotating shaft are fixed values, and the advancing speed of the gypsum board and the advancing length of the gypsum board are determined by reading encoder signals of a material shaft of a gypsum board production line;
determining the time required for each gypsum board to pass through the position of the cutter according to the advancing speed of the gypsum board so as to determine the time required for the rotating cutter shaft of the cutter to accelerate from rest to be synchronous with the advancing speed of the gypsum board;
and determining the rotating position of the cutting edge of the cutting knife on the cutting knife rotating shaft according to the corresponding relation between the advancing length of the gypsum board in the CAM curve and the rotating position of the cutting edge of the cutting knife.
As a preferable aspect of the present invention, when an encoder signal for reading a material shaft of a gypsum board production line indicates that an apparatus is started, the cutter rotating arbor starts to run synchronously at a stop point so that a horizontal component speed of the cutter rotating arbor is synchronized with a traveling speed of the gypsum board production line;
after the cutter rotating cutter shaft is synchronous with the gypsum board production line, the cutter rotating cutter shaft performs shearing work according to a combined cycle curve in the CAM curve, and performs fixed-length shearing movement according to the set length of each gypsum board;
when the cutter rotating cutter shaft or the gypsum board production line breaks down, the cutter rotating cutter shaft performs synchronous separation work according to a synchronous separation curve in the CAM curve, and after synchronization is removed, the cutter rotating cutter shaft stops at the stop point.
Compared with the prior art, the invention has the following beneficial effects:
the invention uses an external encoder as a virtual main shaft, does not need to consider mechanical loss, can realize stepless speed regulation through software, has good transmission flexibility, can randomly modify gear ratio, has high control precision, can not generate mechanical back clearance, has short response time of the control mode and low machining difficulty, theoretically has an error of +/-0.5 mm, but considers the mechanical aspect or other reasons, and has the control precision of +/-1 mm.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
Fig. 1 is a schematic structural diagram of a servo cutter device according to an embodiment of the present invention;
fig. 2 is a schematic view of a rotation position of a cutter rotating shaft according to an embodiment of the present invention;
fig. 3 is a block diagram of a synchronous driving process according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating a start-synchronization curve in a CAM curve according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an out-of-sync curve in a CAM curve according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating a combined cycle curve in a CAM curve according to an embodiment of the present invention.
The reference numerals in the drawings denote the following, respectively:
1-upper cutter servo motor; 2-lower cutter servo motor; 3-an electronic gear; 4-CAM; 5-gypsum board production line; 6-motion controller.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
As shown in fig. 1, the present invention provides a servo cutter device, which includes an upper cutter servo motor 1, a lower cutter servo motor 2, an electronic gear 3, a CAM 4, and a motion controller 6.
The upper cutter servo motor 1 is used for independently installing an upper cutter; the lower cutter servo motor 2 is used for independently mounting a lower cutter; the output shafts of the upper cutter servo motor 1 and the lower cutter servo motor 2 are synchronous through the electronic gear 3, namely the upper cutter servo motor 1 and the lower cutter servo motor 2 realize synchronous rotation and synchronous stop through the electronic gear 3, and the rotating speed and position are uniform and correspondingly synchronous.
Go up between cutter or the lower cutter and the gypsum board production line respectively through CAM CAM 4 synchronous, and electronic gear 3 and CAM CAM 4 all are connected with motion control ware 6.
The motion controller 6 regulates and controls the working parameters of the CAM CAM 4 and synchronously regulates and controls the working parameters of the electronic gear 3 according to the functional relation between the rotating position of the lower cutter servo motor 2 and the advancing position of the gypsum board production line 5, so that the horizontal component speed of the upper cutter and the lower cutter at the shearing position is the same as the advancing speed of the gypsum board production line, and the cutter of the gypsum board at the target shearing position works.
As an innovative point of the present embodiment, firstly, there is no mechanical connection relationship between the upper cutter and the lower cutter, but the electronic gear 3 is synchronized between the upper cutter and the lower cutter, the electronic gear is an external encoder as a virtual shaft, mechanical loss is not required to be considered, stepless speed regulation can be realized through software, transmission flexibility is good, gear ratio can be modified at will, control accuracy is high, and mechanical backlash is not generated.
Secondly, the CAM CAM 4 is evolved from a mechanical CAM, describes the functional relationship between the nonlinear operation curve of the cutter rotating cutter shaft and the linear operation curve of the gypsum board advancing, the cutter rotating cutter shaft is used as a main shaft, the material shaft of the gypsum board advancing is used as an auxiliary shaft, and the main shaft and the auxiliary shaft keep the corresponding relationship of the functions. In practical application, the speed and position values of the main shaft are measured values, the main shaft is easily disturbed by the influence of a measuring period and an external environment, so that larger disturbance is generated on the main shaft, the rotating cutter shaft of the cutter and the conveying main line of a gypsum board production line are subjected to CAM (computer-aided manufacturing) CAM synchronization, the control mode has short response time and low machining difficulty, the error is +/-0.5 mm theoretically, and the control precision of the method is +/-1 mm in consideration of mechanical aspects or other reasons.
The CAM 4 acts as a main shaft and has no drive means to control its speed and position. When the CAM CAM 4 is synchronous with the cutter rotating shaft, the speed or position relation between the main shaft and the driven shaft can be defined in a table or can adopt a polynomial curve, so that the impact of speed change on mechanical equipment is reduced, and the relation between the main shaft and the driven shaft is more flexible.
The control method of the servo cutter device specifically comprises the following steps:
And 200, establishing a synchronous relation between the upper cutter rotating shaft and the lower cutter rotating shaft, and establishing a synchronous relation between the two cutter rotating shafts and the electronic gear.
It should be added that the synchronous relation between the upper and lower cutter rotating shafts is also realized by the electronic gear, so the electronic gear is used as the medium between the cutter rotating shaft and the material shaft, so that the two cutter rotating shafts and the material shaft realize synchronous work, the synchronous process does not need to consider mechanical loss, stepless speed regulation can be realized by software, the transmission flexibility is good, the gear ratio can be modified at will, the control precision is high, no mechanical back clearance is generated, the response time of the synchronous control mode of the cutter and the production line main line is short, the machining difficulty is low, the error is +/-0.5 mm theoretically, but the control precision of the method is +/-1 mm considering mechanical aspects or other reasons.
The method specifically realizes the synchronous work between the rotating cutter shafts of the two cutters and the material shaft, and comprises the following steps:
(1) Acquiring encoder signals of a material shaft of a gypsum board production line to determine the advancing speed of the gypsum board production line and the advancing position of a gypsum board;
(2) The motion controller 6 determines the time for each gypsum board to pass through the cutter shaft rotating time according to the advancing speed of the gypsum board production line and the advancing position of the gypsum board;
(3) The motion controller 6 regulates and controls the starting of the cutter rotating shaft according to the time of each gypsum board passing through the cutter rotating shaft and accelerates the starting to the speed synchronous with the advancing speed of the gypsum board production line for shearing.
Therefore, the speed change process of the rotating cutter shaft of the cutter is divided through the synchronous work, so that the cutter on the rotating cutter shaft of the cutter is synchronous with the advancing speed of a gypsum board production line and carries out shearing work on the gypsum board when the gypsum board moves to the target shearing length.
And 300, determining a speed adjusting mode of the cutter rotating cutter shaft according to the target shearing length of the gypsum board until the shearing length of the cutter rotating cutter shaft when the cutter rotating cutter shaft rotates for one circle in a frequency conversion manner is the same as the target shearing length of the gypsum board, and setting a CAM curve related to the synchronous process of the cutter rotating cutter shaft and the CAM.
As shown in fig. 2 to 3, the motion controller 6 regulates and controls the start of the cutter rotating shaft and accelerates to the synchronous implementation process with the advancing speed of the gypsum board production line, and determines the target cutting length of the gypsum board, compares the target cutting length of the gypsum board with the cutter circumference of the cutter rotating shaft, and determines the speed adjusting mode of the cutter rotating shaft according to the comparison result, wherein the speed adjusting mode is divided into the following three conditions:
when the target shearing length is smaller than the circumference of the cutter, the cutter rotating cutter shaft is divided into a stable speed section, a synchronous section and a speed reduction section in one rotation circle, the cutter rotating cutter shaft is accelerated to exceed the advancing speed of the gypsum board production line in the stable speed section and then is decelerated to the advancing speed of the gypsum board production line in the synchronous section, the cutter rotating cutter shaft is kept synchronous with the advancing speed of the gypsum board production line in the synchronous section, and the cutter rotating cutter shaft is decelerated to a set value in the speed reduction section, namely the rotating speed of the cutter on the cutter rotating cutter shaft is larger than the advancing speed of the gypsum board production line, so that the small-length target shearing length is cut when the cutter rotating cutter shaft rotates to the circumference of the cutter.
When the target shearing length is equal to the circumference of the cutter, the rotary cutter shaft of the cutter is divided into synchronous sections in one rotation, the rotary cutter shaft of the cutter always runs at the same speed as the advancing speed of a gypsum board production line, namely, the advancing length of the gypsum board is the target shearing length every time the rotary cutter shaft of the cutter rotates for one rotation, and therefore stable slitting work on the gypsum board is achieved.
When the target shearing length is larger than the circumference of the cutter, the cutter rotating cutter shaft is divided into an accelerating section, a synchronous section and a decelerating section in one rotation circle, the cutter rotating cutter shaft is accelerated to be the same as the advancing speed of the gypsum board production line in the accelerating section and is maintained to be the same as the advancing speed of the gypsum board production line in the synchronous section, and finally the cutter rotating cutter shaft is decelerated to stop in the decelerating section.
Because the thickness of the gypsum board is smaller, the length of the cutting edge of the cutter is shorter, and the diameter of the rotating cutter shaft of the cutter is also smaller, so that the target shearing length is less than the circumference of the cutter, and the target shearing length is equal to the circumference of the cutter, so that the embodiment emphasizes the analysis and treatment of the condition that the target shearing length is greater than the circumference of the cutter.
The cutter rotating cutter shaft is divided into an upper cutter rotating cutter shaft and a lower cutter rotating cutter shaft, the upper cutter rotating cutter shaft and the lower cutter rotating cutter shaft synchronously rotate, and the motion tracks of an upper cutter and a lower cutter arranged on the upper cutter rotating cutter shaft and the lower cutter rotating cutter shaft are divided into three steps when the target shearing length is greater than the circumference of the cutter:
the upper and lower cutters are raised from zero speed to the same speed as the sheet travel speed in the acceleration section (the locus between the stop point and the start synchronization point in fig. 2).
The horizontal component of the linear velocity of the upper and lower cutters in the synchronous section is the same as the sheet travel velocity (the locus from the start to the end of the synchronization point in fig. 2).
The upper and lower cutters are decelerated to a stop in the deceleration section (the trajectory from the end synchronization point to the stop point in fig. 2).
The blade of the acceleration section accelerates to the plate advancing speed so as to enter the synchronous section, the speed component of the linear speed of the blade in the horizontal direction is consistent with the plate advancing speed, the quality of a shearing section is guaranteed, the surface of the plate is not scratched, and then the blade enters the deceleration section.
Therefore, the CAM curve includes a start synchronization curve corresponding to the acceleration section (as shown in fig. 4), a deviation synchronization curve corresponding to the deceleration section (as shown in fig. 5), and a synchronization cutting curve corresponding to the synchronization section, the CAM curve is used to determine the positional relationship between the acceleration section, the synchronization section, and the deceleration section of the cutter rotating shaft, respectively, and the advancing positions of the gypsum boards, and the cutter rotating shaft completes the cutting work of a single gypsum board according to the start synchronization curve, the synchronization cutting curve, and the deviation synchronization curve.
The CAM curve can be set by an interpolation point table or generated by a polynomial.
The abscissa of the CAM curve is the target shearing length of the gypsum board, and the ordinate is the track perimeter C =2 pi r of one rotation circle of the cutter blade and the cutter rotating cutter shaft, wherein r is the combined radius of the cutter blade and the cutter rotating cutter shaft.
The synchronous cutting curve is specifically a point, the advancing position of the gypsum board corresponding to the abscissa at the moment is a target cutting position, the rotating position of the cutter rotating cutter shaft corresponding to the ordinate is a point, and the cutter rotating cutter shaft rotates by a rotation angle during cutting, so that the cutter rotating cutter shaft circularly operates according to a combined curve which starts the synchronous curve, the synchronous cutting curve and breaks away from the synchronous curve, and the cutting work of a plurality of gypsum boards is realized.
The combined curve in the CAM curve is a combined curve (shown in figure 6) of a start synchronous curve, a synchronous cutting curve and a deviation synchronous curve, and the combined curve circularly runs according to the corresponding relation between the advancing positions of the gypsum boards in the start synchronous curve and the deviation synchronous curve and the rotating positions of the rotating cutter shafts of the cutters, so that the online continuous shearing work of a plurality of gypsum boards is completed.
The rotating position of the cutter rotating shaft takes the position of the cutting edge of the cutter right below as the original point, and the rotating position of the cutter rotating shaft is determined according to the clockwise or anticlockwise direction
Wherein theta is the rotation angle of the rotary cutter shaft of the cutter, and r is the combined radius of the cutting edge of the cutter and the rotary cutter shaft of the cutter.
The realization principle of specifically determining the acceleration time for starting the synchronization curve and the deceleration time for departing from the synchronization curve is as follows:
the target shearing length of the gypsum board and the track perimeter of the cutter blade and the cutter rotating cutter shaft rotating for one circle are fixed values, and the advancing speed and the advancing length of the gypsum board are determined by reading encoder signals of a material shaft of a gypsum board production line.
The time required for each gypsum board to pass through the cutter position is determined according to the advancing speed of the gypsum board so as to determine the time required for the rotating cutter shaft of the cutter to accelerate from rest to be synchronous with the advancing speed of the gypsum board.
And the rotating position of the cutting edge of the cutting knife on the rotating knife shaft of the cutting knife is determined according to the corresponding relation between the advancing length of the gypsum board in the CAM curve and the rotating position of the cutting edge of the cutting knife.
After the cutter rotating cutter shaft is synchronous with a gypsum board production line, the cutter rotating cutter shaft circularly operates corresponding to the normal shearing working stage of gypsum boards according to a combination curve of a starting synchronous curve, a synchronous cutting curve and a separating synchronous curve in a CAM curve, and performs fixed-length shearing motion according to the set length of each gypsum board.
As another example of the present embodiment, when an encoder signal for reading a material shaft of a gypsum board production line indicates that the equipment is started, the cutter rotating cutter shaft starts to run synchronously at a stop point so that the horizontal component speed of the cutter rotating cutter shaft is synchronized with the traveling speed of the gypsum board production line, and the corresponding relationship between the traveling position of the gypsum board and the rotating position of the cutter rotating cutter shaft is quickly determined by a starting synchronization curve in the CAM curve in the equipment starting stage of the whole gypsum board production line.
The deviation synchronization curve in the CAM curve corresponds to the equipment pause section of the whole gypsum board production line, namely, the cutter rotating cutter shaft starts to perform the deviation synchronization process according to the deviation synchronization curve, and after the synchronization is removed, the cutter rotating cutter shaft stops at the stop point.
In the embodiment, an external encoder is used as a main shaft for controlling synchronous operation of a gypsum board production line and a cutter rotating cutter shaft, and the encoder main shaft is not provided with a driving device, so that the speed and the position of the cutter rotating cutter shaft cannot be controlled, the speed or the position relation between the main shaft and a driven shaft is defined through a CAM curve, the CAM curve can be defined in a table and can also adopt a polynomial curve, the impact of speed change on mechanical equipment is reduced, and the relation between the main shaft (electronic gear) and the driven shaft (cutter rotating cutter shaft) is more flexible.
The above embodiments are only exemplary embodiments of the present application, and are not intended to limit the present application, and the protection scope of the present application is defined by the claims. Various modifications and equivalents may be made to the disclosure by those skilled in the art within the spirit and scope of the disclosure, and such modifications and equivalents should also be considered as falling within the scope of the disclosure.
Claims (4)
1. A method of controlling a servo cutter device, the servo cutter device comprising:
the upper cutter servo motor (1) is used for independently installing an upper cutter;
the lower cutter servo motor (2) is used for independently mounting the lower cutter;
the output shafts of the upper cutter servo motor (1) and the lower cutter servo motor (2) are synchronous through an electronic gear (3);
the upper cutter or the lower cutter is respectively synchronous with a gypsum board production line (5) through a CAM (computer aided manufacturing) CAM (4), the electronic gear (3) and the CAM CAM (4) are both connected with a motion controller (6), and the CAM CAM (4) and the electronic gear (3) are the same external encoder;
the motion controller (6) regulates and controls working parameters of the CAM (computer aided manufacturing) CAM (4) and synchronously regulates and controls working parameters of the electronic gear (3) according to the corresponding relation between the rotating position of the lower cutter servo motor (2) or the upper cutter servo motor (1) and the advancing position of the gypsum board production line (5), so that the horizontal component speed of the upper cutter and the lower cutter at the shearing position is the same as the advancing speed of the gypsum board production line;
the control method is characterized by comprising the following steps:
step 100, adding a CAM (computer aided manufacturing) CAM between a cutter rotating cutter shaft and a material shaft of a gypsum board production line, and establishing a synchronous relation between the CAM CAM and the material shaft;
step 200, establishing a synchronous relation between an upper cutter rotating shaft and a lower cutter rotating shaft, and simultaneously establishing a synchronous relation between the two cutter rotating shafts and the electronic gear;
step 300, determining a speed adjusting mode of the cutter rotating cutter shaft according to the target shearing length of the gypsum board, until the shearing length of the cutter rotating cutter shaft when the cutter rotating cutter shaft rotates for one circle in a frequency conversion manner is the same as the target shearing length of the gypsum board, and setting a CAM curve related to the synchronous process of the cutter rotating cutter shaft and the CAM CAM;
the cutter rotating cutter shaft is divided into an upper cutter rotating cutter shaft and a lower cutter rotating cutter shaft, the upper cutter rotating cutter shaft and the lower cutter rotating cutter shaft synchronously rotate, and the motion tracks of an upper cutter and a lower cutter arranged on the upper cutter rotating cutter shaft and the lower cutter rotating cutter shaft are divided into three steps when the target shearing length is greater than the circumference of the cutter, wherein the three steps are respectively as follows: the cutting device comprises an acceleration section, a synchronization section and a deceleration section, wherein the upper cutter and the lower cutter are lifted to the same running speed as the plate from zero speed in the acceleration section;
the horizontal component of the linear velocity of the upper cutter and the lower cutter in the synchronous section is the same as the advancing velocity of the plate;
the upper cutter and the lower cutter are decelerated to stop in the deceleration section;
step 400, determining a rotating path of the cutter rotating cutter shaft corresponding to the advancing position of the gypsum board production line according to the CAM curve, and adjusting the rotating frequency of the cutter rotating cutter shaft to enable the cutter rotating cutter shaft to perform shearing work on the target shearing length of the gypsum board;
the CAM curve comprises a start synchronous curve corresponding to the acceleration section, a deviation synchronous curve corresponding to the deceleration section and a synchronous cutting curve corresponding to the synchronous section, the CAM curve is used for determining the position relation of the cutter rotating cutter shaft among the acceleration section, the synchronous section, the deceleration section and the advancing position of the gypsum board respectively, and the cutter rotating cutter shaft finishes the cutting work of a single gypsum board according to a combined curve of the start synchronous curve, the synchronous cutting curve and the deviation synchronous curve;
the abscissa of the CAM curve is the target shearing length of the gypsum board, and the ordinate is the track perimeter C =2 pi r of one circle of rotation of the cutter blade and the cutter rotating cutter shaft, wherein r is the combined radius of the cutter blade and the cutter rotating cutter shaft;
the CAM curve generates a combined cycle curve according to the start synchronization curve, the synchronous cutting curve and the separation synchronization curve, and the combined cycle curve in the CAM curve completes the shearing work of a single gypsum board according to the corresponding relation between the gypsum board advancing positions in the start synchronization curve and the separation synchronization curve and the rotating position of the cutter rotating cutter shaft;
the rotating position of the cutter rotating shaft is determined by taking the position of the cutting edge of the cutter right below as the original point and according to the clockwise or anticlockwise direction, and the rotating position
Wherein theta is the rotation angle of the cutter rotating shaft, and r is the combined radius of the cutter blade and the cutter rotating shaft;
the target shearing length of the gypsum board and the track perimeter of the cutter edge of the cutter and the rotating cutter shaft of the cutter rotating for one circle are fixed values, and the advancing speed of the gypsum board and the advancing length of the gypsum board are determined by reading encoder signals of a material shaft of a gypsum board production line;
determining the time required for each gypsum board to pass through the position of the cutter according to the advancing speed of the gypsum board so as to determine the time required for the rotating cutter shaft of the cutter to accelerate from rest to be synchronous with the advancing speed of the gypsum board;
determining the rotating position of the cutting edge of the cutting knife on the rotating knife shaft of the cutting knife according to the corresponding relation between the advancing length of the gypsum board in the CAM curve and the rotating position of the cutting edge of the cutting knife;
an external CAM CAM is used as a main shaft for controlling synchronous work of a gypsum board production line and a cutter rotating cutter shaft, and the CAM CAM main shaft is not provided with a driving device, so that the speed and the position of the cutter rotating cutter shaft cannot be controlled, and the speed or the position relation of the main shaft and a driven shaft is defined through a CAM curve.
2. The method for controlling a servo cutter device according to claim 1, wherein in steps 100 and 200, encoder signals of a material shaft of the gypsum board production line are obtained to determine the advancing speed of the gypsum board production line and the advancing position of the gypsum board, the motion controller determines the time for each gypsum board to pass through the cutter rotating cutter shaft according to the advancing speed of the gypsum board production line and the advancing position of the gypsum board, and the motion controller regulates the start of the cutter rotating cutter shaft according to the time for each gypsum board to pass through the cutter rotating cutter shaft and accelerates the start to perform the shearing work synchronously with the advancing speed of the gypsum board production line.
3. The method as claimed in claim 2, wherein the controlling of the servo cutter device by the motion controller in step 300 comprises the steps of determining the target cutting length of the gypsum board material, comparing the target cutting length of the gypsum board material with the circumference of the cutter rotating shaft, and determining the speed adjusting mode of the cutter rotating shaft according to the comparison result, wherein the speed adjusting mode includes the following three conditions:
when the target shearing length is smaller than the circumference of the cutter, the cutter rotating cutter shaft is divided into a stable speed section, a synchronous section and a deceleration section in one rotation circle, the cutter rotating cutter shaft is accelerated to exceed the advancing speed of the gypsum board production line in the stable speed section and then is decelerated to the advancing speed of the gypsum board production line, the cutter rotating cutter shaft is kept synchronous with the advancing speed of the gypsum board production line in the synchronous section, and the cutter rotating cutter shaft is decelerated to a set value in the deceleration section;
when the target shearing length is equal to the circumference of the cutter, the cutter rotating cutter shaft is divided into synchronous sections when rotating for one circle, and the cutter rotating cutter shaft always runs at the same speed as the advancing speed of the gypsum board production line;
when the target shearing length is larger than the circumference of the cutter, the cutter rotating cutter shaft is divided into an accelerating section, a synchronous section and a decelerating section in one rotation circle, the cutter rotating cutter shaft is accelerated to be the same as the advancing speed of the gypsum board production line in the accelerating section and is maintained to be the same as the advancing speed of the gypsum board production line in the synchronous section, and finally the cutter rotating cutter shaft is decelerated to stop in the decelerating section.
4. A method of controlling a servo cutter device according to claim 3, wherein: when the encoder signal of the material shaft of the gypsum board production line is read to indicate that the equipment is started, the cutter rotating cutter shaft starts to synchronously run at a stopping point so that the horizontal component speed of the cutter rotating cutter shaft is synchronous with the advancing speed of the gypsum board production line;
after the cutter rotating cutter shaft is synchronous with the gypsum board production line, the cutter rotating cutter shaft performs shearing work according to a combined cycle curve in the CAM curve, and performs fixed-length shearing movement according to the set length of each gypsum board;
when the cutter rotating cutter shaft or the gypsum board production line breaks down, the cutter rotating cutter shaft performs synchronous separation work according to a synchronous separation curve in the CAM curve, and after synchronization is removed, the cutter rotating cutter shaft stops at the stop point.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111119825.1A CN113815100B (en) | 2021-09-24 | 2021-09-24 | Servo cutter control method and device |
| PCT/CN2021/132951 WO2023045061A1 (en) | 2021-09-24 | 2021-11-25 | Servo cutter control method and apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111119825.1A CN113815100B (en) | 2021-09-24 | 2021-09-24 | Servo cutter control method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113815100A CN113815100A (en) | 2021-12-21 |
| CN113815100B true CN113815100B (en) | 2023-03-17 |
Family
ID=78921263
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111119825.1A Active CN113815100B (en) | 2021-09-24 | 2021-09-24 | Servo cutter control method and device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113815100B (en) |
| WO (1) | WO2023045061A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115481356A (en) * | 2022-09-21 | 2022-12-16 | 中建材创新科技研究院有限公司 | Cutting length regulating and controlling method for high-precision cutting of paper gypsum board |
| CN115327929A (en) * | 2022-09-21 | 2022-11-11 | 中建材创新科技研究院有限公司 | Control optimization method for high-precision cutting of paper gypsum board |
| CN115609736A (en) * | 2022-09-21 | 2023-01-17 | 中建材创新科技研究院有限公司 | High-precision cutting method and control system for paper gypsum board |
| CN115383887B (en) * | 2022-09-21 | 2024-02-23 | 中建材创新科技研究院有限公司 | Automatic high-precision cutting device and method for gypsum plaster board |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4461667B2 (en) * | 2002-07-10 | 2010-05-12 | 株式会社安川電機 | Electronic cam type rotary cutter control method and apparatus |
| JP5506456B2 (en) * | 2010-03-03 | 2014-05-28 | 三菱電機株式会社 | Electronic cam control device |
| CN202137857U (en) * | 2011-06-02 | 2012-02-08 | 北新集团建材股份有限公司 | Cam moving track cut-off machine |
| CN103076756A (en) * | 2011-10-25 | 2013-05-01 | 科比传动技术（上海）有限公司 | Method for realizing electronic cam function of servo driver |
| CN103163822B (en) * | 2011-12-19 | 2015-09-16 | 苏州汇川技术有限公司 | electronic cam control device and method |
| CN202640434U (en) * | 2012-06-02 | 2013-01-02 | 深圳市威科达科技有限公司 | Integral wheel-cutting servo driving device |
| CN202846598U (en) * | 2012-10-10 | 2013-04-03 | 北新集团建材股份有限公司 | Cut-off machine |
| CN203818347U (en) * | 2014-03-26 | 2014-09-10 | 北新集团建材股份有限公司 | Cutoff device |
| CN204036506U (en) * | 2014-09-05 | 2014-12-24 | 南阳市东福印务包装有限公司 | A kind of corrugated paper transverse cutting unit device |
| CN204471458U (en) * | 2015-02-05 | 2015-07-15 | 科比传动技术（上海）有限公司 | Corrugated paper transverse cutting unit |
| CN205291085U (en) * | 2015-12-09 | 2016-06-08 | 广州德重科技有限公司 | Control system of biax corrugated paper peeler based on electron cam |
| CN205572742U (en) * | 2016-04-20 | 2016-09-14 | 湖北楚钟新型建材（集团）有限公司 | A servo cutter system for producing gypsum board |
| CN109382899A (en) * | 2018-11-23 | 2019-02-26 | 山东腾飞机电科技有限公司 | A kind of plasterboard cutting machine for gypsum board production line |
-
2021
- 2021-09-24 CN CN202111119825.1A patent/CN113815100B/en active Active
- 2021-11-25 WO PCT/CN2021/132951 patent/WO2023045061A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023045061A1 (en) | 2023-03-30 |
| CN113815100A (en) | 2021-12-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113815100B (en) | Servo cutter control method and device | |
| US5097576A (en) | Traveling steel pipe cutting machine of milling type | |
| WO1988003451A1 (en) | Tapping controller | |
| CN203876055U (en) | Gypsum board cutting mechanism driven by two motors | |
| CN110855213B (en) | Compensation method for high-speed pulse output interference of programmable logic controller | |
| CN203818347U (en) | Cutoff device | |
| CN112536841B (en) | Transverse cutting flying shear control system and control method thereof | |
| CN100340392C (en) | Cross cutting machine capable of moving with the cut article in same speed and direction | |
| JPS6384868A (en) | Device for driving and controlling wire in wire saw | |
| CN115383887B (en) | Automatic high-precision cutting device and method for gypsum plaster board | |
| US10725456B2 (en) | Numerical controller | |
| CN111857039B (en) | Multi-motor shearing system collaborative planning method and system | |
| JP2591396B2 (en) | Printing roll device | |
| JP2012056066A (en) | Thread cutting control method and device | |
| CN115609736A (en) | High-precision cutting method and control system for paper gypsum board | |
| JPH0657397B2 (en) | Paperboard grooving device | |
| CN103760829A (en) | Workbench speed control method for non-bending sensor of multi-wire cutting machine | |
| EP0120973B1 (en) | Numerically controlled machine tool | |
| JPH035334A (en) | Method for controlling glass cutter | |
| CN113458606A (en) | Speed following method of metal surface hardening system based on laser | |
| JPH0642166B2 (en) | Servo control method | |
| JPS5942244A (en) | Feeding mechanism | |
| JPS61246814A (en) | Positioning controller | |
| JPH0223285B2 (en) | ||
| JPS63103686A (en) | Controlling method foe spindle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |