CN203509299U - Pipe cutting linear interpolation and dynamic compensation device - Google Patents
Pipe cutting linear interpolation and dynamic compensation device Download PDFInfo
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- CN203509299U CN203509299U CN201320591921.0U CN201320591921U CN203509299U CN 203509299 U CN203509299 U CN 203509299U CN 201320591921 U CN201320591921 U CN 201320591921U CN 203509299 U CN203509299 U CN 203509299U
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Abstract
The utility model discloses a pipe cutting linear interpolation and dynamic compensation device. The pipe cutting linear interpolation and dynamic compensation device comprises a lifting shaft connecting plate (8), and is characterized in that the lifting shaft connecting plate (8) is provided with a rotary air cylinder (1) and a cutting mechanism, the rotary air cylinder (1) is connected with a detection arm (3) through a coupling shaft (2), and a set of inductive switches are arranged at the front end of the detection arm (3). According to the pipe cutting linear interpolation and dynamic compensation device, the position relation between a cutting gun and a workpiece can be judged according to whether signals of the three inductive switches exist or not; when the distance between a pipe and the cutting gun is changed, the detection arm drives the cutting gun to float up or down along with the change of the distance so that the height of the cutting gun can be regulated in real time and the distance between the cutting gun and the workpiece can be a fixed value; in addition, because detection compensation is in smooth transition, sudden changes are avoided, the dynamic response speed is high, and the hysteresis phenomenon is avoided.
Description
Technical field
The utility model relates to tubing cutting field, specifically, relates to a kind of tubing cutting linear interpolation and dynamic compensating device.
Background technology
During pipe cutting equipment work, need workpiece rotation, and burning torch 12 moves around on workpiece generatrix direction, realizes the cutting process of tubing.According to the requirement of cutting technique, the distance of burning torch 12 and workpiece is a fixed value substantially, could effectively guarantee cut quality and cutting accuracy.Because tubing just exists certain geometrical deviation man-hour itself adding, the distortion of tubing in transportation in addition, the tubing that causes actual cutting is not the pipe of standard.When rotated, the difference in height between tubing and burning torch 12 is constantly to change to tubing, distance hour easy damaged in collision burning torch 12, and when distance is large, burning torch 12 current interruptions cannot be cut off, and highly constantly change and make the tubing cutting occur burr in addition, and cut quality is defective.In order to guarantee cutting accuracy and cut quality, need to detect the distance between workpiece and burning torch 12, then compensate, while guaranteeing work piece cut, the difference in height between burning torch 12 and workpiece is a fixed value.At present, on pipe cutting equipment, mainly contain two kinds of detection modes: a kind of is to use displacement or laser sensor, and workpiece is carried out to pre-detection, according to detecting data, cutting track is carried out to linear interpolation compensation; A kind of is to adopt mechanical float device to detect.There is following weak point in these two kinds of modes at present:
The pre-detection compensation way of displacement or laser sensor.Before work piece cut, the mode of employing to multipoint acquisition on cutting track, records the difference in height of burning torch on each point 12 and workpiece, then carries out the linear interpolation of multi-point, precompute pass through mutually on track cutting-height a little, then carry out electrical compensation by controller.This compensation way needs on cutting track, to move once in advance, greatly reduces cutting efficiency.In addition, displacement transducer and laser sensor price comparison are high, have increased equipment cost.
Mechanical float checkout gear.Both sides at burning torch 12 add detection arm, between detection arm and workpiece, are to contact by Universal caster, and when workpiece rotates, whole detection arm can change and change along with the height of workpiece, reaches the object of detection.Though this floating installation does not need pre-detection, but structure is larger, for the testing goal having reached, the detection arm of floating is closer from burning torch 12, when burning torch 12 needs to swing, during bevel cut, has just limited the angle of groove.Therefore, this mechanical float device has larger limitation.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of tubing cutting linear interpolation and dynamic compensating device and method, regulates in real time the height of burning torch, improves cut quality and the cutting accuracy of workpiece.
The utility model adopts following technical scheme to realize utility model object:
A kind of tubing cutting linear interpolation and dynamic compensating device, comprise lifting shaft connecting plate (8), it is characterized in that: on described lifting shaft connecting plate (8), be provided with rotary cylinder (1) and cutting mechanism, described rotary cylinder (1) connects detection arm (3) by coupling spindle (2), and the front end of described detection arm (3) is provided with one group of inductive switch.
As the further restriction to the technical program, described inductive switch comprises the most the next inductive switch (4), interposition inductive switch (5) and upper inductive switch (6), the most the next described inductive switch (4), interposition inductive switch (5) and upper inductive switch (6) are equally spaced, the most the next described inductive switch (4) is highly greater than interposition inductive switch (5), described interposition inductive switch (5) is highly greater than upper inductive switch (6), and the difference in height of the most the next described inductive switch (4) and interposition inductive switch (5) equals the difference in height of described interposition inductive switch (5) and upper inductive switch (6).
As the further restriction to the technical program, described cutting mechanism comprises swinging axle (11), described swinging axle (11) connects balance staff arm (9) by balance staff connecting plate (10), the other end of described balance staff arm (9) is provided with burning torch (12), when detection arm (3) pendulum arrives horizontal level, interposition inductive switch (5) bottom and described burning torch (12) cutting torch are in sustained height.
As the further restriction to the technical program, described rotary cylinder connects (1), the most the next inductive switch (4), interposition inductive switch (5) is all connected controller with upper inductive switch (6), described controller connects servo drive motor, and described servo drive motor connects described lifting shaft connecting plate (8).
Compared with prior art, advantage of the present utility model and good effect are: the utility model is by the position relationship that has or not to judge burning torch and workpiece of three inductive switch signals, when the distance of tubing and burning torch changes, detection arm drives burning torch to fluctuate along with the variation of distance, can regulate in real time the height of burning torch, guarantee that between burning torch and workpiece, distance is a fixed value, and this detection compensation seamlessly transits, avoid occurring sudden change, rapid dynamic response speed, can not produce hysteresis.Because real-Time Compensation of the present utility model has guaranteed the distance of burning torch and workpiece, whole cutting process there will not be the phenomenon of current interruption, and the cut quality of workpiece is good, and the groove precision cutting out is high.With the compensation way ratio of pre-detection, the utility model only needs three inductive switches, does not need the displacement transducer that price is more expensive, provides cost savings; And do not need to detect in advance, detection compensation that can be real-time, has improved working (machining) efficiency; Compare with mechanical float device, this detection system is simple in structure, can at any time detection arm be packed up, and takes up room little.Due to mechanical float device self structure, in when cutting, limited the angle that burning torch swings, therefore can only the less workpiece of beveling angle, and this detection system does not affect burning torch pendulum angle.
Accompanying drawing explanation
Fig. 1 is the 3 dimensional drawing of the utility model cutting checkout gear.
Fig. 2 is the 3 dimensional drawing of the utility model detection arm.
Fig. 3 is detection arm plumbness schematic diagram.
Fig. 4 is detection arm level schematic diagram.
Fig. 5 is the right TV structure schematic diagram of Fig. 4.
Flow chart is adjusted in the slow dynamically interpolation of Fig. 6.
In figure 1, rotary cylinder, 2, coupling spindle, 3, detection arm, 4, the most the next inductive switch, 5, interposition inductive switch, 6, upper inductive switch, 7, processing work, 8, lifting shaft gusset piece, 9, balance staff arm, 10, balance staff gusset piece, 11, swinging axle, 12, burning torch.
The specific embodiment
Below in conjunction with accompanying drawing and preferred embodiment, the utility model is further described in detail.
Referring to Fig. 1-Fig. 6, the utility model comprises lifting shaft connecting plate 8, on described lifting shaft connecting plate 8, is provided with rotary cylinder 1 and cutting mechanism, and described rotary cylinder 1 connects detection arm 3 by coupling spindle 2, and the front end of described detection arm 3 is provided with one group of inductive switch.
Described inductive switch comprises the most the next inductive switch 4, interposition inductive switch 5 and upper inductive switch 6, the most the next described inductive switch 4, interposition inductive switch 5 and upper inductive switch 6 are equally spaced, the most the next described inductive switch 4 is highly greater than interposition inductive switch 5, described interposition inductive switch 5 is highly greater than upper inductive switch 6, and the difference in height of the most the next described inductive switch 4 and interposition inductive switch 5 equals the difference in height of described interposition inductive switch 5 and upper inductive switch 6.
Described cutting mechanism comprises swinging axle 11, described swinging axle 11 connects balance staff arm 9 by balance staff connecting plate 10, the other end of described balance staff arm 9 is provided with burning torch 12, and when detection arm 3 pendulum arrive horizontal level, interposition inductive switch 5 bottoms and described burning torch 12 cutting torch are in sustained height.
Described rotary cylinder connection 1, the most the next inductive switch 4, interposition inductive switch 5 are all connected controller with upper inductive switch 6, and described controller connects servo drive motor, and described servo drive motor connects described lifting shaft connecting plate 8.
Under normal condition, detection arm 3 is to be in the plumbness shown in Fig. 2, and before starting to detect, rotary cylinder 1 drives detection arm 3 from the 90-degree rotation of state shown in Fig. 2, rotates under the level shown in Fig. 3.When detection arm 3 arrives after horizontal levels, three inductive switches 4,5,6 be just in time in processing work 7 center line directly over, be in pipe peak directly over.When processing work 7 rotation, inductive switch 4,5,6 and burning torch 12 are in directly over processing work 7 peaks all the time, and the difference in height while guaranteeing cutting between inductive switch 4,5,6 and processing work 7 is accurately.
As shown in Figure 3, when mounted, three inductive switches (4,5, No. 6 inductive switches) have different separately setting height(from bottom)s, inductive switch 5 is interposition switch, it and burning torch 12 are contour, two other the most the next inductive switch 4(corresponding points C) and upper inductive switch 6(corresponding points A) with interposition inductive switch 5(corresponding points B) differ ± 1mm, the constant spacing between interposition inductive switch 5 and processing work 7 is H, the level altitude of processing work 7 and burning torch 12 is poor.
At processing work 7, add man-hour, detection arm 3 pendulum are after horizontal level, if three inductive switches 4,5,6 all do not have signal, show that interposition inductive switch 5 and the spacing of processing work 7 are greater than H, controller is controlled servo drive motor fast-descending, system is in detect preparing, and while having signal to the most the next inductive switch 4, system starts detection.After system starts to detect, servo drive motor will be adjusted slowly, when the most the next inductive switch 4 has signal, and interposition inductive switch 5 is during with upper inductive switch 6 no signal, detection arm 3 and burning torch 12 slow decline simultaneously, detection arm is entered as dynamic interpolation adjustment process, within the scope of the difference in height of the most the next inductive switch 4 and interposition inductive switch 5, system adopts linear interpolation method to adjust the decrease speed of detection arm 3 and burning torch 12, position when smooth excessiveness has signal to interposition inductive switch 5.When the most the next inductive switch 4 and interposition inductive switch 5 have signal and during upper inductive switch 6 no signal simultaneously, detection arm 3 rises slowly, until interposition inductive switch 5 is not while there is no signal, stop rising, in the most the next inductive switch 4 and the determined altitude range of upper inductive switch 6, detection system is all the time in slow dynamic adjustment process.When inductive switch 4,5,6 has signal simultaneously, represent that burning torch 12 and the distance of workpiece are less than fixed value, the first fast rise of detection arm 3, when upper inductive switch 6 no signals and interposition inductive switch 5 and the most the next inductive switch 4 while having signal, detection arm 3 starts slow rising, and detection system enters again slow dynamic adjustment process, until interposition inductive switch 5 is not while there is no signal, stop rising.After whole process completes, detection arm 3 swings go back to upright position, gets back to the state shown in Fig. 2, detects complete.
The slow method adopting of dynamically adjusting: slow dynamically adjustment comprising slow dynamically the adjustment and slow two processes of dynamically adjusting that rise that decline: the distance between 2 of A, 2 of B and B, C is set as to 1mm, the pulse equivalency of servo controller is set as to 0.01mm/pulse.In whole slow dynamic interpolation adjustment, can set up linear interpolation function F=100-vt, F is for arriving the umber of pulse of the required adjustment of B point, and v is the speed of dynamically adjusting, and t is the dynamic adjustment time.Suppose and entering the slow dynamically interpolation adjustment process (being adjusted to B point by C) that rises, until adjust to burning torch 12, be fixed value H(mm with the difference in height of processing work 7) process in, in processing work 7 rotary courses, be highly constant, the actual height of processing work 7 and burning torch 12 is poor is D=H-0.01F, is also D=H-1+0.01vt.Big or small the choosing of v is being related to the speed of regulating the speed, because adjusting range is very little, to adjust in the scope of ± 1mm, regulate the speed too fast easy adjustment excessively and current interruption or collision burning torch 12, adjusted and easily make slowly dynamic response reduce, v(pulse/s in this system) can be chosen within the scope of 50-75pulse/s and be advisable.In the slow dynamically interpolation adjustment process (being adjusted to B point by A) that declines, the actual height of processing work 7 and burning torch 12 is poor is D=H+0.01F, is also D=H+1-0.01vt, and the speed of regulating the speed is consistent with the adjustment process by C to B.If in slow dynamically interpolation adjustment process, because the height of processing work 7 changes, the process that adjustment process (being adjusted to B point by C) is directly excessively put to (being adjusted to B by A point), interpolation function is constant, the actual height of processing work 7 and burning torch 12 is poor changes D=H+0.01F into by D=H-0.01F, otherwise transfer process is contrary, the actual height of processing work 7 and burning torch 12 is poor is converted into D=H-0.01F by D=H+0.01F.
The utility model can pass through or adopt existing techniques in realizing without the technical characterictic of describing; do not repeat them here; certainly; above-mentioned explanation is not to restriction of the present utility model; the utility model is also not limited in above-mentioned giving an example; the variation that those skilled in the art make in essential scope of the present utility model, remodeling, interpolation or replacement, also should belong to protection domain of the present utility model.
Claims (4)
1. a tubing cuts linear interpolation and dynamic compensating device, comprise lifting shaft connecting plate (8), it is characterized in that: on described lifting shaft connecting plate (8), be provided with rotary cylinder (1) and cutting mechanism, described rotary cylinder (1) connects detection arm (3) by coupling spindle (2), and the front end of described detection arm (3) is provided with one group of inductive switch.
2. tubing according to claim 1 cuts linear interpolation and dynamic compensating device, it is characterized in that: described inductive switch comprises the most the next inductive switch (4), interposition inductive switch (5) and upper inductive switch (6), the most the next described inductive switch (4), interposition inductive switch (5) and upper inductive switch (6) are equally spaced, the most the next described inductive switch (4) is highly greater than interposition inductive switch (5), described interposition inductive switch (5) is highly greater than upper inductive switch (6), and the difference in height of the most the next described inductive switch (4) and interposition inductive switch (5) equals the difference in height of described interposition inductive switch (5) and upper inductive switch (6).
3. tubing according to claim 2 cuts linear interpolation and dynamic compensating device, it is characterized in that: described cutting mechanism comprises swinging axle (11), described swinging axle (11) connects balance staff arm (9) by balance staff connecting plate (10), the other end of described balance staff arm (9) is provided with burning torch (12), when detection arm (3) pendulum arrives horizontal level, interposition inductive switch (5) bottom and described burning torch (12) cutting torch are in sustained height.
4. tubing according to claim 3 cuts linear interpolation and dynamic compensating device, it is characterized in that: described rotary cylinder connects (1), the most the next inductive switch (4), interposition inductive switch (5) is all connected controller with upper inductive switch (6), described controller connects servo drive motor, and described servo drive motor connects described lifting shaft connecting plate (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320591921.0U CN203509299U (en) | 2013-09-24 | 2013-09-24 | Pipe cutting linear interpolation and dynamic compensation device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320591921.0U CN203509299U (en) | 2013-09-24 | 2013-09-24 | Pipe cutting linear interpolation and dynamic compensation device |
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| CN203509299U true CN203509299U (en) | 2014-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320591921.0U Withdrawn - After Issue CN203509299U (en) | 2013-09-24 | 2013-09-24 | Pipe cutting linear interpolation and dynamic compensation device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103433593A (en) * | 2013-09-24 | 2013-12-11 | 济南华汉电气科技有限公司 | Pipe cutting linear interpolation and dynamic compensating device and pipe cutting linear interpolation and dynamic compensation method |
| CN105312778A (en) * | 2015-10-15 | 2016-02-10 | 上海柏楚电子科技有限公司 | Pipe continuous cutting method |
-
2013
- 2013-09-24 CN CN201320591921.0U patent/CN203509299U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103433593A (en) * | 2013-09-24 | 2013-12-11 | 济南华汉电气科技有限公司 | Pipe cutting linear interpolation and dynamic compensating device and pipe cutting linear interpolation and dynamic compensation method |
| CN103433593B (en) * | 2013-09-24 | 2015-09-09 | 济南华汉电气科技有限公司 | A kind of tubing cutting linear interpolation and dynamic compensating device and method |
| CN105312778A (en) * | 2015-10-15 | 2016-02-10 | 上海柏楚电子科技有限公司 | Pipe continuous cutting method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140402 Effective date of abandoning: 20150909 |
|
| RGAV | Abandon patent right to avoid regrant |