CN114082460A - Frame type sawing processing experiment table and control method thereof - Google Patents
Frame type sawing processing experiment table and control method thereof Download PDFInfo
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- CN114082460A CN114082460A CN202111421053.7A CN202111421053A CN114082460A CN 114082460 A CN114082460 A CN 114082460A CN 202111421053 A CN202111421053 A CN 202111421053A CN 114082460 A CN114082460 A CN 114082460A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L9/00—Supporting devices; Holding devices
- B01L9/02—Laboratory benches or tables; Fittings therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
- B28D1/02—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by sawing
- B28D1/10—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by sawing with provision for measuring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
- B28D1/02—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by sawing
- B28D1/12—Saw-blades or saw-discs specially adapted for working stone
- B28D1/127—Straight, i.e. flat, saw blades; strap saw blades
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
- B28D7/005—Devices for the automatic drive or the program control of the machines
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Health & Medical Sciences (AREA)
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- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Processing Of Stones Or Stones Resemblance Materials (AREA)
Abstract
The invention discloses a frame type sawing processing experiment table and a control method thereof, wherein the frame type sawing processing experiment table comprises a frame, a saw frame is arranged on the frame, a saw blade is arranged on the saw frame, and the saw frame is driven by a driving device to reciprocate in a horizontal plane; a workbench is arranged below the saw frame, four corners of the rack are respectively connected with a lead screw, two servo motors are symmetrically arranged at the top of the rack, wherein the first servo motor respectively drives two lead screws to rotate through a transmission device, the other second servo motor respectively drives the other two lead screws to rotate through the transmission device, and the four corners of the workbench are connected with the sliding blocks of the four lead screws, so that the up-and-down motion of the workbench is realized; and the two servo motors are driven by two independent servo driving systems.
Description
Technical Field
The invention relates to an experiment table and a control method for testing saw tooth performance and carrying out experimental research on saw cutting process parameters, saw cutting tracks and a feeding system, and belongs to the field of saw cutting experimental processing of brittle materials.
Background
Frame type sawing machine tools are the main means for processing stone plates at present, and are widely applied to processing the plates made of hard and brittle materials such as stone materials. The frame type sawing machine tool is used for processing the plate, and the diamond particles on the saw teeth grind the stone so as to achieve the purpose of removing the material.
The grinding material, the granularity, the sawing track, the process parameters and the like for processing the hard and brittle materials such as marble, granite and the like of different types are summarized and formulated on the basis of mass production practice of enterprises. Therefore, the mineral content and the physical and mechanical properties of the rock are not considered, and in addition, the frame type saw mostly adopts a single motor as a feeding drive, the feeding stability is poor, and the excessive abrasion of diamond particles can be caused. Therefore, these exploratory tasks are typically performed on existing machine tool processing equipment, which takes a significant amount of time and cost.
Disclosure of Invention
Aiming at the defects of the diamond and the granularity, sawing track and sawing process parameter technology thereof obtained when the existing frame type sawing machine tool processes plates, the invention provides a frame type sawing processing experiment table and a control method thereof, which can be used for evaluating the sawing efficiency and service life of sawteeth and the influence of the sawing track on the sawing efficiency and diamond abrasion and exploring the sawing processing process parameters.
The frame type sawing processing experiment table adopts the following technical scheme:
the invention provides a frame type sawing processing experiment table, which comprises a frame, wherein a saw frame is arranged on the frame, a saw blade is arranged on the saw frame, and the saw frame is driven by a driving device to reciprocate in a horizontal plane; a workbench is arranged below the saw frame, four corners of the workbench are respectively provided with a lead screw, two servo motors are symmetrically arranged at the top of the frame, wherein the first servo motor respectively drives two lead screws to rotate through a transmission device, the other second servo motor respectively drives the other two lead screws to rotate through the transmission device, and the four corners of the workbench are connected with sliders of the four lead screws, so that the workbench can move up and down; and the two servo motors are driven by two independent servo driving systems.
As a further technical scheme, the two servo motors are symmetrically arranged relative to the rack.
As a further technical scheme, the four lead screws are symmetrical front and back and left and right.
As a further technical scheme, the flywheel driving device comprises a driving motor, a belt, a flywheel, a crank, a connecting rod and a saw frame, wherein the motor drives the flywheel to rotate through the belt flywheel, one end of the crank is connected with the flywheel shaft, the other end of the crank is connected with the connecting rod, and the other end of the connecting rod is connected with the saw frame.
As a further technical scheme, a guide mechanism is further installed on the rack and used for guiding the motion trail of the saw frame.
As a further technical solution, the functional form of the guiding mechanism is shown in formula (1):
wherein y represents the length direction of the saw frame, and x represents the width direction of the saw frame; mh is the Mohs hardness of the rock, which is obtained by Mohs hardness experiments; YM is the Young modulus of the rock, the Young modulus is the ratio of stress to strain, and the YM is obtained through a material mechanics experiment; SF-a is an indicator of rock evaluation as a function of three rock parameters, including: BTS, EQC and GS; the EQC is equivalent quartz content of rock, and is obtained by identifying rock and minerals, and an adopted instrument is a polarizing microscope; GS is the average particle size of mineral particles in the rock and is obtained by observing and measuring through a microscope; BTS is the Brazilian splitting strength of the rock, and the value is obtained by the Brazilian splitting strength experimentObtaining; UCS is uniaxial compressive strength of rock and is obtained by a uniaxial compressive strength experiment; a, bi(i is 1, 2, 3, 4) is a coefficient obtained by data processing software. The optimized sawing track is deduced through the mineral content and the mechanical property of the rock, so that efficient sawing is realized.
As a further technical scheme, the two sets of servo driving systems have the same structure and respectively comprise a position loop controller, a speed loop controller, a current loop controller, a first comparator, a second comparator and a third comparator; the first comparator, the position loop controller, the second comparator, the speed loop controller and the third comparator are in a series mode.
Based on the system, the invention also provides a control method, which can adjust the feeding rate in real time by the upper computer according to the sawtooth abrasion, the sawing force and the stress of the saw blade.
Compared with the existing control mode, the control mode has higher controllability and more stable movement. Comprises the following steps:
step 1, establishing a servo motor mathematical model according to a first servo motor and a second servo motor;
and 2, performing parameter identification on the damping of a coupler in the feeding system, the quality of a workbench, a damping coefficient, the maximum static friction force, the coulomb friction force, the Stribeck speed, the contact rigidity of a nut, a mechanical gap, the damping of a lead screw and the like.
And 3, establishing a mathematical model of the driving system according to the mathematical model of the servo motor, the physical parameters of the system and the identification parameters.
and 5, respectively sending motion instructions to a servo system of the servo motor according to the first servo motor and the second servo motor of the motion controller through the parameter setting of the PC.
The invention has the following beneficial effects:
1. because the position of the flywheel driving device is closer, the vibration of the rack is more severe, and the sawing precision is further influenced, therefore, the four lead screws are independently controlled by the double motors, the driving parameters of the motors can be adjusted according to the vibration condition, the workbench is driven to stably move up and down, and the stability of the whole workbench is improved.
2. The experiment that this laboratory bench can realize the performance to the sawtooth, saw cut the orbit, saw cut the optimization of processing technology parameter, further can be used for evaluating saw cutting efficiency, the life-span of sawtooth and saw cutting the orbit through this laboratory bench to saw cutting efficiency and diamond wearing and tearing's influence to consider rock mineral content and its physics performance exploration saw cutting processing technology parameter.
3. This laboratory bench has realized the design to the saw cutting orbit of sawtooth through the design to guiding mechanism, when the design saw cuts the orbit, has fully considered the mineral content and the physical mechanical properties of rock for more high-efficient in the aspect of the processing, sawtooth wear is littleer. Carrying out qualitative and quantitative analysis on the sawing track according to a mode of combining theoretical optimization and experiments, and finally determining the matching of the sawing mode and the material; the process parameters are obtained by optimizing and analyzing the performance of the sawteeth and the sawing track, and finally the high processing efficiency, the small abrasion of the sawteeth and the high utilization rate of materials are ensured.
4. The system overcomes the limitation of control system packaging in a factory, can provide a corresponding control strategy according to the requirements of a processing technology, and provides technical support for developing corresponding scientific research and industrial production.
Description of the drawings:
FIG. 1 is a schematic diagram of a frame-type sawing experimental bench and a control method thereof according to the present invention;
FIG. 2 is a front view of a frame-type sawing experimental bench according to the present invention;
FIG. 3 is a left side view of a frame-type sawing experimental bench according to the present invention;
FIG. 4 is a top view of a frame-type sawing processing bench according to the present invention;
in the figure: 1-frame type sawing experiment table; 2-a first servo motor control circuit; 3-a second servo motor control circuit; 4-control cabinet;
101-main motion system motor; 102-a belt; 103-flywheel; 104-connecting rod; 1041 — a first link; 1042 — a second link; 105-a servo motor; 1051-first servomotor, 1052-second servomotor, 106-spraying system; 107-nut screw reduction gear; 108-saw blade; 109-saw clamp; 110-a frame; 111-lead screw; 1111-a first lead screw, 1112-a second lead screw; 1113-third screw rod, 1114-fourth screw rod, 112-workbench; 113-a coupler; 114-precision speed reducer; 1141 — a first precision reducer; 1142-second precision reducer; 115-a guide rail; 1151-a first rail; 1152 — a second rail; 116-saw frame; 117 — a base;
21-a first servo motor position controller; 22-first servomotor speed controller; 23-a first servo motor current controller;
31-a second servo motor position controller; 32-a second servo motor speed controller; 33-second servo motor current controller;
41-a motion controller; 42-PC machine; 43-frequency converter.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the invention expressly state otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, it indicates the presence of the stated features, steps, operations, devices, components, and/or combinations thereof.
The frame-type sawing experimental bench disclosed in this embodiment is illustrated in fig. 1, fig. 2, fig. 3, and fig. 4, and the present invention will be further explained and explained in detail with reference to the accompanying drawings, but the present invention is not limited thereto.
The mineral content and the physico-mechanical properties of the rock material were obtained experimentally. Mh is the Mohs hardness of the rock, which is obtained by Mohs hardness experiments; YM is the Young modulus of the rock, the Young modulus is the ratio of stress to strain, and the YM is obtained through a material mechanics experiment; SF-a is an indicator of rock evaluation as a function of three rock parameters, including: BTS, EQC and GS; the EQC is equivalent quartz content of rock, and is obtained by identifying rock and minerals, and an adopted instrument is a polarizing microscope; GS is the average particle size of mineral particles in the rock and is obtained by observing and measuring through a microscope; BTS is the Brazilian splitting strength of the rock, and the value of the Brazilian splitting strength is obtained by a Brazilian splitting strength experiment; UCS is uniaxial compressive strength of rock and is obtained by a uniaxial compressive strength experiment; a, bi(i is 1, 2, 3, 4) is a coefficient obtained by data processing software. And processing the data through software such as Matlab or Origin to obtain the relevant parameters of the formula (1).
As shown in fig. 1, a schematic diagram of a frame-type sawing processing experiment table and a control system thereof is shown, which includes a frame-type sawing processing experiment table 1, a control cabinet 4, a first servo motor control circuit 2, and a second servo motor control circuit 3; the control cabinet 4 controls the first servo motor control circuit 2 and the second servo motor control circuit 3; the first servo motor control circuit 2 controls a first servo motor of the frame type sawing experimental table 1, and the second servo motor control circuit 3 controls a second servo motor of the frame type sawing experimental table 1.
Further, the frame-type sawing experimental bench 1 proposed in this embodiment includes a frame 110, a worktable 112, a mechanical transmission system, and a main motion system; the mechanical transmission system comprises a nut-driven sliding lead screw pair, a coupler 113, a precision reducer 114 and a servo motor 105, wherein the nut-driven sliding lead screw pair consists of a sliding lead screw 111, a lead screw nut and a reduction gear assembly 107 (a nut, a bevel reduction gear, a bolt and a bearing);
the servo motors 105 include two servo motors, namely a first servo motor 1051 and a second servo motor 1052; the first servo motor 1051 and the second servo motor 1052 are symmetrically arranged on the frame 110, the first servo motor 1051 drives the reduction gear assembly 1071 and the reduction gear assembly 1072 which are arranged at two sides of the first servo motor through a coupling and a driving shaft respectively; the reduction gear assembly 1071 drives the first lead screw 1111 of vertical setting to rotate, and the reduction gear assembly 1072 drives the second lead screw 1112 of vertical setting to rotate. The second servo motor 1052 drives the reduction gear assembly 1073 and the reduction gear assembly 1074 respectively through the coupling and the driving shaft; the reduction gear assembly 1073 drives the vertically arranged third screw 1113 to rotate, and the reduction gear assembly 1074 drives the arranged fourth screw 1114 to rotate; four lead screw settings are at four angles of workstation, and the workstation links to each other with four sliders of four lead screws, and then drives workstation 112 up-and-down motion workstation 112 on placed the crude stone material, the up-and-down feed of crude stone material is realized through the up-and-down motion of workstation.
The main motion system comprises a main motion system motor 101, the main motion system motor 101 transmits a power source to a flywheel 103 through a belt 102, the flywheel 103 is transmitted to the saw frame 116 through a first connecting rod 1041 and a second connecting rod 1042, and the saw frame 116 makes reciprocating linear motion above the workbench under the driving of the first connecting rod 1041 and the second connecting rod 1042; and the saw frame 116 is installed on the frame 110 through the guide rails 1151 and 1152, the saw blade 108 is installed on the saw frame 116 through the saw clamp 109, and the reciprocating motion of the saw frame 116 realizes the reciprocating motion of the saw blade 108.
Further, a spraying system 106 is further arranged above the frame type sawing experimental table 1, and the spraying system 106 is used for spraying cutting fluid.
Further, in the present embodiment, the first servo motor control circuit 2 drives the first servo motor 1051, the second servo motor control circuit 3 drives the second servo motor 1052, the frequency converter 43 controls the main motion system motor, and the motion controller 41 controls the first servo motor control circuit 2 and the second servo motor control circuit 3. The first servomotor control circuit 2, the second servomotor control circuit 3, the motion controller 41, the PC 42, and the frequency converter 43 are installed in the control cabinet 4.
In combination with the above embodiment, the servo driving system includes a first servo motor driving system and a second servo motor driving system, and is configured to generate signals according to respective received control signals by using a PID algorithm to drive the servo motors respectively, so as to drive the workbench 112 to move.
In connection with the above described embodiment, the PC is connected to a motion controller 41. The PC sends commands to the motion controller 41 according to the actual work requirements.
In combination with the above embodiments, the motion controller 41 assigns motion commands to the first servo motor 1051 and the second servo motor 1052 according to a certain algorithm according to actual working requirements.
In combination with the above embodiments, both servo motor drive systems include position, speed and current control circuits and their corresponding comparators.
In combination with the above-described embodiment, the two output terminals of the motion controller 41 are respectively connected to the position comparators of the two servo motors.
In combination with the above embodiments, the frame-type sawing processing experiment table and the control method thereof include the following steps:
step 1, establishing a servo motor mathematical model according to a first servo motor 1051 and a second servo motor 1052;
and 2, performing parameter identification on damping of a coupler 113, the quality 112 of a workbench, a damping coefficient, the maximum static friction force, coulomb friction force, the Stribeck speed, the contact rigidity of a nut 107, a mechanical gap, damping of a lead screw 111 and the like in the feeding system.
And 3, establishing a mathematical model of the driving system according to the mathematical model of the servo motor, the physical parameters of the system and the identification parameters.
and 5, respectively sending motion instructions to a servo system of the servo motor according to the first servo motor and the second servo motor of the motion controller through the parameter setting of the PC.
The working process of the experiment table is as follows:
the saw blade 108 is installed according to experimental requirements, and a tension is applied to the saw blade 108 using the saw clamp 109. The rotation speed of the motor 101 of the main motion system is controlled by the frequency converter 43 according to the experimental requirements, and a motion command is sent to the motion controller 41 by the PC 42. The controller 41 sends a control instruction to the first servo motor control circuit 2 and the second servo motor control circuit 3 to control the first servo motor and the second servo motor to make a feeding motion, and the spraying system 106 sprays the cutting fluid. The saw frame 116 reciprocates to perform a cutting experiment.
Finally, it is also noted that relational terms such as first and second, and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A frame type sawing processing experiment table is characterized by comprising a frame, wherein a saw frame is arranged on the frame, a saw blade is arranged on the saw frame, and the saw frame is driven by a driving device to reciprocate in a horizontal plane; a workbench is arranged below the saw frame, four corners of the workbench are respectively provided with a lead screw, two servo motors are symmetrically arranged at the top of the frame, wherein the first servo motor respectively drives two lead screws to rotate through a transmission device, the other second servo motor respectively drives the other two lead screws to rotate through the transmission device, and the four corners of the workbench are connected with sliders of the four lead screws, so that the workbench can move up and down; and the two servo motors are driven by two independent servo driving systems.
2. A frame-type sawing process bench according to claim 1 wherein two servomotors are symmetrically arranged with respect to the frame.
3. A frame-type sawing process experimental bench as claimed in claim 1, wherein the four lead screws are symmetrical front to back and left to right.
4. A frame-type sawing process test bench as claimed in claim 1, wherein the driving means comprises a driving motor, a belt, a flywheel, a crank, a connecting rod and a saw frame, the motor drives the flywheel to rotate via the belt and the flywheel, one end of the crank is connected to the flywheel shaft, the other end of the crank is connected to the connecting rod, and the other end of the connecting rod is connected to the saw frame.
5. A frame-type sawing process experimental bench as claimed in claim 1, wherein a guide mechanism is further mounted on the frame for guiding the motion track of the saw frame.
6. A frame-type sawing process bench according to claim 5 wherein the guiding means are sliding guides, the functional form of which is shown in equation (1):
wherein y represents the length direction of the saw frame, and x represents the width direction of the saw frame; mh is the Mohs hardness of the rock, which is obtained by Mohs hardness experiments; YM is the Young modulus of the rock, the Young modulus is the ratio of stress to strain, and the YM is obtained through a material mechanics experiment; SF-a is an indicator of rock evaluation as a function of three rock parameters, including: BTS, EQC and GS; the EQC is equivalent quartz content of rock, and is obtained by identifying rock and minerals, and an adopted instrument is a polarizing microscope;GS is the average particle size of mineral particles in the rock and is obtained by observing and measuring through a microscope; BTS is the Brazilian splitting strength of the rock, and the value of the Brazilian splitting strength is obtained by a Brazilian splitting strength experiment; UCS is uniaxial compressive strength of rock and is obtained by a uniaxial compressive strength experiment; a, biAre coefficients, where i is 1, 2, 3, 4, obtained by data processing software.
7. A frame-type sawing process experimental bench according to claim 1 wherein said two sets of servo drive systems are identical in structure and each includes a position loop controller, a speed loop controller, a current loop controller, a first comparator, a second comparator, and a third comparator; the first comparator, the position loop controller, the second comparator, the speed loop controller and the third comparator are in a series mode.
8. A method of controlling a frame-type sawing process bench according to any one of claims 1-7, comprising the steps of:
step 1, establishing a servo motor mathematical model according to a first servo motor and a second servo motor;
step 2, identifying the damping of a coupler, the quality of a workbench, a damping coefficient, the maximum static friction force, the coulomb friction force, the Stribeck speed, the contact rigidity of a nut, a mechanical gap and the damping of a lead screw in a feeding system,
step 3, establishing a mathematical model of the driving system according to the mathematical model of the servo motor, the physical parameters of the system and the identification parameters;
step 4, carrying out simulation analysis according to the constructed mathematical model, and adjusting and setting PID parameters of a position ring, a speed ring and a current ring of the servo motor;
and 5, respectively sending motion instructions to a servo system of the servo motor according to the first servo motor and the second servo motor of the motion controller through the parameter setting of the PC.
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| PEIYUDONG，ET AL: "Performance investigation of traditional diamond frame saw in processing granite", 《INTERNATIONAL JOURNAL OF REFRACTORY METALS AND HARD MATERIALS》 * |
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| 张进生等: "锯切花岗岩过程中金刚石框架锯的锯切力研究", 《工具技术》 * |
| 王日君等: "基于公理设计与模糊树图的集成式模块划分方法", 《农业机械学报》 * |
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| CN114082460B (en) | 2022-09-09 |
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