CN114360886A - Amorphous and silicon steel general curve cutting device and control method - Google Patents
Amorphous and silicon steel general curve cutting device and control method Download PDFInfo
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- 238000005520 cutting process Methods 0.000 title claims abstract description 94
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Abstract
The invention discloses a general curve cutting device for amorphous silicon steel, which comprises a discharging system, a cutting system and a receiving system which are sequentially arranged; the blowing system is equipped with the blowing support body, the one end of blowing support body is equipped with first drop feed mechanism, second drop feed mechanism and silicon steel drop feed mechanism, the other end of blowing support body is equipped with the two guide pulleys of first blowing, the two guide pulleys of second blowing and pneumatic hold-down mechanism, and pneumatic hold-down mechanism sets up between the two guide pulleys of first blowing and second blowing. The device shown in the application file has the advantages of high cutting precision, high cutting efficiency, high cutting quality, strong universality and high intelligence degree. The displacement of the amorphous alloy strip or silicon steel in the conveying process is set to be transverse, the displacement perpendicular to the conveying direction of the strip is set to be longitudinal when the laser cutting head cuts the strip, the moving speed of the laser cutting head is accurately controlled through a grading speed planning algorithm, and the transverse error is reduced by matching with a deviation and tension integrated machine, so that the high-precision curve cutting of 0.5 mu m is realized.
Description
Technical Field
The invention relates to the technical field of machining, in particular to an amorphous and silicon steel general curve cutting machine and a cutting control method thereof.
Background
In order to respond to a transformer energy efficiency improvement plan, improve the energy resource utilization rate and promote green low-carbon and high-quality development, the research and development and production of the energy-saving transformer are vigorously popularized by the nation. In recent years, the on-grid operation proportion of the high-efficiency distribution transformer is remarkably improved. At present, silicon steel distribution transformers are mainstream products in the transformer market, amorphous alloy strips have the characteristics of high resistivity, low coercive force, high saturation magnetic induction and the like, and the distribution transformers gradually occupy the market due to the advantages of low energy consumption, low loss and low cost, become a future development trend, and have wide application prospects and good social benefits.
The amorphous alloy has higher hardness which is 5 times of the hardness of the oriented silicon steel sheet, and is difficult to shear by adopting a conventional tool; the amorphous alloy is very thin and is only 0.02-0.03mm, the surface of the material is not very flat and the thickness is not uniform; the amorphous alloy has high brittleness and is easy to tear during shearing, and in conclusion, the shearing difficulty of the amorphous alloy strip is far greater than that of a silicon steel material.
The existing cutting equipment has the defects of low algorithm accuracy and inaccurate positioning and deviation rectification, so that the cutting precision is low; single-layer cutting is carried out, so that the cutting efficiency is low due to long consumption time; the cutting seam of the roller cutter is not smooth, so that burrs are easily generated, and the cutting quality is low; the cutting tool does not have universality, and only can cut amorphous alloy strips or silicon steel materials. The defects of the cutting equipment greatly limit the field application and the market popularization.
Disclosure of Invention
The invention aims to provide a general curve cutting device for amorphous and silicon steel and a control method, which are used for realizing high-precision, high-efficiency and high-quality cutting of amorphous/silicon steel.
In order to achieve the purpose, the invention provides the following technical scheme: the amorphous and silicon steel general curve cutting device is provided with a discharging system, a cutting system and a receiving system which are sequentially arranged;
the discharging system is provided with a discharging frame body, one end of the discharging frame body is provided with a first discharging mechanism, a second discharging mechanism and a silicon steel discharging mechanism, the other end of the discharging frame body is provided with a first discharging double-guide wheel, a second discharging double-guide wheel and a pneumatic pressing mechanism, and the pneumatic pressing mechanism is arranged between the first discharging double-guide wheel and the second discharging double-guide wheel;
the cutting system is provided with a cutting frame body, one end of the cutting frame body is provided with a first tension sensor, a second tension sensor, a third tension sensor, a first amorphous deviation rectifying integrated machine, a second amorphous deviation rectifying integrated machine, a deviation rectifying double guide wheel and a silicon steel positioning mechanism, the first tension sensor is matched with the first amorphous deviation rectifying integrated machine, the second tension sensor is matched with the second amorphous deviation rectifying integrated machine, and the third tension sensor, the deviation rectifying double guide wheel and the silicon steel positioning mechanism are matched with each other;
the other end of the cutting frame body is provided with a length measuring double guide wheel and a cutting double guide wheel, a numerical control sliding table is arranged between the length measuring double guide wheel and the cutting double guide wheel, and a laser cutting head is mounted on the numerical control sliding table;
the receiving system is provided with a receiving frame body, and a first receiving structure, a second receiving structure, a receiving motor and a laser range finder are arranged on the receiving frame body; the output end of the material receiving motor is matched with the first material receiving structure and the second material receiving structure.
Compared with the prior art, the invention has the beneficial effects that:
1. the cutting precision is high. The displacement of the amorphous alloy strip or silicon steel in the conveying process is set to be transverse, the displacement perpendicular to the conveying direction of the strip is set to be longitudinal when the laser cutting head cuts the strip, the moving speed of the laser cutting head is accurately controlled through a grading speed planning algorithm, and the transverse error is reduced by matching with a deviation and tension integrated machine, so that high-precision curve cutting is realized.
2. The cutting efficiency is high. The laser cutting device can realize simultaneous cutting of multiple layers (1-6), the cutting speed reaches 120m/min, and the cutting efficiency of the amorphous alloy strip is improved to a greater extent.
3. The cutting quality is high. The laser cutting device can simultaneously cut silicon steel materials and amorphous alloy strips, and ensures that a cutting seam is smooth and has no burrs.
4. The universality is strong. According to the characteristics of the amorphous alloy strip and the silicon steel, the cutting equipment capable of cutting two materials simultaneously is designed, the universality is high, the defect that the traditional cutting equipment can only cut one material is overcome, and the purposes of saving cost and space are achieved.
5. The intelligent degree is high. According to the numerical control sliding table, the intelligent cloud network card is contained, the internet technology is introduced, and a program with a data intelligent learning algorithm as a core is designed, so that the remote control of equipment can be realized, and the equipment is convenient to upgrade; and parameters and data of equipment in the production process can be extracted to form a database, so that subsequent improvement is facilitated.
Drawings
FIG. 1 is a schematic structural view of an amorphous/silicon steel general-purpose curve cutting machine according to the present invention.
Fig. 2 is a flow chart of the curve cutting control of the present invention.
FIG. 3 is a flow chart of the algorithm-based hierarchical velocity planning of the present invention.
Fig. 4 is a graph of the algorithm cut used in the present invention.
FIG. 5 is a block diagram of a data intelligent learning algorithm used in the present invention.
FIG. 6 is a schematic diagram of error compensation of a direct transition model of a core algorithm portion of the present invention.
1. A material placing frame body; 2. a first discharging mechanism; 3. a second discharging mechanism; 4. a silicon steel discharging mechanism; 5. a first discharging double guide wheel; 6. a second discharging double guide wheel; 7. a pneumatic hold-down mechanism; 8. a first tension sensor; 9. a second tension sensor; 10. a first amorphous rectification all-in-one machine; 11. a second amorphous rectification all-in-one machine; 12. a third tension sensor; 13. a double deviation-correcting guide wheel; 14. a silicon steel positioning mechanism; 15. cutting the frame body; 16. measuring the length of the double guide wheels; 17. a numerical control sliding table; 18. a laser cutting head; 19. cutting the double guide wheels; 20. a material receiving rack body; 21. a first material receiving structure; 22. a second material receiving structure; 23. a material receiving motor; 24. laser range finder.
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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention provides an amorphous and silicon steel general-purpose curve cutting device, which is provided with a discharging system, a cutting system and a receiving system, which are sequentially arranged;
the discharging system is provided with a discharging frame body 1, one end of the discharging frame body 1 is provided with a first discharging mechanism 2, a second discharging mechanism 3 and a silicon steel discharging mechanism 4, the other end of the discharging frame body 1 is provided with a first discharging double-guide wheel 5, a second discharging double-guide wheel 6 and a pneumatic pressing mechanism 7, and the pneumatic pressing mechanism 7 is arranged between the first discharging double-guide wheel 5 and the second discharging double-guide wheel 6; the first discharging mechanism 2, the second discharging mechanism 3 and the silicon steel discharging mechanism 4 are all provided with magnetic powder brakes, so that the magnitude of the unwinding tension is accurately adjusted and controlled when the amorphous alloy strips and the silicon steel rotate, and the effects of quick response, no impact vibration and the like are achieved. The amorphous alloy strip and the silicon steel sheet which are coiled into a coil with equal width are placed on a discharging mechanism, after the amorphous alloy strip and the silicon steel sheet rotate, the moment is controlled by a magnetic powder brake on each air expansion shaft, the amorphous alloy strip and the silicon steel sheet are conveyed to a pneumatic pressing mechanism 7 through a first discharging double-guide wheel 5, and then the amorphous alloy strip and the silicon steel sheet are transmitted to a cutting system through a second discharging double-guide wheel 6.
The cutting system is equipped with the cutting support body 15, the one end of cutting support body 15 is equipped with first tension sensor 8, second tension sensor 9, third tension sensor 12, first amorphous all-in-one of rectifying 10, the second amorphous all-in-one of rectifying 11, the double guide pulley 13 and the silicon steel positioning mechanism 14 of rectifying, and first tension sensor 8 cooperatees with first amorphous all-in-one 10 of rectifying, and second tension sensor 9 cooperatees with second amorphous all-in-one of rectifying 11, and third tension sensor 12, rectify and mutually support between double guide pulley 13 and silicon steel positioning mechanism 14, the other end of cutting support body 15 is equipped with length measurement double guide pulley 16 and cutting double guide pulley 19, and is equipped with numerical control slip table 17 between length measurement double guide pulley 16 and cutting double guide pulley 19, install laser cutting head 18 on the numerical control slip table 17.
When the amorphous alloy strip and the silicon steel reach the cutting system, the corresponding tension sensors respectively control the tension of the amorphous alloy strip and the silicon steel; when the silicon steel passes through the silicon steel positioning mechanism, the silicon steel is subjected to deviation rectifying positioning; when the amorphous alloy strip passes through the amorphous deviation rectifying integrated machine, the amorphous alloy strip is subjected to deviation rectifying and positioning. When the amorphous alloy strip and the silicon steel pass through the length measuring double guide wheels 16, the length of the material to be fed is measured and fed back by a length measuring encoder in the guide wheels, and the material to be fed is transmitted to the numerical control sliding table 17. When the amorphous alloy strip and the silicon steel pass through the numerical control sliding table 17, the numerical control sliding table 17 controlled by a core algorithm starts to move, the function of curve cutting is realized when the amorphous alloy strip and the silicon steel are conveyed by matching with the laser cutting head 18, and meanwhile, the smart cloud network card arranged in the sliding table records the cutting data of the amorphous alloy strip and the silicon steel in real time to form a database.
The invention realizes the burr-free curve cutting by utilizing the laser cutting head 18 on the movable sliding table 17 under the control of the grading speed planning algorithm and matching with the vertical transmission of amorphous alloy strips or silicon steel.
Part of the parameters of the processing trajectory are shown in table 1:
TABLE 1 actual processing parameters
The receiving system is provided with a receiving frame body 20, and the receiving frame body 20 is provided with a first receiving structure 21, a second receiving structure 22, a receiving motor 23 and a laser range finder 24; the output end of the material receiving motor 23 is matched with the first material receiving structure 21 and the second material receiving structure 22. When the amorphous alloy strip and the silicon steel are cut and enter the material receiving system, the amorphous alloy strip and the silicon steel are respectively rolled into the material receiving structure by the material receiving motor 23 and the speed reducer. The laser distance measuring instrument 24 measures the radius and the rotating speed of the changed discharging roll in real time to realize horizontal line type discharging, and when the first material receiving structure 21 and the second material receiving structure 22 are completely wound, the first material receiving structure and the second material receiving structure are respectively dismounted, so that the next process can be carried out. Through real-time monitoring and detection of the materials, when the residual materials are 2-3mm, automatic alarm is realized, and material breakage is avoided.
Referring to fig. 2-6, the present invention further provides a control method of the amorphous and silicon steel general curve cutting device, first, a step speed planning algorithm in the numerical control sliding table 17 starts to operate, the number of transformer steps is preset therein, and a curve function model is determined by the transformer steps; discretizing the curve function, and approximating the curvature of each point by using cubic spline curve interpolation of discrete points; judging the position of a sensitive point by the included angle between the curvature and the line segment, dividing a speed unit according to the sensitive point and the deceleration position, determining the acceleration and deceleration process, and finding out a speed minimum point as a curve segmentation point; the speed of the acceleration and deceleration section is calculated by a formula and is controlled in real time. The cutting device determines the cutting path thereof by controlling the feeding speed and the acceleration and deceleration position. And secondly, cutting the amorphous alloy strip and the silicon steel by a laser cutting device controlled by a grading speed planning algorithm, wherein the output power of a laser emitter is automatically matched according to the winding speed of the amorphous alloy strip and the silicon steel. When the amorphous alloy strip and the silicon steel are cut by the cutting system, the cutting time, the cutting speed and the feeding length generated by the amorphous alloy strip and the silicon steel are recorded in the smart cloud network card in the movable sliding table. And finally, carrying out data processing, training, learning and prediction by using the intelligent data learning algorithm to form a database, thereby facilitating subsequent improvement, as shown in figure 2.
The core control algorithm of the invention is a hierarchical speed planning algorithm which controls the feeding speed and determines the acceleration and deceleration position, and controls the cutting path according to the change of the speed. Firstly, a curve function model f (k) of the material length and the material width is established according to the transformer stage number.
Wherein K is the transformer stage number, K is the maximum transformer stage number, D is the wound core diameter, t is the material thickness, and R is the wound core radius.
Next, the curve function is discretized, and q (u) ═ Au is interpolated using a cubic spline curve of local discrete points3+Bu2+ Cu + D to approximate the point-point curvature q.
wherein ,LiIs the ith cutting length (mm), u is the interval section, AiAnd BiIs a constant of section i, XiIs the i-th point abscissa, YiIs the ith point ordinate;
then, determining included angles among line segments, judging sensitive points, dividing speed units by the sensitive points, determining acceleration and deceleration positions, and finding out speed minimum points as curve dividing points;
finally, when the initial speed V iss< end speed VeWhen the speed is higher than the speed, the speed is increased, if the length L of the section is not less than the speed-up length SaIf I is larger than I, outputting a result after error compensation, otherwise, re-determining the minimum value I, and entering a new cycle; if the length L of the segment is less than SaThen, then
Redetermining VsAnd VeThe size of (d); when V iss≥VeIn the time, the speed reduction section is adopted, if the length L of the section is more than or equal to the speed reduction length SdIf I is larger than I, outputting a result after error compensation, otherwise, re-determining the minimum value I, and entering a new cycle; if the length L of the segment is less than SdThen, then
Redetermining VsAnd VeThe size of (d);
wherein ,
Aaas an acceleration, AdIs the deceleration.
The curve cut by the laser is shown in fig. 4, and a direct transition method is adopted at the turning point, so that the requirements of continuity and real-time processing of the path are met, and smooth transition at the turning point is realized. However, if the speed at this point is too high, a machining accuracy error occurs, an over-cut phenomenon occurs, and the error is compensated fori+1Analysis chart fig. 5, concrete error compensation Ei+1Is a triangle PiPi+1P2_i+1Area of (d):
wherein ,L1_i+1Is the 1 st i +1 st segment cutting length (mm), L2_i+1Is the 2 i +1 th cutting length (mm), sin alphai+1The complementary angle between the two cutting lines.
The use of the hierarchical speed planning algorithm can enable the cutting process to be self-adaptively speed-adjusted according to the characteristics of the machine tool and set processing parameters, improve the processing efficiency and shorten the processing time.
In the scheme, the intelligent cloud network card is arranged in the movable numerical control sliding table, and a data intelligent learning algorithm is compiled. Firstly, collecting three data of cutting speed, feeding length and cutting time by a first module; secondly, the module preprocesses the data, and the specific steps are data input, data reading, truncation/filling and normalization; secondly, the third module realizes the classification and identification of the data, and the specific steps are that LSTM preprocessing is carried out on the source domain, and model migration is carried out on the target domain; fourthly, data screening is carried out in a traditional GAN mode in the module IV, semi-supervised classification is carried out in an improved GAN mode, and then screening of non-tag data is achieved; fifthly, the module five trains samples to complete data prediction, data reconstruction, model parameter updating and data prediction; and finally, outputting all data, and providing data content, statistical distribution, training process, index statistics and result display for the user. The structure diagram of the specific data intelligent learning algorithm module is shown in fig. 6. On one hand, the algorithm can record the material feeding length and the cutting time of the guide wheel through the number of rotation turns of the guide wheel; on the other hand, the user can realize remote control, such as upgrading process and the like, through the network.
The core of the material receiving system is controlled by a variable frequency motor, and the constant torque control and the constant tension control of the material receiving system are realized by utilizing the moment control principle in a vector frequency converter. The tension of the discharged material is consistent with that of the received material by the two deviation-rectifying tension control integrated machines.
Claims (5)
1. General curve of amorphous and silicon steel is opened and is expected device, its characterized in that: the device is provided with a discharging system, a cutting system and a receiving system which are arranged in sequence;
the discharging system is provided with a discharging frame body (1), one end of the discharging frame body (1) is provided with a first discharging mechanism (2), a second discharging mechanism (3) and a silicon steel discharging mechanism (4), the other end of the discharging frame body (1) is provided with a first discharging double-guide wheel (5), a second discharging double-guide wheel (6) and a pneumatic pressing mechanism (7), and the pneumatic pressing mechanism (7) is arranged between the first discharging double-guide wheel (5) and the second discharging double-guide wheel (6);
the cutting system is provided with a cutting frame body (15), one end of the cutting frame body (15) is provided with a first tension sensor (8), a second tension sensor (9), a third tension sensor (12), a first amorphous deviation rectifying integrated machine (10), a second amorphous deviation rectifying integrated machine (11), a deviation rectifying double guide wheel (13) and a silicon steel positioning mechanism (14), the first tension sensor (8) is matched with the first amorphous deviation rectifying integrated machine (10), the second tension sensor (9) is matched with the second amorphous deviation rectifying integrated machine (11), and the third tension sensor (12), the deviation rectifying double guide wheel (13) and the silicon steel positioning mechanism (14) are matched with each other;
the other end of the cutting frame body (15) is provided with a length measuring double guide wheel (16) and a cutting double guide wheel (19), a numerical control sliding table (17) is arranged between the length measuring double guide wheel (16) and the cutting double guide wheel (19), and a laser cutting head (18) is arranged on the numerical control sliding table (17);
the receiving system is provided with a receiving frame body (20), and a first receiving structure (21), a second receiving structure (22), a receiving motor (23) and a laser range finder (24) are arranged on the receiving frame body (20); the output end of the material receiving motor (23) is matched with the first material receiving structure (21) and the second material receiving structure (22).
2. The control method of the amorphous and silicon steel general-purpose curve cutting device according to claim 1, characterized in that: firstly, a grading speed planning algorithm in a numerical control sliding table (17) starts to operate; presetting transformer grade, and constructing a curve function model according to the transformer grade; discretizing the curve function, and approximating the curvature of each point by using cubic spline curve interpolation of discrete points; judging the position of the sensitive point by the included angle between the curvature and the line segment; dividing speed units according to the sensitive points and the deceleration positions, determining the acceleration and deceleration process, and finding out the speed minimum point as a curve division point; obtaining the speed of the acceleration and deceleration section and controlling the speed in real time; determining a cutting path of the cutting device by controlling the feeding speed and the acceleration and deceleration position through a hierarchical speed planning algorithm;
secondly, cutting the strip by a laser cutting device controlled by a grading speed planning algorithm, wherein the output power of a laser emitter is matched with the winding speed of the amorphous alloy strip and the silicon steel; when the strip is cut by the cutting system, three parameters of cutting speed, feeding length and cutting time generated by the strip are recorded in a smart cloud network card in the movable sliding table;
and finally, data processing, training, learning and prediction are carried out by a data intelligent learning algorithm in the intelligent cloud network card to form a database, so that subsequent improvement is facilitated.
3. The control method of the amorphous and silicon steel general-purpose curve cutting device according to claim 2, characterized in that: the step-by-step speed planning algorithm firstly establishes a curve function model f (k) of material length and material width according to the transformer stage number
Wherein K is the transformer stage number, K is the maximum transformer stage number, D is the wound core diameter, t is the material thickness, and R is the wound core radius;
then, discretizing the curve function, and adopting cubic spline curve interpolation formula Q (u) ═ Au of local discrete points3+Bu2+ Cu + D to approximate the point curvature q
wherein ,LiIs the ith cutting length (mm), u is the interval section, AiAnd BiIs a constant of section i, XiIs the i-th point abscissa, YiIs the ith point ordinate;
then, determining included angles among line segments, judging sensitive points, dividing speed units by the sensitive points, determining an acceleration and deceleration process, and finding out speed minimum points as curve dividing points;
finally, when the initial speed V iss< end speed VeWhen the speed is higher than the speed, the speed is increased, if the length L of the section is not less than the speed-up length SaIf I is larger than I, outputting a result after error compensation, otherwise, re-determining the minimum value I, and entering a new cycle; if the length L of the segment is less than SaThen, then
j is j-1, and V is judged againsAnd VeThe size of (d); when V iss≥VeIn the time, the speed reduction section is adopted, if the length L of the section is more than or equal to the speed reduction length SdIf I is larger than I, outputting a result after error compensation, otherwise, re-determining the minimum value I, and entering a new cycle; if the length L of the segment is less than SdThen, then
j is j-1, and V is judged againsAnd VeThe size of (d);
wherein ,
Aaas an acceleration, AdIs the deceleration.
4. The control method of the amorphous and silicon steel general-purpose curve cutting device according to claim 2, characterized in that: the laser cutting head (18) controlled by the hierarchical speed planning algorithm adopts a direct transition method at a turning point, takes the continuity of a path and the requirement of real-time processing into account, and is beneficial to realizing the smooth transition at the turning point; however, if the speed at this point is too high, a machining accuracy error is caused, an over-cut phenomenon occurs, and a specific error compensation E is performedi+1Is a triangle PiPi+1P2_i+1Area of (d):
wherein ,L1_i+1Is the 1 st i +1 st segment cutting length (mm), L2_i+1Is the 2 i +1 th cutting length (mm), sin alphai+1The complementary angle between the two cutting lines is defined;
the use of a hierarchical speed planning algorithm enables the cutting process to adaptively perform speed adjustment according to the characteristics of the machine tool and set processing parameters, improves the processing efficiency, and shortens the processing time.
5. The control method of the amorphous and silicon steel general-purpose curve cutting device according to claim 2, characterized in that: firstly, collecting data by a first module of a data intelligent learning algorithm and preprocessing the data by a second module; secondly, the module III realizes the classification and identification of the data; then, the screening of the label-free data is realized through a module IV; and then, carrying out sample training by a module five, completing data prediction, and finally outputting various data.
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| CN111584226A (en) * | 2020-05-28 | 2020-08-25 | 咸阳辉煌电子磁性材料研究所 | Production process of PFC differential mode inductance magnetic ring |
| CN212503194U (en) * | 2020-09-15 | 2021-02-09 | 青岛奥博智能科技有限公司 | Automatic cutting device for amorphous strips |
| CN112518006A (en) * | 2020-11-17 | 2021-03-19 | 广东工业大学 | Processing method and device of iron-based amorphous alloy strip |
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Inventor after: Liu Weiwei Inventor after: Huang Xiaoyue Inventor after: Ding Zijian Inventor after: Chen Yuqing Inventor after: Wang Yingchun Inventor after: Xu Wei Inventor before: Liu Weiwei Inventor before: Ding Zijian Inventor before: Chen Yuqing Inventor before: Wang Yingchun Inventor before: Xu Wei Inventor before: Huang Xiaoyue |