CN115007942B - Method and device for controlling flying saw equipment - Google Patents
Method and device for controlling flying saw equipment Download PDFInfo
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- CN115007942B CN115007942B CN202210535485.9A CN202210535485A CN115007942B CN 115007942 B CN115007942 B CN 115007942B CN 202210535485 A CN202210535485 A CN 202210535485A CN 115007942 B CN115007942 B CN 115007942B
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims abstract description 58
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 238000005520 cutting process Methods 0.000 claims abstract description 28
- 230000008859 change Effects 0.000 claims abstract description 4
- 238000004590 computer program Methods 0.000 claims description 7
- 230000009467 reduction Effects 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 4
- 238000010008 shearing Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000012550 audit Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D45/00—Sawing machines or sawing devices with circular saw blades or with friction saw discs
- B23D45/18—Machines with circular saw blades for sawing stock while the latter is travelling otherwise than in the direction of the cut
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D47/00—Sawing machines or sawing devices working with circular saw blades, characterised only by constructional features of particular parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D47/00—Sawing machines or sawing devices working with circular saw blades, characterised only by constructional features of particular parts
- B23D47/12—Sawing machines or sawing devices working with circular saw blades, characterised only by constructional features of particular parts of drives for circular saw blades
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sawing (AREA)
Abstract
The invention provides a method and a device for controlling flying saw equipment, which can safely and efficiently automatically adjust the space cutting distance. The servo motor drives the saw blade to rotate in a critical low-speed state, and the control unit records initial position information of the saw blade; the transmission mechanism controls the saw blade to move towards the material, and meanwhile, the control unit monitors real-time position information of the saw blade; when the change of the real-time position information is stopped, the control unit records the contact position information of the saw blade; the control unit obtains the free cutting distance of the saw blade according to the recorded initial position information and the contact position information.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a method and a device for controlling flying saw equipment.
Background
Flying saws are critical devices in cold roll forming equipment, and the working efficiency of the flying saw equipment directly affects the yield of products.
As shown in fig. 1, as with all tools, the saw blade of the flying saw gradually wears with the increase of the working times, and the shearing parameters need to be redefined after the wear degree exceeds a certain threshold value, so that the materials can be completely cut off, and in addition, when the materials with different specifications are replaced for shearing operation, the shearing parameters need to be redefined. The prior art requires that for such situations an operator make a manual measurement and then input the measurement data into the control system of the flying saw device. Obviously, the manual operation not only requires longer time, but also has certain random errors, and the shearing feeding amount after adjustment is insufficient, so that the condition that the shearing of the materials is continuous is caused.
Therefore, a method and a device for controlling the fly saw device to automatically perform parameter adjustment are needed to solve the technical problems.
Disclosure of Invention
The invention provides a method and a device for controlling flying saw equipment, which can safely and efficiently automatically adjust the space cutting distance.
In a first aspect, an embodiment of the present invention provides a method of controlling a flying saw device, the flying saw device including a servo motor, a control unit, a transmission mechanism and a saw blade, the servo motor driving the saw blade to rotate, the transmission mechanism controlling a position movement of the saw blade, the control unit controlling the servo motor and the transmission mechanism, the control method including: the servo motor drives the saw blade to rotate in a critical low-speed state, and the control unit records initial position information of the saw blade; the transmission mechanism controls the saw blade to move towards the material, and meanwhile, the control unit monitors real-time position information of the saw blade; when the change of the real-time position information is stopped, the control unit records the contact position information of the saw blade; the control unit obtains the free cutting distance of the saw blade according to the recorded initial position information and the contact position information.
Preferably, in the stationary state of the saw blade, the servo motor limits amplitude with no-load torque as an initial amplitude, and gradually increases the limited amplitude value slowly until the saw blade can just rotate, at which time the rotational speed of the saw blade is the critical low speed.
Preferably, the idling torque is the maximum value of the output torque of the servo motor during the process of controlling the saw blade to idle at the cutting speed in the speed limiting mode.
Preferably, the transmission structure is a screw transmission structure and comprises a screw rod and a screw rod nut which are matched with each other, a transmission motor for driving the screw rod to rotate, and an encoder for monitoring the rotation position of the transmission motor, wherein the initial position information and the contact position information are encoder output values when the saw blade is positioned at the corresponding position.
Preferably, the space-cut distance is S 1＝[d·(P2-P1) ]/(n·k); wherein S1 is the free cutting distance, P1 is the initial position information, P2 is the contact position information, d is the pitch of the screw nut, n is the reduction ratio of the screw transmission structure, and k is the number of single-turn pulses of the encoder.
In a second aspect, an embodiment of the present invention provides an apparatus for controlling a flying saw device, where the flying saw device includes a servo motor, a transmission mechanism and a saw blade, the servo motor drives the saw blade to rotate, and the transmission mechanism controls a position of the saw blade to move, and the apparatus is characterized in that the control apparatus includes a control module, an input/output module, a position sensing module and an operation module; the control module controls the operation of the servo motor and the transmission mechanism; the position sensing module acquires position information of the saw blade; the input/output module acquires the position information from the position sensing module;
And the operation module calculates and acquires the free cutting distance of the flying saw equipment through the position information.
Preferably, the transmission structure is a screw transmission structure and comprises a screw rod, a screw rod nut and a transmission motor, wherein the screw rod and the screw rod nut are matched with each other, the transmission motor drives the screw rod to rotate, and the position sensing module is an encoder for detecting the position of a rotor of the transmission motor.
In a third aspect, embodiments of the present invention also provide a computing device, including: at least one memory and at least one processor;
the at least one memory for storing a machine readable program;
the at least one processor is configured to invoke the machine-readable program to perform the method of the first aspect.
In a fourth aspect, embodiments of the present invention also provide a computer readable medium having stored thereon computer instructions which, when executed by a processor, cause the processor to perform the method of the first aspect.
In a fifth aspect, embodiments of the present invention also provide a computer program product comprising a computer program which, when executed by a processor, implements the method of the first aspect.
According to the technical scheme, when the saw blade of the flying saw equipment is worn or replaced to a certain extent and the shape of the material is changed, the automatic control method and the device can replace operators to operate, so that the working efficiency is improved, the stability and the accuracy of updating the control parameters are improved, and the possibility of safety accidents is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained based on these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a fly saw apparatus of the present invention performing a material cut;
FIG. 2 is a flow chart of a method of controlling a fly saw apparatus provided in accordance with one embodiment of the invention;
Fig. 3 is a structural frame diagram of an apparatus for controlling a flying saw device according to an embodiment of the present invention.
List of reference numerals
101: Step 101
102: Step 102
103: Step 103
104: Step 104
105: Step 105
200: Saw blade
300: Control device
301: Control module
302: Input/output module
303: Position sensing module
304: Operation module
Detailed Description
As previously described, the fly saw apparatus first passes through a free cutting distance during the cutting process, then the saw blade 200 contacts the material, and the cutting process begins until the saw blade 200 completely cuts the material, and then continues to add a distance to ensure complete cutting and then returns to its original position. As the saw blade 200 wears, the actual free cutting distance is longer than preset in the control unit, and thus, when the control unit considers that the cutting has been performed and starts to control the retraction of the saw blade 200, there is a possibility that the material has not been completely sawn, and thus an error occurs. The invention provides a method for controlling a flying saw device, so that the free cutting distance can be automatically updated, thereby ensuring that materials can be completely cut off.
The flying saw equipment comprises a servo motor, a control unit, a transmission mechanism and a saw blade 200, wherein the saw blade 200 is arranged on the servo motor, and is driven to rotate by the servo motor, and the servo motor is arranged on the transmission mechanism and moves parallel to the saw blade 200 along with the transmission mechanism, so that the flying saw equipment can be pushed to realize cutting action or can be retracted to the original position, and the material is waited for being replaced to the next cutting position; the control unit controls the various parts of the flying saw device to work cooperatively, i.e., controls the speed or output torque of the rotation of the servo motor, controls the transmission mechanism to adjust the position of the saw blade 200, etc. In this embodiment, the transmission mechanism is a screw structure, and further includes a screw nut and a screw, a transmission motor for driving the screw to rotate, and an encoder for monitoring the rotational position of the transmission motor. When the transmission motor is rotated in the forward direction and the reverse direction by the signal of the control unit, the screw rod is rotated along with the transmission motor, so that the position of the screw rod nut in threaded fit with the screw rod is also moved in parallel, and the screw rod nut is kept in relatively fixed connection with the servo motor, so that the rotation of the transmission motor can control the positions of the servo motor and the saw blade 200.
When the blank distance parameter is required to be updated, the control unit firstly sets the servo motor in a speed limiting mode, namely the rotating speed is constant no matter what the output torque is. Step 101, in this mode, the servo motor is controlled to drive the saw blade 200 to idle at a normal cutting speed, and the maximum value of the output torque after entering a stable idle state is recorded, which is the idle torque. The idle torque is the torque required by the servo motor to only overcome the resistance of the mechanical structure and drive the saw blade 200.
Step 102, braking the saw blade 200 until stationary, the control unit sets the servo motor in a torque limiter mode, i.e. the servo motor maintains a fixed torque output regardless of whether the saw blade 200 is rotating and the rotational speed. The limited torque is set to an idle torque, which is the minimum torque output state that the servo motor can just overcome the mechanical resistance, such as sliding friction, while the maximum value of static friction is larger than sliding friction, so that the saw blade 200 will not accelerate from rest under the idle torque, i.e. the saw blade 200 will remain stationary under the idle torque. Then, the control unit controls the torque limiter of the servo motor to gradually increase slowly until the saw blade 200 starts rotating and stops increasing the torque limiter. At this time, the output torque of the servo motor is just enough to overcome the static resistance, and the saw blade 200 starts to rotate at an extremely slow speed, and the rotational speed at this time is a critical low speed.
Step 103, the control unit controls the transmission structure to return the saw blade 200 to the initial position, records the output value of the encoder at the time, namely, the initial position information, then the transmission motor drives the screw to rotate, the servo motor and the saw blade 200 are pushed forward in the cutting direction along with the rotation of the screw, and the control unit monitors the output value of the encoder in real time. When the material is not contacted, the output value of the encoder is continuously changed along with the rotation of the transmission motor, when the slowly rotating saw blade 200 is contacted with the material, the screw rod structure cannot continuously move the servo motor and the saw blade 200 due to the relation of resistance, and the output shaft of the transmission motor also stops rotating due to the resistance, at the moment, the output value of the encoder is not changed any more, and the unchanged position information is the contact position information.
During step 103, although the saw blade 200 is in contact with the material, since the rotational speed of the saw blade 200 is in an extremely low state, even if the contact is made for a while, the saw blade 200 slowly strokes over the surface of the material, and does not have an actual cutting effect, i.e., the saw blade 200 will stay in a position just in contact with the material. And the material is not damaged.
Step 104, the control unit calculates the space-cut distance through the following formula according to the initial position information and the contact position information acquired in step 103:
S1＝[d·(P2-P1)]/(n·k)
Wherein S1 is the space cut distance;
P1 is initial position information, i.e., an encoder output value at the initial position;
p2 is contact position information, i.e. encoder output value at the contact position;
d is the pitch of the screw drive;
n is the reduction ratio of the screw transmission mechanism;
k is the number of single pulses of the encoder on the drive motor.
And 105, updating the free cutting distance into the control parameters of the flying saw equipment, and carrying out cutting operation on the materials by using the updated control parameters.
Through the method of the embodiment, when the saw blade 200 is severely worn or the empty cutting distance is required to be measured again by replacing materials and the like, a series of operations such as automatic measurement and updating can be avoided from manually approaching the saw blade 200 for measurement, so that the manual labor intensity is reduced, the error of manual intervention is reduced, and the possibility of dangerous accidents is avoided.
In the update process of the free distance caused by more frequent material replacement, the steps 101 and 102 can be omitted, because the free moment will not change when the saw blade 200 is not significantly worn, and the critical low speed state can also use the data of the previous adjustment.
The embodiment of the invention also provides a control device 300 for controlling the flying saw equipment, the flying saw equipment comprises a servo motor, a transmission mechanism and a saw blade 200, the servo motor drives the saw blade 200 to rotate, the transmission mechanism controls the position of the saw blade 200 to move, the device is provided with a control module 301, an input-output module 302 and an operation module 304, and the device also comprises a position sensing module 303 arranged on the transmission mechanism.
The control module 301 is configured to control the operation of the servo motor and the transmission mechanism;
The position sensing module 303 is configured to obtain position information of the saw blade 200 from the transmission mechanism;
The output and input module is configured to receive the position information and send control information to the servo motor and/or the transmission mechanism;
the operation module 304 is configured to calculate and obtain the free cutting distance of the flying saw device through the position information and the physical parameters of the transmission mechanism.
In this embodiment, the transmission mechanism is a screw transmission mechanism, and includes a screw and a screw nut that are mutually matched, and a transmission motor that drives the screw to rotate, and the position sensing module 303 is an encoder that detects the rotor position of the transmission motor.
The control module 301 controls the servo motor and the transmission mechanism so that the position sensing module 303 can obtain the initial position information of the saw blade 200 and the contact position information of the saw blade and the material. The operation module 304 calculates and obtains the free cutting distance between the saw blade 200 of the flying saw device and the current cut material according to the initial position information and the contact position information and by combining the physical parameters of the screw pitch of the screw transmission structure, the reduction ratio, the single-circle pulse number of the encoder and the like.
One embodiment of the present invention also provides a computing device comprising: at least one memory and at least one processor;
at least one memory for storing a machine readable program;
At least one processor coupled to the at least one memory for invoking the machine readable program to perform the method of controlling the fly saw apparatus provided by the above embodiments.
The present invention also provides a computer readable medium having stored thereon computer instructions which, when executed by a processor, cause the processor to perform the method of controlling a flying saw device provided by the above embodiments. The invention also provides a computer program product comprising a computer program which, when executed by a processor, implements the method of controlling a flying saw device according to the above-described embodiments. Specifically, a system or apparatus provided with a storage medium on which a software program code realizing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or apparatus may be caused to read out and execute the program code stored in the storage medium.
In this case, the program code itself read from the storage medium can realize the functions of the above-described embodiments, and thus the program code and the storage medium storing the program code form part of the present invention.
Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (e.g., CD-ROMs, CD-R, CD-RWs, DVD-ROMs, DVD-RAMs, DVD-RWs, DVD+RWs), magnetic tapes, nonvolatile memory cards, and ROMs. Alternatively, the program code may be downloaded from a server computer by a communication network.
Further, it should be apparent that the functions of any of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform part or all of the actual operations based on the instructions of the program code.
Further, it is understood that the program code read out by the storage medium is written into a memory provided in an expansion board inserted into a computer or into a memory provided in an expansion module connected to the computer, and then a CPU or the like mounted on the expansion board or the expansion module is caused to perform part and all of actual operations based on instructions of the program code, thereby realizing the functions of any of the above embodiments.
It should be noted that not all the steps and modules in the above processes and the structure diagrams of the devices are necessary, and some steps or modules may be omitted according to actual needs. The execution sequence of the steps is not fixed and can be adjusted as required. The system structure described in the above embodiments may be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or may be implemented jointly by some components in multiple independent devices. Wherein the above-mentioned means for controlling the flying saw device and the method for controlling the flying saw device are based on the same inventive concept.
In the above embodiments, the hardware module may be mechanically or electrically implemented. For example, a hardware module may include permanently dedicated circuitry or logic (e.g., a dedicated processor, FPGA, or ASIC) to perform the corresponding operations. The hardware modules may also include programmable logic or circuitry (e.g., a general-purpose processor or other programmable processor) that may be temporarily configured by software to perform the corresponding operations. The particular implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.
While the invention has been illustrated and described in detail in the drawings and in the preferred embodiments, the invention is not limited to the disclosed embodiments, and it will be appreciated by those skilled in the art that the code audits of the various embodiments described above may be combined to produce further embodiments of the invention, which are also within the scope of the invention.
Claims (10)
1. A method of controlling a flying saw apparatus comprising a servo motor, a control unit, a transmission mechanism and a saw blade (200), the servo motor driving the saw blade (200) to rotate, the transmission mechanism controlling a position movement of the saw blade (200), the control unit controlling the servo motor and the transmission mechanism, characterized in that the control method comprises:
The servo motor drives the saw blade (200) to rotate in a critical low-speed state, and the control unit records initial position information of the saw blade (200), wherein the critical low-speed is the speed of the saw blade (200) when the output torque of the servo motor just overcomes the static resistance and enables the saw blade (200) to start rotating;
The transmission mechanism controls the saw blade (200) to move towards the material, and meanwhile, the control unit monitors real-time position information of the saw blade (200);
When the change of the real-time position information is stopped, the control unit records contact position information of the saw blade (200);
The control unit obtains the free cutting distance of the saw blade (200) according to the recorded initial position information and the contact position information.
2. The method according to claim 1, characterized in that the servo motor is initially limited by an idling torque in a stationary state of the saw blade (200), and gradually and slowly increases the limited value until the saw blade (200) is just rotatable, at which time the rotational speed of the saw blade (200) is the critical low speed.
3. The method according to claim 2, characterized in that the idling torque is the maximum value of the output torque during which the servo motor in the speed limiting mode controls the saw blade (200) to idle at the cutting speed.
4. The method of claim 1, wherein the drive structure is a screw drive structure comprising a screw and a screw nut that cooperate with each other, a drive motor that drives the screw in rotation, and an encoder that monitors a rotational position of the drive motor, and wherein the initial position information and the contact position information are encoder output values when the saw blade (200) is in a corresponding position.
5. The method of claim 4, wherein the air cut distance is
S 1＝[d·(P2-P1) ]/(n·k); wherein,
S 1 is the free cutting distance, P 1 is the initial position information, P 2 is the contact position information, d is the pitch of the screw nut, n is the reduction ratio of the screw transmission structure, and k is the number of single pulses of the encoder.
6. The device for controlling the flying saw equipment comprises a servo motor, a transmission mechanism and a saw blade (200), wherein the servo motor drives the saw blade (200) to rotate, and the transmission mechanism controls the position of the saw blade (200) to move, and the device is characterized in that the control device (300) comprises a control module (301), an input-output module (302), a position sensing module (303) and an operation module (304);
the control module (301) controls the operation of the servo motor and the transmission mechanism;
the position sensing module (303) acquires position information of the saw blade (200);
the input/output module (302) acquires the position information from the position sensing module (303);
the operation module (304) calculates and acquires the free cutting distance of the flying saw equipment through the position information;
Wherein the servo motor is arranged to be able to rotate the saw blade in a critical low speed state, the critical low speed being the speed of the saw blade (200) when the output torque of the servo motor is just enough to overcome the static resistance and to start the rotation of the saw blade (200).
7. The device according to claim 6, wherein the transmission structure is a screw transmission structure comprising a screw and a screw nut which are mutually matched, a transmission motor for driving the screw to rotate, and the position sensing module (303) is an encoder for detecting the rotor position of the transmission motor.
8. A computing device, comprising: at least one memory and at least one processor;
the at least one memory for storing a machine readable program;
the at least one processor being configured to invoke the machine readable program to perform the method of any of claims 1 to 5.
9. A computer readable medium having stored thereon computer instructions which, when executed by a processor, cause the processor to perform the method of any of claims 1 to 5.
10. Computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the method of any of claims 1 to 5.
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| CN202210535485.9A CN115007942B (en) | 2022-05-17 | 2022-05-17 | Method and device for controlling flying saw equipment |
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| CN202210535485.9A CN115007942B (en) | 2022-05-17 | 2022-05-17 | Method and device for controlling flying saw equipment |
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