CN115417072B - Dynamic pre-adjustment method of rapier conveying mechanism - Google Patents
Dynamic pre-adjustment method of rapier conveying mechanism Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
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- B65G17/38—Chains or like traction elements; Connections between traction elements and load-carriers
- B65G17/42—Attaching load carriers to traction elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
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- B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
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- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
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- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
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Abstract
The invention discloses a dynamic pre-adjustment method of a rapier conveying mechanism, which relates to the field of rapier conveying mechanisms, and comprises the following steps: determining a cutting track of a machine tool; randomly generating N groups of initial populations, and coding angle variables in each group of initial populations; calculating the fitness value of each group of initial population based on a preset target condition; selecting a group of populations with the smallest fitness value, directly inheriting the populations to the next generation, and sequentially performing selection, crossing and mutation operations on the remaining populations to form the next generation population; recalculating fitness values of each group of population until the set iteration times are reached, and outputting an optimal angle of each supporting point in a preset length for avoiding the cutting track of the machine tool; before the rapier enters the laser cutting area, the supporting structure is adjusted according to the corresponding optimal angle. And (3) judging the superposition condition of the steel plate cutting track and the distribution of the supporting points in an off-line manner according to a genetic algorithm, and carrying out dynamic pre-adjustment control on each group of supporting points, so that the laser is prevented from cutting the rapier by mistake, and the cutting quality and efficiency are ensured.
Description
Technical Field
The invention relates to the field of rapier conveying mechanisms, in particular to a dynamic pre-adjustment method of a rapier conveying mechanism.
Background
The rapier conveying mechanism is applied to the dynamic laser blanking line. The conveying mechanism is in a closed ring shape, and a plurality of groups of rapier grids are uniformly distributed on the conveying mechanism, so that continuous rolling is realized for conveying the whole coil of steel plates. If all supporting points on each rapier are fixed in angle in the process of cutting the steel plate by laser, the whole process is not adjusted, the processing track is very easy to coincide with the supporting points, the laser cuts the supporting points through the steel plate, the damage of the sucking disc on the supporting points is very easy to be caused, and the time and cost for replacement and maintenance are high. Therefore, dynamic pre-tuning control of each group of rapier is highly desirable in industrial applications.
Disclosure of Invention
The inventor aims at the problems and the technical requirements, and provides a dynamic pre-adjustment method of a rapier conveying mechanism, which is used for judging the superposition condition of the cutting track of a processed steel plate and the distribution of rapier supporting points in an off-line manner according to a genetic algorithm, carrying out dynamic pre-adjustment control on each group of supporting points, avoiding the error cutting of the rapier by laser, and ensuring the quality and the efficiency of cutting.
The technical scheme of the invention is as follows:
The rapier conveying mechanism comprises a plurality of groups of rapier arranged along the conveying direction, each group of rapier comprises a plurality of supporting structures arranged in a row, each supporting structure is provided with two supporting points, and the supporting points are provided with suckers for adsorbing the steel plates; each supporting structure is provided with a motor for driving the two supporting points to rotate in the horizontal direction by 360 degrees;
A dynamic pre-adjustment method of a rapier conveying mechanism comprises the following steps:
Typesetting the cutting pattern on a steel plate with a preset length, and determining a cutting track of a machine tool;
Randomly generating N groups of initial populations, wherein each group of initial populations comprises N angle variables, and encoding the angle variables; wherein: the angle variable is an included angle between a connecting line of two supporting points in each supporting structure and a set initial position, and the included angle ranges from 0 to 360 degrees; n is the number of support structures located within a single cut pattern;
calculating the fitness value of each group of initial population based on a preset target condition, wherein the preset target condition comprises judging whether the outline of a single cutting pattern coincides with each supporting point positioned in the outline;
Selecting a group of populations with the smallest fitness value, directly inheriting the selected group of populations to a next generation population, and sequentially performing selection, crossing and mutation operations on the remaining populations according to the set probability to form the next generation population;
Re-executing the calculation of fitness value of each group of population based on the preset target condition respectively until the set iteration times are reached, and outputting the optimal angle of each supporting point avoiding the cutting track of the machine tool within the preset length;
before the rapier enters the laser cutting area, the motors at the corresponding positions are controlled to adjust the supporting structure according to the corresponding optimal angles.
The further technical scheme is that the fitness value of each group of initial population is calculated based on the preset target condition, and the method comprises the following steps of, for each group of initial population:
If the contour of the single cutting pattern is coincident with the supporting point positioned in the single cutting pattern, marking the first fitness score of the supporting structure corresponding to the supporting point as: f1 (B i) =x, wherein B i represents the ith support structure, x takes a constant value well above 1;
otherwise, marking the first fitness score of the supporting structure corresponding to the misaligned supporting point as: f1 (B i) =1;
And taking the first fitness score sum of all the support structures in the single cutting graph as the fitness value of the initial population under the current coding angle.
The further technical scheme is that the preset target condition further comprises judging whether each supporting point in the single cutting pattern is uniformly distributed or not; then calculating fitness values for each set of initial populations based on the predetermined target conditions, respectively, further comprising, for each set of initial populations:
Acquiring coordinate components (Xi, yi) of two supporting points of each supporting structure under the current mechanism XY coordinate system;
Comparing whether Xi and Yi of all supporting points in the cutting graph are the same or not, and if the same Xi or Yi exists, marking a first part of second fitness scores of two groups of supporting structures with the same coordinate components as: f1 (B i) =y, where y takes a constant value well above 1; otherwise scoring a first portion of the second fitness of the support structure for the different coordinate components as: f1 (B i) =1;
For two adjacent supporting structures and two supporting structures at the head and the tail, respectively calculating the shortest linear distance between two supporting points of the front supporting structure and two supporting points of the rear supporting structure, taking the minimum value of the two supporting structures as Li and marking the second part score of the second fitness as: where Ls is the circumference of the individual cut pattern; the overall score for the second fitness of the support structure is then: /(I)
The fitness score of all support structures in a single cut pattern at the current encoding angle is:
Wherein f j represents the fitness score of the jth initial population; k 1、k2 is a weight coefficient.
The further technical scheme is that the method for encoding the angle variable comprises the following steps:
for each angle variable, a random binary number is generated within the threshold value to form a chromosome, and the value is required to be between 0 and 360 DEG after the conversion into decimal.
The further technical scheme is that the selection operation of the residual population is carried out according to the set probability, and the method comprises the following steps:
And selecting several groups of populations with small fitness values from the N-1 populations as next generation populations.
The further technical scheme is that the remaining population performs cross operation according to the set probability, and the method comprises the following steps:
selecting several groups of populations serving as parents according to the set crossover probability from the remaining populations after the selection operation is performed; the two binary digits of each chromosome in the ancestor population are randomly swapped to generate a new chromosome.
The further technical scheme is that the residual population carries out mutation operation according to the set probability, and the method comprises the following steps:
selecting several groups of populations serving as parents from the remaining populations after the cross operation is performed according to the set mutation probability; inverting the value of one binary digit of each chromosome in the parent population to generate a new chromosome.
The further technical scheme is that magnetic grating rules are stuck on the surfaces of chains on two sides of the annular conveying mechanism, the magnetic grating rules are positioned in a laser cutting area of the mechanism, and the rapier grating is uniformly distributed on the annular conveying mechanism; controlling the motors at the corresponding positions to adjust the supporting structure according to the corresponding optimal angles, including:
progressively numbering the rapier grating from the initial position of the laser cutting area according to the transmission direction, arranging a magnetic grating ruler reading head on the rapier grating with preset number, and deducing the real-time position distribution of all the rapier grating on the annular conveying mechanism according to the position of the magnetic grating ruler reading head on the magnetic grating ruler; the selected number ensures that at least one reading head is positioned in the laser cutting area at any moment, and if two reading heads are positioned in the laser cutting area, the reading heads with small numbers are used as the reference;
Setting corresponding optimal angles for the support structures of each group of rapier according to a numbering circulation sequence, wherein the numbering circulation sequence refers to that after all rapier sequences are sorted from small to large, the sequence is continued from small to large;
When the first cycle starts, controlling motors of a continuous preset number of rapier gates positioned at the left side of the starting position of the laser cutting area to adjust the supporting structure in advance according to the optimal angle corresponding to the number, and restarting the mechanism to carry out steel plate transmission;
and setting a preset position of an annular lower side area of the annular conveying mechanism as an adjusting area, and controlling a motor to adjust the supporting structure in advance according to the optimal angle corresponding to the number when any rapier enters the adjusting area in the transmission process.
The method further comprises the following steps:
when the last cutting pattern of the steel plate with the preset length is finished, after the closest rapier gate from the starting position reaches the position, the starting condition of the next group of circulation is met, setting the corresponding optimal angle for the supporting structure of each group of rapier gate again according to the serial number circulation sequence from the position of the rapier gate, and starting the next group of circulation until the steel plate with the preset length is cut.
The beneficial technical effects of the invention are as follows:
The dynamic pre-adjustment method is realized based on a genetic algorithm, can realize global random search and solves the problem of searching the optimal angle of the rapier. The superposition condition of the cutting track of the processed steel plate and the distribution of the support points of the rapier is judged in an off-line mode according to a genetic algorithm, and the distribution condition of the support points is considered, so that the output optimal angle is dynamically pre-adjusted and controlled before each support structure enters a laser cutting area through a motor, the error cutting of the rapier by laser is avoided, the center of gravity of a workpiece to be cut can be balanced through the total center of gravity of the support structure, the steel plate is uniformly stressed, and the cutting quality and efficiency are better guaranteed.
Drawings
Fig. 1 is a schematic structural diagram of a gripper conveying mechanism provided by the application, wherein: (a) is a schematic view of a rapier structure, (b) is a schematic view of a supporting structure, and (c) is an overall layout of the rapier on the annular conveying mechanism.
Fig. 2 is a flow chart of a dynamic pre-tuning method provided by the present application.
FIG. 3 is a graph of a single cut pattern and its internal support point profile provided by the present application.
Fig. 4 is a diagram of a simulation result of the angle adjustment of the rapier based on the genetic algorithm.
Fig. 5 is an explanatory diagram of the dynamic real-time adjustment principle of the rapier provided by the application.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings.
As shown in fig. 1, the rapier transfer mechanism includes a plurality of sets of rapiers 1 arranged in the transfer direction and an endless transfer mechanism 5, and the rapiers 1 are uniformly distributed on the endless transfer mechanism 5. Each group of rapier 1 comprises a plurality of support structures 2 which are arranged in a row, each support structure 2 is provided with two support points 3, and suction cups are arranged on the support points 3 and used for sucking steel plates. Each support structure 2 is provided with a motor 4 for driving the two support points 3 in 360 degrees rotation in the horizontal direction. The magnetic grating ruler 6 is attached to the chain surface on both sides of the annular conveying mechanism 5, and the magnetic grating ruler 6 is located between the laser cutting areas a-b of the mechanism 5.
Based on the above structure, the application discloses a dynamic pre-adjustment method of a rapier conveying mechanism, as shown in fig. 2, comprising the following steps:
Step 1: typesetting the cutting pattern on a steel plate with a preset length by using trepanning software, and determining the cutting track of the machine tool.
As shown in fig. 3, a is a contour line of a known cutting pattern, that is, a cutting track of a workpiece to be processed, and is an irregular pattern; and B1-Bn are sets of supporting structures 2 on a plurality of groups of rapier 1 positioned in a cutting pattern, D1-D2n are supporting points 3 on the supporting structures 2, each B1-Bn is controlled by a corresponding motor respectively, so that D1-D2n can rotate clockwise and anticlockwise in 360 degrees and horizontally, and the position distribution of the supporting points 3 is adjusted, wherein n is the number of the supporting structures 2 positioned in a single cutting pattern, and n=5 in the application.
Step 2: n groups of initial populations are randomly generated, wherein each group of initial populations comprises N angle variables, and the angle variables are encoded.
Wherein the angle variable is an included angle between the connecting line of the two supporting points 3 in each supporting structure 2 and the set initial position, the included angle ranges from 0 degrees to 360 degrees, and N angle variables are respectively given to B1-Bn, namely, each supporting structure corresponds to N angle variables. In the present application, the initial position is set according to the actual situation, for example, the initial position of the connection of the two supporting points 3 is horizontal to the steel sheet conveying direction, that is, the connection position of the supporting points 3 as shown in fig. 1 (a).
Encoding the angle variable specifically includes: for each angle variable, a random binary number is generated within the threshold value to form a chromosome, namely, the value of the gene on the chromosome is randomly selected from 0 and 1, and the value is required to be between 0 and 360 DEG after being converted into decimal.
Step 3: the fitness value of each initial population is calculated based on the predetermined target condition.
In the application, the angle variable combination of B1-Bn is set as a solution set, and the optimal angle adjusted by the rapier support point 3 is calculated offline by using a genetic algorithm so as to meet the following two preset target conditions:
(1) The contour A of the single cutting pattern does not coincide with each supporting point Di located therein;
(2) Each supporting point Di in the single cutting pattern is uniformly distributed, so that each workpiece cut along the cutting track is uniformly stressed.
In the application, as the arrangement of the supporting points Di on the multiple groups of rapier is determined by the angles of the supporting points and the cutting track are both of known quantity, aiming at the problem of the visual image of the computer, the opencv library of PYTHON is called, so that the information of the coincident points can be calculated, and how the supporting points are distributed is more reasonable.
Step 3 specifically comprises the following sub-steps:
For each initial population:
Step 31: if the contour A of the single cutting pattern is coincident with the supporting point Di located in the contour A, the first fitness score of the supporting structure Bi corresponding to the supporting point Di is recorded as: f1 (B i) =x, where B i represents the ith support structure, x takes a constant value well above 1, such as x takes 1000 or more, in order to distinguish from the scoring of the non-coincident points. As shown in fig. 3, the first fitness score of the support structure B4 corresponding to the support point D5 is recorded as: f1 (B 4) =1000.
Otherwise, the first fitness score of the support structure Bi corresponding to the misaligned support point Di is recorded as: f1 (B i) =1.
Step 32: acquiring coordinate components (Xi, yi) of two supporting points Di of each supporting structure Bi under the current mechanism XY coordinate system; comparing whether Xi and Yi of all supporting points Di in the cutting graph are the same or not respectively, if the same Xi or Yi exists, the first part scores of the second fitness of the two groups of supporting structures with the same coordinate components are recorded as follows if at least two groups of supporting structures are in the same X or Y direction and do not accord with the condition of uniform distribution: f1 (B i) =y, where y takes a constant value well above 1, such as y takes 1000; otherwise scoring a first portion of the second fitness of the support structure for the different coordinate components as: f1 (B i) =1.
Step 33: for two adjacent supporting structures and two supporting structures at the head and the tail, respectively calculating the shortest linear distance between two supporting points of the front supporting structure and two supporting points of the rear supporting structure, taking the minimum value of the two supporting structures as Li and marking the second part score of the second fitness as: Where Ls is the circumference of the individual cut pattern, a smaller sum of Li indicates a denser distribution of the support points Di, deviating from the ideal effect, whereas a uniform dispersion of the support points Di indicates a closer to the ideal effect. For example, as shown in fig. 3, for adjacent B1, B2, four support points D1-D4 thereon share four distance combinations: D1-D3, D1-D4, D2-D3 and D2-D4, wherein the shortest distance is recorded as L1, the shortest distance between the B2 and the B3 support points is recorded as L2, and the shortest distance between the B5 and the B1 support points is recorded as L5.
The overall score for the second fitness of the support structure is then:
step 34: the fitness scores of all the support structures in the single cutting graph under the current coding angle are as follows:
wherein f j represents the fitness score of the jth initial population, the smaller the value, the higher the fitness; k 1、k2 is a weight coefficient, and 0.5 is taken.
Step 4: and selecting a group of populations with the smallest fitness value to directly inherit to the next generation population, and sequentially performing selection, crossing and mutation operations on the remaining populations according to the set probability to form the next generation population. Wherein:
(1) The selection operation of the residual population is carried out according to the set probability, and the selection operation comprises the following steps:
and selecting several groups of populations with small fitness values from the N-1 populations as next generation populations. That is, a new chromosome is generated by adopting a roulette selection mode, and the smaller the chromosome fitness value is, the larger the probability of being selected is.
(2) The remaining population performs cross operation according to the set probability, including:
and selecting a Pc, N/2 group population as a parent population according to the set crossover probability Pc from the remaining populations after the selection operation is performed. The two binary digits of each chromosome in the ancestor population are randomly swapped to generate a new chromosome.
(3) The residual population carries out mutation operation according to the set probability, which comprises the following steps:
and selecting a Pm-N group population as a parent population according to the set variation probability Pm in the remaining population after the crossover operation is performed. Inverting the value of one binary digit of each chromosome in the parent population to generate a new chromosome.
Step 5: after the operations of reservation, selection, crossing and mutation, a second generation population is formed, the steps 3 and 4 are re-executed until the set iteration times are reached, and the optimal angles which are uniformly distributed and avoid the cutting track of the machine tool for each supporting point within the preset length are output.
In the present application, the population size n=20, pc=0.60, pm=0.001, and the iteration number t=20 are set. The simulation result is shown in fig. 4, the drawing comprises the nesting condition of the workpiece shape on the steel plate, namely the laser cutting track and the distribution condition of the supporting points on the sword grating, the cutting track of each workpiece is not interfered with the supporting points, and the distribution of the supporting points is scientific and reasonable within the contour range of each workpiece, so that the steel plate is uniformly stressed, and the project requirement is met.
Step 6: before the rapier enters the laser cutting area, the motors at the corresponding positions are controlled to adjust the supporting structure according to the corresponding optimal angles.
Through the optimization calculation of the genetic algorithm, the angle value of each supporting point of each group of rapier on the steel plate within a certain distance (the constant value is between 20 meters and 50 meters) can be obtained, and the angle value is transmitted to a control system for pre-adjusting the angle of the supporting point in the cutting process. As shown in fig. 5, the schematic diagram is a top view of fig. 1 (c), and the dynamic adjustment process of the rapier support structure is described in detail with reference to the schematic diagram.
Step 61: the rapier is numbered from the starting position a of the laser cutting area according to the transmission direction.
In the application, 36 groups of rapier are numbered from 1 to 36, when in processing, the annular conveying mechanism 5 rotates infinitely in the clockwise direction, a is the processing initial position, b is the processing end position, the numbers are increased from 1 to 36 in the clockwise direction, and 1-2- … -36-1-2- … are circularly reciprocated.
Step 62: and a magnetic grating ruler reading head is arranged on the rapier with the preset number, and the real-time position distribution of all rapier on the annular conveying mechanism 5 is deduced according to the position of the magnetic grating ruler reading head on the magnetic grating ruler.
The selected number ensures that at least one reading head is positioned in the laser cutting area a-b at any moment, and if two reading heads are positioned in the laser cutting area, the reading heads with small numbers are used as the reference.
In the application, the number 1, 18 and 36 rapier with magnetic scale reading heads are set. According to the principle of the magnetic grating ruler, if the reading head is positioned on the magnetic strip between a and b, the distance between the two points of the grating distances a and b of the reading head can be calculated, so that the real-time distribution of 36 groups of the gratings on the annular conveying mechanism 5 is deduced, and the real-time distribution is also the basis and the premise of dynamic adjustment of the gratings.
Step 63: setting corresponding optimal angles for the supporting structures of each group of rapier according to a numbering circulation sequence, wherein the numbering circulation sequence refers to that after all rapier are sequenced from small to large, sequencing is continued from small to large, namely 1-2- … -36-1-2- …. Because the number of optimal angles output by the genetic algorithm is more than the number of rapier gates, repeated assignment exists.
Step 64: when the first cycle starts, the motors of the 6 groups of continuous rapier grids positioned at the left side of the starting position a of the laser cutting area are controlled to adjust the supporting structure in advance according to the optimal angle corresponding to the number, and the steel plate is conveyed by the starting mechanism 5.
Step 65: and when any rapier enters the adjusting area c-d in the transmission process, the motor is controlled to adjust the supporting structure in advance according to the optimal angle corresponding to the number.
Step 66: after the last cutting pattern of the steel plate with the preset length is finished, when the rapier closest to the starting position a reaches the position and meets the starting condition of the next group of circulation, setting the corresponding optimal angle for the supporting structure of each group of rapier according to the serial number circulation sequence from the position of the rapier, and starting the next group of circulation until the steel plate with the complete coil is cut.
Because the calculation time of the genetic algorithm is related to the number of cutting patterns, in actual industrial application, the number of the cut steel coils is mainly 500 meters, 800 meters and 1000 meters, if the adjustment angles of the rapier gates are calculated by the length of the whole steel coil, the calculation amount is huge, the time consumption is long, the output angle value is extremely huge, and in actual project application, if the midway fault cutting is interrupted, how to connect again is difficult to process, therefore, the preset length is set to be 50 meters, and the genetic algorithm only outputs the optimal angle set of each group of the rapier gates within the length of 50 meters, thereby better ensuring the quality and efficiency of cutting. The practical application result shows that if the cutting length is within 50 meters, the optimal result is obtained in 100 times of genetic iteration numbers, and the optimal result is good, so that the genetic algorithm can be applied to the design of the sword grid supporting point pre-control.
The method for pre-adjusting the angle of the supporting point of the rapier conveying mechanism not only avoids the error cutting of the rapier by laser, but also balances the center of gravity of a workpiece to be cut by the total weight of the supporting structure, so that the steel plate is uniformly stressed, and the method has the greatest benefit that the processing speed (linear motor structure, X Y shaft maximum speed of 120 m/min) of a machine tool is not limited by the steel plate conveying speed, the two are matched with each other, and the blanking efficiency is maximized, which is incomparable with the blanking line of the belt conveying structure.
The above is only a preferred embodiment of the present application, and the present application is not limited to the above examples. It is to be understood that other modifications and variations which may be directly derived or contemplated by those skilled in the art without departing from the spirit and concepts of the present application are deemed to be included within the scope of the present application.
Claims (9)
1. The dynamic pre-adjustment method of the rapier conveying mechanism is characterized in that the rapier conveying mechanism comprises a plurality of rapier groups arranged along the conveying direction, each rapier group comprises a plurality of supporting structures arranged in a row, each supporting structure is provided with two supporting points, and the supporting points are provided with suckers for adsorbing steel plates; each supporting structure is provided with a motor for driving the two supporting points to rotate in the horizontal direction by 360 degrees;
The method comprises the following steps:
Typesetting the cutting pattern on a steel plate with a preset length, and determining a cutting track of a machine tool;
Randomly generating N groups of initial populations, wherein each group of initial populations comprises N angle variables, and coding the angle variables; wherein: the angle variable is an included angle between the connecting line of the two supporting points in each supporting structure and a set initial position, and the included angle ranges from 0 degrees to 360 degrees; n is the number of support structures located within a single cut pattern;
Calculating the fitness value of each group of initial population based on a preset target condition, wherein the preset target condition comprises judging whether the outline of a single cutting pattern coincides with each supporting point positioned in the outline;
Selecting a group of populations with the minimum fitness value to directly inherit to a next generation population, and sequentially performing selection, crossing and mutation operations on the remaining populations according to a set probability to form the next generation population;
Re-executing the calculation of fitness values of each group of groups based on preset target conditions respectively until the set iteration times are reached, and outputting the optimal angle of each supporting point avoiding the cutting track of the machine tool within the preset length;
Before the rapier enters the laser cutting area, controlling a motor at a corresponding position to adjust the supporting structure according to a corresponding optimal angle.
2. The method for dynamic pre-adjustment of a rapier transfer mechanism according to claim 1, wherein said calculating the fitness value of each of said initial populations based on predetermined target conditions, respectively, comprises, for each of said initial populations:
If the contour of the single cutting pattern is coincident with the supporting point positioned in the single cutting pattern, marking the first fitness grade of the supporting structure corresponding to the supporting point as: f1 (B i) =x, wherein B i represents the ith support structure, x takes a constant value well above 1;
otherwise, marking the first fitness score of the supporting structure corresponding to the misaligned supporting point as: f1 (B i) =1;
And taking the first fitness score sum of all the support structures in the single cutting graph as the fitness value of the initial population under the current coding angle.
3. The method for dynamic pre-adjustment of a rapier transfer mechanism according to claim 2, wherein said predetermined target conditions further comprise determining whether each supporting point in a single cutting pattern is evenly distributed; said calculating fitness values for each of said initial populations based on predetermined target conditions, respectively, further comprises, for each of said initial populations:
Acquiring coordinate components (Xi, yi) of two supporting points of each supporting structure under an XY coordinate system of a current mechanism; comparing whether Xi and Yi of all supporting points in the cutting graph are the same or not, and if the same Xi or Yi exists, marking the first part scores of the second fitness of the two groups of supporting structures with the same coordinate components as: f1 (B i) =y, where y takes a constant value well above 1; otherwise scoring a first portion of the second fitness of the support structure for the different coordinate components as: f1 (B i) =1;
For two adjacent support structures and two support structures at the head and the tail, respectively calculating the shortest linear distance between two support points of the front support structure and two support points of the rear support structure, taking the minimum value of the shortest linear distance as Li, and marking the second part score of the second fitness as: Where Ls is the circumference of the individual cut pattern; the overall score for the second fitness of the support structure is then: /(I)
The fitness score of all support structures in a single cut pattern at the current encoding angle is:
Wherein f j represents the fitness score of the jth initial population; k 1、k2 is a weight coefficient.
4. The method of claim 1, wherein said encoding said angle variable comprises:
For each of the angle variables, a random binary number is generated within its threshold to form a chromosome, and the value after conversion into decimal is required to be between 0 and 360 degrees.
5. The method for dynamic pre-adjustment of a gripper conveyor mechanism according to claim 1, wherein the selection of the remaining population according to the set probability comprises:
And selecting several groups of populations with small fitness values from the N-1 populations as next generation populations.
6. The method for dynamically pre-adjusting a gripper conveyor according to claim 4, wherein the remaining population performs a crossover operation according to a set probability, comprising:
selecting several groups of populations serving as parents according to the set crossover probability from the remaining populations after the selection operation is performed; the two binary digits of each chromosome in the ancestor population are randomly swapped to generate a new chromosome.
7. The method for dynamically pre-adjusting a gripper conveyor according to claim 4, wherein the remaining population is subjected to mutation operation according to a set probability, comprising:
selecting several groups of populations serving as parents from the remaining populations after the cross operation is performed according to the set mutation probability; inverting the value of one binary digit of each chromosome in the parent population to generate a new chromosome.
8. The dynamic pre-adjustment method of a rapier conveying mechanism according to claim 1, wherein magnetic grating rulers are stuck on the surfaces of chains on two sides of the annular conveying mechanism, the magnetic grating rulers are positioned in a laser cutting area of the mechanism, and the rapier is uniformly distributed on the annular conveying mechanism; the motor controlling the corresponding position adjusts the supporting structure according to the corresponding optimal angle, including:
Numbering the rapier according to the initial position of a laser cutting area in an increasing mode according to the transmission direction, arranging magnetic grating ruler reading heads on the rapier with preset numbers, and deducing real-time position distribution of all the rapier on the annular conveying mechanism according to the positions of the magnetic grating ruler reading heads on the magnetic grating ruler; the selected number ensures that at least one reading head is positioned in the laser cutting area at any moment, and if two reading heads are positioned in the laser cutting area, the reading heads with small numbers are used as the reference;
setting corresponding optimal angles for the support structures of all the rapier groups according to a numbering circulation sequence, wherein the numbering circulation sequence refers to that after all the rapier groups are ordered from small to large, the ordering is continued from small to large;
When the first cycle starts, controlling motors of a continuous preset number of rapier gates positioned at the left side of the starting position of the laser cutting area to adjust the supporting structure in advance according to the optimal angle corresponding to the number, and restarting the mechanism to carry out steel plate transmission;
and setting a preset position of an annular lower side area of the annular conveying mechanism as an adjusting area, and controlling the motor to adjust the supporting structure in advance according to the optimal angle corresponding to the number when any rapier enters the adjusting area in the transmission process.
9. The method for dynamic pre-adjustment of a rapier transfer mechanism of claim 8, further comprising:
When the last cutting pattern of the steel plate with the preset length is finished, after the rapier closest to the starting position reaches the position, starting the rapier at the position to meet the starting condition of the next group of circulation, setting the corresponding optimal angle for the supporting structure of each group of rapier according to the serial number circulation sequence, and starting the next group of circulation until the steel plate with the preset length is cut.
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| DE102011078825A1 (en) * | 2011-07-07 | 2013-01-10 | Sauer Gmbh Lasertec | Method and device for workpiece machining, in particular for the production of cutting tools |
| CN111098049A (en) * | 2020-02-13 | 2020-05-05 | 无锡新松机器人自动化有限公司 | Intelligent sword fence system |
| CN112811090A (en) * | 2021-02-01 | 2021-05-18 | 无锡新松机器人自动化有限公司 | Sword gate conveying equipment and period zero clearing method for precise transmission of double-side plate chain |
| CN113664387A (en) * | 2021-08-25 | 2021-11-19 | 广东宏石激光技术股份有限公司 | Laser cutting device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102011078825A1 (en) * | 2011-07-07 | 2013-01-10 | Sauer Gmbh Lasertec | Method and device for workpiece machining, in particular for the production of cutting tools |
| CN111098049A (en) * | 2020-02-13 | 2020-05-05 | 无锡新松机器人自动化有限公司 | Intelligent sword fence system |
| CN112811090A (en) * | 2021-02-01 | 2021-05-18 | 无锡新松机器人自动化有限公司 | Sword gate conveying equipment and period zero clearing method for precise transmission of double-side plate chain |
| CN113664387A (en) * | 2021-08-25 | 2021-11-19 | 广东宏石激光技术股份有限公司 | Laser cutting device and method |
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