EP4093584A1

EP4093584A1 - Method for determining components of a mechanical action torsor at the guiding point of a cutting blade for a cutting machine

Info

Publication number: EP4093584A1
Application number: EP21716809.5A
Authority: EP
Inventors: Didier CHABIRAND-GARCONNET; Olivier CAHUC; Quentin COSSON-COCHE; Philippe DARNIS; Raynald LAHEURTE; Denis TEISSANDIER
Original assignee: Centre National de la Recherche Scientifique CNRS; Lectra SA; Ecole National Superieure dArts et Metiers ENSAM; Universite de Bordeaux; Institut Polytechnique de Bordeaux; Amvalor SAS
Current assignee: Centre National de la Recherche Scientifique CNRS; Lectra SA; Ecole National Superieure dArts et Metiers ENSAM; Universite de Bordeaux; Institut Polytechnique de Bordeaux; Amvalor SAS
Priority date: 2020-03-31
Filing date: 2021-03-23
Publication date: 2022-11-30
Anticipated expiration: 2041-03-23
Also published as: US20230226712A1; KR20240052600A; EP4093584B1; HRP20240198T1; MX2022011809A; FR3108542B1; BR112022018942A2; FI4093584T3; PT4093584T; FR3108542A1; RS65258B1; JP2023519831A; WO2021198586A1; SI4093584T1; CN115666886A; LT4093584T

Abstract

The invention relates to a method for determining components of a mechanical action torsor at the guiding point of a cutting blade (L) for a cutting machine, the blade being guided in a presser foot (P) of a cutting head of the machine, the method comprising the positioning of a five-component dynamometer on the presser foot, the dynamometer comprising a plurality of sensors for determining a frontal force, a lateral force, a rolling moment, a pitching moment and a yawing moment of the cutting blade, the establishment of a calibration matrix of the dynamometer, and the determination of the forces in three dimensions to which the cutting blade is subjected, on the basis of the measurements obtained by the sensors and the calibration matrix.

Description

Title of the invention: Method for determining components of a mechanical action torsor at the guide point of a cutting blade for a cutting machine

Technical area

The present invention relates to the general field of automatic cutting by a vibrating blade of a flexible material placed on a cutting table in the form of a single fold or a stack of folds. It relates more precisely to a method for determining the components of a mechanical action torsor at the guide point of such a cutting blade.

Prior art

One field of application of the invention is that of the automatic cutting of parts in a flexible textile or non-textile material (such as leather), in particular in the clothing industry, furniture or automotive upholstery. .

A known method for the automatic cutting of pieces in a flexible material consists in bringing the material onto a fixed or movable cutting support of the cutting table, in the form of a single fold or of a stack of folds forming a mattress. , and cutting the pieces by means of a cutting head moving above the cutting support of the table. The cutting head notably carries a vibrating steel blade which is vibrated vertically in the direction of its cutting edge in order to cut the material.

During this vertical vibration and during the cutting of the material, the cutting blade is subjected to numerous forces which affect the quality of the cut edges of the parts. In particular, these efforts have a direct impact on the cut quality and on the geometry of the parts cut over the entire height of the material, especially when the latter is formed by a stack of plies.

Also, in order to be able to act on the cutting parameters and on the orientation of the blade, it is necessary to know as well as possible the deformations undergone by the cutting blade. To this end, it is known to position a flexion sensor at the presser foot of the cutting head. In this way, this sensor makes it possible to collect data relating to the lateral bending of the cutting blade and thus to act on the cutting and orientation parameters of the blade in order to correct the latter. Reference may for example be made to patent application IT 102017000023745 in the name of Morgan Tecnica.

However, these data are not sufficient and do not take into account all the forces undergone by the cutting blade.

Disclosure of the invention

The main aim of the present invention is therefore to provide a method making it possible to determine all the forces undergone by the cutting blade in order to allow finer and more independent control of the cut.

According to the invention, this object is achieved by means of a method for determining components of a torsor of mechanical actions at the guide point of a cutting blade for a cutting machine, the blade being guided in a presser foot d a cutting head of the machine, the method comprising:

- the positioning of a 6-component dynamometer on the presser foot, the dynamometer comprising a plurality of sensors capable of determining a frontal force, a lateral force, a rolling moment, a pitching moment and a yaw moment of the blade cutting;

- establishment of a dynamometer calibration matrix; and

- the determination of the three-dimensional forces undergone by the cutting blade from the measurements obtained by the sensors and the calibration matrix.

The method according to the invention is remarkable in that it makes it possible to determine the forces undergone by the blade in the three directions from a dynamometer installed in the presser foot of the cutting head. In particular, five of the six components of the torsor of mechanical actions at the guide point of the blade can be determined, namely: front force, lateral force, roll moment, pitch moment and yaw moment (the force following l 'main axis of the blade being excluded).

In this way, from these data, it is possible to ensure particularly precise and independent of the cutting parameters in order to correct any faults.

Preferably, the step of developing the dynamometer calibration matrix includes the development of a theoretical calibration matrix of the dynamometer sensors at different theoretical stresses depending on the 6 components of the dynamometer.

Also preferably, the step of developing the dynamometer calibration matrix further comprises, on the basis of the theoretical calibration matrix and real response measurements of the dynamometer sensors, the calculation of a response matrix of the dynamometer. dynamometer sensors at different real stresses depending on the 6 components of the dynamometer.

The response matrix of the dynamometer sensors can be calculated by a linear optimization method.

In one embodiment, the dynamometer comprises three triaxial piezoelectric sensors which are mounted in the presser foot being distributed around a longitudinal axis of the blade.

In a second embodiment, the dynamometer comprises at least three - and preferably six - coupled strain gauge bridges which are mounted on branches of the presser foot regularly distributed around a longitudinal axis of the blade in order to form at least three - and preferably six - full decks.

In a third embodiment, the dynamometer comprises at least five full bridges of decoupled strain gauges which are mounted in the presser foot.

Whatever the embodiment, the transmission of the measurements from the dynamometer sensors can be carried out without contact or by wire.

Brief description of the drawings

[Fig. 1] Figure 1 is a schematic view showing a first embodiment of the implementation of the method according to the invention.

[Fig. 2] FIG. 2 represents a schematic view showing a second embodiment of the implementation of the method according to the invention. [Fig. 3] FIG. 3 represents a schematic view showing a third embodiment of the implementation of the method according to the invention.

Description of the embodiments

The invention applies to the automated cutting of parts from a flexible material in the form of a single ply or a stack of plies.

Such a cutting operation is generally carried out by means of a cutting machine provided with a horizontal cutting support on which the flexible material to be cut is fed.

A cutting head carrying a vibrating blade is mounted on a gantry which is caused to move along the cutting support while the cutting head simultaneously moves along the gantry so as to be able to follow the different cutting paths calculated by cutting software.

Typically, a presser foot such as that shown in Figure 1 is mounted on the lower part of the cutting head in order to press the flexible material with a controlled force on its cutting support during cutting, the position of this presser foot being adaptable according to the height of flexible material placed on the cutting support. Thus, the presser foot keeps the guiding of the cutting blade as close as possible to the flexible material.

The invention provides a method for determining components of a mechanical action torsor at the guide point of the vibrating blade of such a cutting head.

Several implementation variants of the method according to the invention are possible.

According to an embodiment shown schematically in FIG. 1, the method provides for positioning a piezoelectric dynamometer with five components on the presser foot P of the cutting head.

More specifically, the piezoelectric dynamometer comprises three triaxial piezoelectric sensors 1 to 3 which are mounted on the presser foot P, preferably being regularly distributed around a longitudinal axis Z of the cutting blade L.

The piezoelectric sensors 1 to 3 are advantageously distributed at 120 ° while being equidistant from the center of the dynamometer. As shown in Figure 1, their Z axes (respectively Z ₁ , Z ₂ and Z ₃ ) are directed downwards (i.e. towards the cutting support), their Y axes (respectively Y ₁ , Y ₂ and Y ₃ ) are directed towards the outside of the dynamometer to facilitate the passage of the cables, and their X axes (respectively X ₁ , X ₂ and X ₃ ) are parallel to the radii of the dynamometer.

This arrangement allows good integration of the sensors into the environment of the presser foot while ensuring good stiffness thereof.

An upper plate (not shown in FIG. 1) closes the dynamometer integrated in the presser foot. It has holes for the passage of screws making it possible to pre-load the sensors by compressing them between the upper plate and the bottom of the presser foot.

The first step of the method according to the invention for determining the 3D forces undergone by the cutting blade is to calibrate the piezoelectric dynamometer thus mounted on the presser foot.

This calibration consists in establishing a calibration matrix which makes it possible to interpret the different measurement voltages sent by the piezoelectric sensors 1 to 3 in mechanical forces.

As a first step, it is necessary to produce a theoretical or global calibration matrix sensitive to the orientation and geometry of the sensors. Secondly, this theoretical calibration matrix should be refined to a response matrix corresponding to the actual calibration matrix.

The reflection concerning the theoretical calibration matrix takes place in a context where all the geometric shapes are assumed to be perfect without defect, according to an ideal positioning of the axes. It is advisable to represent in space (C, U, Z) the positioning of the three triaxial sensors in order to express the torsor of the mechanical actions which is attached to them.

To each sensor i is attached an orthonormal coordinate system (xi, yi, zi) at its center Oi. The torsor of actions in Oi can then be written:

[Math. 1]

By transporting the elementary torsors of each sensor at the origin of the mark of the dynamometer O, it is possible to determine the contribution of each measurement direction of each of the sensors in the reading of the overall forces. The theoretical or global calibration matrix is then calculated from these different equations.

The position of the center Oi of each sensor is defined in a cylindrical coordinate system by a radius R corresponding to the distance OOi and an angle βi. Each sensor has its own direct reference (Oi, xi, yi, zi) and their xi axes are collinear to the right (OOi).

The transport of the torsors of each sensor at the origin and in the frame of the dynamometer is given by the following equation;

[Math. 2] The different changes of reference marks are as follows: [Math. 3]

[Math. 4] [Math. 5]

After simplification, the expression of the torsors of each sensor at the origin and in the reference frame of the dynamometer can then be written:

[Math. 6]

This calibration matrix is theoretical. It represents the contribution of the different axes of the sensors in the measurement of the forces of the dynamometer. These measurements depend on the sensitivity K of the piezoelectric sensors used. In reality, no term of the matrix is zero because, despite the care taken in the production and whatever the manufacturing processes of the dynamometer, geometric defects appear. However, the preponderant terms must be identifiable. Once the theoretical calibration matrix has been written, the calibration can be performed. It consists in correlating controlled unit loadings applied to the dynamometer with the various electrical signals delivered by the triaxial sensors.

Identified loads should be applied in strategic places where the theoretical response of the dynamometer is known. By linear optimization, it is possible to correlate the values of the sensors with the expected values. Through a test campaign, the actual calibration matrix is determined.

The results of the linear optimization give the following actual calibration matrix:

[Math. 7]

FIG. 2 represents a second embodiment of the implementation of the invention in which the method provides for positioning a dynamometer with coupled gauges.

More precisely, the dynamometer comprises at least three and preferably six bridges of coupled strain gauges which are mounted on branches of the presser foot P 'distributed around a longitudinal axis Z of the blade L in order to form at least three and preferably six full decks.

In order to ensure a good reading of the forces, the dynamometer has been built around the axis of the blade with branches spaced 120 ° apart. The three gauges J1 to J3 forming the six gauge bridges are preferably glued equidistant from the axis of the blade and on inclined faces, the extension of which meets at the point of application of the forces.

Double longitudinal / transverse strain gauges J1 to J3 are used and arranged on each face of each of the branches so that each half-bridge is in opposition. A total of at least three full bridges are required for the instrumentation of this dynamometer.

Calibration involves matching a known action torsor to a strain value measured by the gauge bridges.

Considering that the gauge bridges are ideally centered on the branches of the test body, the respective centers of the Oi bridges (i = i: 6) placed on each branch are merged. They are then spaced from the center of the sensor O by a value r and oriented by an angle a. Finally, the point of application of the forces on the blade is moved from -h along the Z axis to point Q.

The following known action torsor [T] is applied at point Q:

[Math. 8]

The displacement of this torsor [T] at each measurement point of the gauge bridges makes it possible to know the contribution of each of the axes of the bridges in the reading of the forces.

To measure the torque Mz, a force is applied along the Y axis, at point Q with a lever arm of distance I.

For clarity, the grouped marks are renamed as follows:

[Math. 9]

These transports then give: [Math. 10]

These values give the components of the theoretical calibration matrix. Now, taking into account the fact that the strain gauges only react along their Z axis, it is possible to simplify the matrix. It is then written:

[Math. 11]

With K denoting the sensitivity of each gauge bridge (here assumed to be common), and F, the strain measured by the gauge point i. The next step in developing the real calibration matrix consists in applying known forces along well-defined axes and recording the reaction of each half-bridge.

This calibration method offers a very large amount of data which requires some optimization. The signal / load relations being assumed to be linear, a direct method based on the least squares method is applied.

The approach aims to minimize the least squares of the deviations between the imposed values and the measured values according to a linear response model. For this purpose, we seek to express [A _{i, j} ], the calibration matrix, using n measurements [m _i ] delivering n different torsors [T _j ]. The equation can be written this way:

[Math. 12]

The following formatting allows the computation of the terms aij of the matrix [A] ^t solution by the linear optimization method, identical to the solution of the normal equation of the preceding equation.

[Math. 13]

By way of illustration, the matrix thus obtained for each sensor is thus given:

[Math. 14]

Since the sensors are all different depending on the variability inherent in the machining and gluing of the gauges, it is impossible to obtain an identical matrix. However, the reaction of each sensor to each matrix is good. It is possible to obtain a matrix smoothing the behavior of each sensor, this matrix called merged matrix takes into account all the calibration measurements of the three sensors (see example below)

[Math. 15]

After verifications, we see that the response of the three sensors to this matrix is really very close and the measurement deviation very small.

FIG. 3 represents a third embodiment of the implementation of the invention in which the method provides for positioning a dynamometer with decoupled gauges.

As shown in this FIG. 3, the dynamometer thus comprises five full-bridge gauge bridges mounted in the presser foot P ”. The gauges used are half-bridge rosettes in order to ensure that the forces are read in the two possible bending directions (for reasons of clarity, only the five gauge bridges P1 to P5 are shown in FIG. 3).

The actual calibration matrix is obtained by measuring the deformations at the positions of the strain gauges and by doing the calculation relating to the wiring of the bridges. For example, a result is visible in the table below:

[Table 1]

We see that the most important coupling obtained is 5.61% deformation read by bridge 1 during the application of a moment My.

It is also noted that this embodiment does not require a preliminary step of developing a theoretical calibration matrix.

It will be noted that whatever the embodiment, the transmission of the measurements from the deformation sensors of the dynamometer is carried out without contact or by wire.

It will also be noted that whatever the embodiment, a set of electronic cards is provided between the piezoelectric sensors or the strain gauge bridges and the computer station using the information received. These electronic boards perform the following functions: supply and conditioning of signals from the sensors (depending on the type of these sensors), filtering and amplification of signals in line with the input range of the analog-to-digital converter, analog-to-digital conversion, and serialization and transmission of data to the computer station.

Claims

[Claim 1] Method for determining components of a mechanical action torsor at the guide point of a cutting blade (L) for a cutting machine, the blade being guided in a presser foot (P; P '; P ") of a cutting head of the machine, the method comprising:

- the positioning of a five-component dynamometer on the presser foot, the dynamometer comprising a plurality of sensors capable of determining a frontal force, a lateral force, a rolling moment, a pitching moment and a yaw moment of the blade cutting;

- establishment of a dynamometer calibration matrix; and

- the determination of the three-dimensional forces undergone by the cutting blade from the measurements obtained by the sensors and from the calibration matrix.

[Claim 2] The method of claim 1, wherein the step of developing the calibration matrix of the dynamometer comprises the development of a theoretical calibration matrix of the sensors of the dynamometer at different theoretical stresses as a function of the 6 components. dynamometer.

[Claim 3] The method of claim 2, wherein the step of developing the dynamometer calibration matrix further comprises, from the theoretical calibration matrix and actual measurements of the response of the dynamometer sensors, the calculation of a response matrix of the dynamometer sensors to different real stresses as a function of the 6 components of the dynamometer.

[Claim 4] The method of claim 3, wherein the response matrix of the dynamometer sensors is calculated by a linear optimization method.

[Claim 5] A method according to any one of claims 1 to 4, wherein the dynamometer comprises three piezoelectric sensors. triaxial (1, 2, 3) which are mounted in the presser foot (P) being distributed around a longitudinal axis (Z) of the blade.

[Claim 6] A method according to any one of claims 1 to 4, in which the dynamometer comprises at least three deformation gauge bridges (J1 to J3) which are coupled which are mounted on branches of the presser foot (R ') which are regularly distributed. around a longitudinal axis (Z) of the blade to form at least three complete bridges.

[Claim 7] The method of claim 6, wherein the dynamometer comprises six bridges of strain gauges regularly distributed around the longitudinal axis (Z) of the blade to form six complete bridges.

[Claim 8] A method according to any one of claims 1 to 4, wherein the dynamometer comprises at least five decoupled strain gauge bridges (PI to P5) which are mounted on the presser foot (P "). [Claim 9 ] Method according to any one of claims 1 to 8, wherein the transmission of the measurements from the dynamometer sensors is carried out without contact or by wire.