CN114360886B - Amorphous and silicon steel universal curve cutting device and control method - Google Patents
Amorphous and silicon steel universal curve cutting device and control method Download PDFInfo
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- 238000005520 cutting process Methods 0.000 title claims abstract description 75
- 229910000976 Electrical steel Inorganic materials 0.000 title claims abstract description 50
- 238000000034 method Methods 0.000 title claims abstract description 22
- 229910000808 amorphous metal alloy Inorganic materials 0.000 claims abstract description 31
- 238000003698 laser cutting Methods 0.000 claims abstract description 14
- 230000008569 process Effects 0.000 claims abstract description 8
- 239000000463 material Substances 0.000 claims description 47
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims 2
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Abstract
The application discloses a general curve blanking device for amorphous and silicon steel, which comprises a blanking system, a cutting system and a receiving system which are sequentially arranged; the blowing system is provided with a blowing frame body, one end of the blowing frame body is provided with a first blowing mechanism, a second blowing mechanism and a silicon steel blowing mechanism, the other end of the blowing frame body is provided with a first blowing double guide wheel, a second blowing double guide wheel and a pneumatic compacting mechanism, and the pneumatic compacting mechanism is arranged between the first blowing double guide wheel and the second blowing double guide wheel. The device disclosed by the application has the advantages of high cutting precision, high cutting efficiency, high cutting quality, strong universality and high intelligent degree. The displacement of the amorphous alloy strip or silicon steel in the conveying process of the application is set as the transverse direction, the displacement perpendicular to the conveying direction of the strip when the laser cutting head cuts the strip is set as the longitudinal direction, the moving speed of the laser cutting head is precisely controlled through a grading speed planning algorithm, and the transverse error is reduced by matching with a correction tension integrated machine, so that the 0.5 mu m high-precision curve cutting is realized.
Description
Technical Field
The application relates to the technical field of machining, in particular to an amorphous and silicon steel universal curve cutting machine and a cutting control method thereof.
Background
In order to respond to the energy efficiency improvement plan of the transformer, the energy resource utilization rate is improved, the development of green low carbon and high quality is promoted, and the research and the production of the energy-saving transformer are greatly promoted by the state. In recent years, the on-grid operation proportion of high-efficiency distribution transformers has been significantly improved. At present, a silicon steel distribution transformer is a main stream product in the transformer market, and an amorphous alloy strip has the characteristics of high resistivity, low coercivity, high saturation induction and the like, and the distribution transformer gradually occupies the market due to the advantages of low energy consumption, low loss and low cost, becomes a future development trend, and has wide application prospect and good social benefit.
The hardness of the amorphous alloy is 5 times of that of the oriented silicon steel sheet, and the amorphous alloy is difficult to shear by adopting a conventional tool; the amorphous alloy is very thin and is only 0.02-0.03mm, and the surface of the material is not very flat and the thickness is also uneven; the amorphous alloy has high brittleness and is easy to tear during shearing, and the shearing difficulty of the amorphous alloy strip is far greater than that of a silicon steel material.
The existing blanking equipment has low algorithm accuracy and inaccurate positioning deviation correction, so that the cutting accuracy is low; single-layer cutting consumes longer time, resulting in low cutting efficiency; the cutting seam of the roller blade is not smooth, burrs are easy to generate, and the cutting quality is low; the method has no universality and can only cut one material of amorphous alloy strips or silicon steel. The defects of the material cutting equipment limit the field application and market popularization to a great extent.
Disclosure of Invention
The application aims to provide a general curve cutting device for amorphous and silicon steel and a control method thereof, which realize high-precision, high-efficiency and high-quality cutting of amorphous/silicon steel.
In order to achieve the above purpose, the present application provides the following technical solutions: the 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 compacting mechanism, and the pneumatic compacting 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 mutually matched;
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 arranged on the numerical control sliding table;
the material receiving system is provided with a material receiving frame body, and the material receiving frame body is provided with a first material receiving structure, a second material receiving structure, a material receiving motor and a laser range finder; 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 application 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 of the application is set to be transverse, the displacement of the laser cutting head perpendicular to the conveying direction of the strip when cutting the strip is set to be longitudinal, the moving speed of the laser cutting head is precisely controlled through a grading speed planning algorithm, and the transverse error is reduced by matching with a correction 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 great extent.
3. The cutting quality is high. The laser cutting device can cut silicon steel materials and amorphous alloy strips simultaneously, and ensures that cut seams are smooth and burr-free.
4. The universality is strong. According to the characteristics of the amorphous alloy strip and the silicon steel, the application designs the cutting equipment capable of cutting two materials at the same time, has stronger universality, overcomes the defect that the traditional cutting equipment can only cut one material, and achieves the purposes of saving cost and space.
5. The intelligent degree is high. According to the application, the intelligent cloud network card is contained in the numerical control sliding table, the Internet technology is introduced, and a program with a data intelligent learning algorithm as a core is designed, so that remote control of equipment can be realized, and equipment upgrading is facilitated; 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 diagram of an amorphous/silicon steel general curve blanking machine according to the present application.
Fig. 2 is a flow chart of the curve blanking control of the present application.
FIG. 3 is a flow chart of the algorithm hierarchical speed planning of the present application.
Fig. 4 is a graph of the algorithm cut used in the present application.
Fig. 5 is a block diagram of a data intelligent learning algorithm module used in the present application.
FIG. 6 is a schematic diagram of error compensation of a core algorithm part direct transition model of the present application.
1. A discharging frame body; 2. a first discharging mechanism; 3. a second discharging mechanism; 4. a silicon steel discharging mechanism; 5. the first discharging double guide wheels; 6. the second discharging double guide wheels; 7. a pneumatic compressing mechanism; 8. a first tension sensor; 9. a second tension sensor; 10. the first amorphous deviation correcting integrated machine; 11. the second amorphous deviation correcting integrated machine; 12. a third tension sensor; 13. correcting double guide wheels; 14. a silicon steel positioning mechanism; 15. cutting the frame body; 16. a length measuring double guide wheel; 17. a numerical control sliding table; 18. a laser cutting head; 19. cutting the double guide wheels; 20. a material receiving frame body; 21. a first material receiving structure; 22. a second material receiving structure; 23. a material receiving motor; 24. a laser range finder.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1, the present application provides an amorphous and silicon steel general 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 unreeling tension can be accurately regulated and controlled when the amorphous alloy strip and the silicon steel rotate, and the effects of quick response, no impact vibration and the like are achieved. The amorphous alloy strips and the silicon steel sheets which are rolled in equal width are placed on a discharging mechanism, after the amorphous alloy strips and the silicon steel sheets rotate, the moment is controlled by a magnetic powder brake on each air expansion shaft of the amorphous alloy strips and the silicon steel sheets, the amorphous alloy strips and the silicon steel sheets are transmitted to a pneumatic pressing mechanism 7 through a first discharging double guide wheel 5, and then are transmitted to a cutting system through a 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 correcting integrated machine 10, a second amorphous deviation correcting integrated machine 11, a deviation correcting double guide wheel 13 and a silicon steel positioning mechanism 14, the first tension sensor 8 is matched with the first amorphous deviation correcting integrated machine 10, the second tension sensor 9 is matched with the second amorphous deviation correcting integrated machine 11, the third tension sensor 12, the deviation correcting double guide wheel 13 and the silicon steel positioning mechanism 14 are mutually matched, 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 installed on the numerical control sliding table 17.
When the amorphous alloy strip and silicon steel reach the cutting system, tension control is respectively carried out on the amorphous alloy strip and the silicon steel by corresponding tension sensors; when the silicon steel passes through the silicon steel positioning mechanism, the silicon steel is subjected to deviation correcting positioning; when the amorphous alloy strip passes through the amorphous deviation correcting integrated machine, the amorphous alloy strip is subjected to deviation correcting and positioning. When the amorphous alloy strip and silicon steel pass through the length measuring double guide wheels 16, the length measuring encoder in the guide wheels measures and feeds back the feeding length and transmits the feeding length 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 the laser cutting head 18, and meanwhile, the intelligent cloud network card arranged in the sliding table records cutting data in real time, so that a database is formed.
The application utilizes the laser cutting head 18 on the movable sliding table 17 under the control of the grading speed planning algorithm to realize burr-free curve cutting in cooperation with the vertical conveying of amorphous alloy strips or silicon steel.
The partial parameters of the processing track curve are shown in table 1:
TABLE 1 actual processing parameters
The material receiving system is provided with a material receiving frame body 20, and a first material receiving structure 21, a second material receiving structure 22, a material receiving motor 23 and a laser range finder 24 are arranged on the material receiving frame body 20; the output end of the material receiving motor 23 is matched with the first material receiving structure and 21 and the second material receiving structure 22. When the amorphous alloy strip and silicon steel are cut and enter the material receiving system, the material receiving motor 23 and the speed reducer brake the amorphous alloy strip and silicon steel to be respectively rolled into the material receiving structure. The laser range finder 24 measures the changing unreeling radius and the rotating speed in real time to realize transverse unreeling, and when the first material receiving structure 21 and the second material receiving structure 22 are completely coiled, the first material receiving structure and the second material receiving structure are respectively detached, so that the next process can be carried out. Through real-time monitoring and detection to the material, when remaining material is at 2-3mm, realize automatic alarm, avoid the material to collapse and break.
Referring to fig. 2-6, the present application further provides a control method for an amorphous and silicon steel general curve cutting device, firstly, a grading speed planning algorithm in a numerical control sliding table 17 starts to operate, a transformer level is preset in the grading speed planning algorithm, and a curve function model of the grading speed planning algorithm is determined by the transformer level; discretizing a 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 speed reduction position, determining the acceleration and deceleration process, and finding out a speed minimum point as a curve dividing point; the speed of the acceleration and deceleration section is calculated by a formula and is controlled in real time. The cutting device determines its cutting path by controlling the feed 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 transmitter is automatically matched according to the winding speed of the amorphous alloy strip and the silicon steel. The amorphous alloy strip and silicon steel are cut through the cutting system, and meanwhile the generated cutting time, cutting speed and feeding length are recorded in the intelligent cloud network card in the movable sliding table. Finally, the data processing, training, learning and prediction are carried out by the intelligent data learning algorithm to form a database, so that the subsequent improvement is convenient, and the method is particularly shown in fig. 2.
The core control algorithm of the application is a hierarchical speed planning algorithm which controls the feed speed and determines the acceleration and deceleration position, and controls the cutting path with the change of speed. Firstly, a curve function model f (k) of material length and material width is established according to the number of transformer stages.
Wherein K is the number of transformer stages, K is the maximum number of transformer stages, D is the diameter of the wound core, t is the material thickness, and R is the radius of the wound core.
Next, discretizing the curve function, interpolating Q (u) =au by using a cubic spline curve of local discrete points 3 +Bu 2 +cu+d to approximate the point-to-point curvature q.
wherein ,Li Cutting length (mm) of the ith section, u is interval section, A i And B is connected with i Is the constant of the ith section, X i Is the abscissa of the ith point, Y i Is the ordinate of the ith point;
then, determining the included angle among all the line segments, judging a sensitive point, dividing a speed unit by the sensitive point, determining an acceleration and deceleration position, and finding out a speed minimum point as a curve dividing point;
finally, when the initial velocity V s < termination speed V e In the case of the acceleration section, if the length L of the section is greater than or equal to the acceleration length S a Judging the magnitudes of I and a threshold I, if I is larger than I, outputting a result after error compensation, otherwise, determining a minimum value I again, and entering a new cycle; if the length L of the section is less than S a ThenRe-judging V s And V is equal to e Is of a size of (2); when V is s ≥V e In the case of the deceleration section, if the length L of the section is greater than or equal to the deceleration length S d Judging the magnitudes of I and a threshold I, if I is larger than I, outputting a result after error compensation, otherwise, determining a minimum value I again, and entering a new cycle; if the length L of the section is less than S d Then->Re-judging V s And V is equal to e Is of a size of (2);
wherein ,A a for acceleration, A d Is deceleration.
The curve cut by the laser is shown in fig. 4, and the direct transition method is adopted at the turning point, so that the requirements of the continuity of the path and real-time processing are met, and the smooth transition at the turning point is facilitated. However, if the speed at this point is too high, an error in the machining accuracy is brought about, and an over-cut phenomenon is generated, the error of which compensates E i+1 Analysis chart as in FIG. 5, specific error Compensation E i+1 Is triangle P i P i+1 P 2_i+1 Is defined by the area of:
wherein ,L1_i+1 Cut length (mm) for 1_i+1 th paragraph, L 2_i+1 For the 2_i+1 th cut length (mm), sin alpha i+1 Is the complementary angle between the two sections of cutting lines.
The use of the hierarchical speed planning algorithm can enable the cutting process to adaptively carry out speed adjustment according to the characteristics of the machine tool and the set machining parameters, improve the machining efficiency and shorten the machining time.
In the scheme, the intelligent cloud network card is arranged in the movable numerical control sliding table, and the intelligent data learning algorithm is written. Firstly, collecting three data of cutting speed, feeding length and cutting time by a first module; secondly, preprocessing data by a second module, wherein the specific steps are data input, data reading, shortening/filling and normalization; then, realizing classification and identification of data by a third module, wherein the specific steps are performing LSTM preprocessing on a source domain and performing model migration on a target domain; fourthly, data screening is carried out in a traditional GAN mode in a fourth module, semi-supervised classification is carried out in a GAN improvement mode, and further screening of unlabeled data is achieved; fifthly, performing sample training by a fifth module to complete data prediction, data reconstruction, model parameter updating and data prediction; and finally, outputting various 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 feeding length and the cutting time of the guide wheel through the rotation number of the guide wheel; on the other hand, the user can realize remote control such as upgrading process and other operations 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 a torque control principle in a vector frequency converter. The discharging tension and the receiving tension are consistent by two correction tension control integrated machines.
Claims (3)
1. A control method of an amorphous and silicon steel universal curve cutting device is characterized by comprising the following steps of: firstly, starting running a hierarchical speed planning algorithm in a numerical control sliding table (17); presetting a transformer level, and constructing a curve function model by the transformer level; discretizing a 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 curvature and the included angle between the line segments; dividing a speed unit according to the sensitive points and the deceleration positions, determining an acceleration and deceleration process, and finding out a speed minimum point as a curve dividing point; obtaining the speed of the acceleration and deceleration section and controlling the speed in real time; controlling a feeding speed and an acceleration and deceleration position through a hierarchical speed planning algorithm to determine a cutting path of a cutting device;
secondly, cutting the strip by a laser cutting device controlled by a grading speed planning algorithm, wherein the output power of a laser transmitter is matched with the winding speed of the amorphous alloy strip and the silicon steel; the strip is cut through a cutting system, and three parameters of cutting speed, feeding length and cutting time generated by the strip are recorded in an intelligent cloud network card in a mobile sliding table;
finally, the data processing, training, learning and prediction are carried out by the data intelligent learning algorithm in the intelligent cloud network card to form a database, so that the subsequent improvement is convenient;
the grading speed planning algorithm firstly establishes a curve function model f (k) of material length and material width according to the number of transformer stages
Wherein K is the number of transformer stages, K is the maximum number of transformer stages, D is the diameter of the winding iron core, t is the material thickness, and R is the radius of the winding iron core;
secondly, discretizing the curve function, and adopting a cubic spline curve interpolation formula Q (u) =Au of local discrete points 3 +Bu 2 +Cu+D to approximate the curvature q of each point
wherein ,Li Cut for the ith sectionCutting length (mm), u is interval section, A i And B is connected with i Is the constant of the ith section, X i Is the abscissa of the ith point, Y i Is the ordinate of the ith point;
then, determining the included angle among all the line segments, judging a sensitive point, dividing a speed unit by the sensitive point, determining an acceleration and deceleration process, and finding out a speed minimum point as a curve dividing point;
finally, when the initial velocity V s < termination speed V e In the case of the acceleration section, if the length L of the section is greater than or equal to the acceleration length S a Judging the magnitudes of I and a threshold I, if I is larger than I, outputting a result after error compensation, otherwise, determining a minimum value I again, and entering a new cycle; if the length L of the section is less than S a ThenRe-judging V s And V is equal to e Is of a size of (2); when V is s ≥V e In the case of the deceleration section, if the length L of the section is greater than or equal to the deceleration length S d Judging the magnitudes of I and a threshold I, if I is larger than I, outputting a result after error compensation, otherwise, determining a minimum value I again, and entering a new cycle; if the length L of the section is less than S d ThenRe-judging V s And V is equal to e Is of a size of (2);
wherein ,A a for acceleration, A d Is deceleration.
2. The control method of the amorphous and silicon steel universal curve cutting device according to claim 1, wherein the control method comprises the following steps: the laser cutting head (18) controlled by the hierarchical speed planning algorithm adopts a direct transition method at the turning point, meets the requirements of path continuity and real-time processing, and is beneficial to realizing smooth transition at the turning point; but if the speed at that point is too greatThe machining precision error is brought, the over-cutting phenomenon is generated, and the specific error is compensated E i+1 Is triangle P i P i+1 P 2_i+1 Is defined by the area of:
wherein ,L1_i+1 Cut length (mm) for 1_i+1 th paragraph, L 2_i+1 For the 2_i+1 th cut length (mm), sin alpha i+1 Is L 1_i+1 and L2_i+1 The complementary angle between the cutting lines;
the use of the hierarchical speed planning algorithm enables the cutting process to adaptively carry out speed adjustment according to the characteristics of the machine tool and the set machining parameters, improves the machining efficiency and shortens the machining time.
3. The control method of the amorphous and silicon steel universal curve cutting device according to claim 1, wherein the control method comprises the following steps: firstly, collecting data by a first module of a data intelligent learning algorithm and preprocessing by a second module; secondly, realizing classification and identification of data by a third module; screening the unlabeled data through a fourth module; and then, training a sample by a fifth module, finishing data prediction, and finally outputting various data.
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| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20100102045A1 (en) * | 2007-02-13 | 2010-04-29 | Lasag Ag | Method of cutting parts to be machined using a pulsed laser |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203956542U (en) * | 2014-06-24 | 2014-11-26 | 上海沪光变压器有限公司 | A kind of fixture for stationary transformer housing height regulating frame |
| CN105989997A (en) * | 2015-02-25 | 2016-10-05 | 上海稳得新能源科技有限公司 | Stereo winding type zero-clearance magnetic circuit three-phase transformer |
| 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 |
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| 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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