WO2024060444A1 - 一种纸面石膏板自动化高精度切断装置及方法 - Google Patents

一种纸面石膏板自动化高精度切断装置及方法 Download PDF

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Publication number
WO2024060444A1
WO2024060444A1 PCT/CN2022/141986 CN2022141986W WO2024060444A1 WO 2024060444 A1 WO2024060444 A1 WO 2024060444A1 CN 2022141986 W CN2022141986 W CN 2022141986W WO 2024060444 A1 WO2024060444 A1 WO 2024060444A1
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Prior art keywords
cutter
gypsum board
synchronization
servo motor
point
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PCT/CN2022/141986
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English (en)
French (fr)
Inventor
杨小东
张羽飞
张兴添
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中建材创新科技研究院有限公司
北新集团建材股份有限公司
中国建材集团有限公司
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Publication of WO2024060444A1 publication Critical patent/WO2024060444A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B11/00—Apparatus or processes for treating or working the shaped or preshaped articles
    • B28B11/14—Apparatus or processes for treating or working the shaped or preshaped articles for dividing shaped articles by cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
    • B28B17/0036—Cutting means, e.g. water jets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
    • B28B17/0063—Control arrangements
    • B28B17/0081—Process control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
    • B28D1/22—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by cutting, e.g. incising
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
    • B28D7/005—Devices for the automatic drive or the program control of the machines

Definitions

  • the invention relates to the technical field of gypsum board cutting, and in particular to an automatic high-precision cutting device and method for paper-faced gypsum board.
  • the cutting machine is a key equipment of the gypsum board production line. Its function is to cut and group the continuously formed wet gypsum board boards. The cutting accuracy is closely related to the subsequent production. Therefore, improving the cutting accuracy and stability of the cutting machine is an important factor for the continuous production of the gypsum board production line. Guarantee is also the most critical factor in improving production input-output rate.
  • the gypsum board cutting machine uses spur gears for transmission, and the lubrication conditions are poor. During lubrication, it is necessary to stop the machine, open the protective cover, and apply grease; therefore, the transmission gears are easy to wear, and gaps are easily generated during the transmission process of the transmission system, which affects the transmission accuracy.
  • the purpose of the present invention is to provide an automated high-precision cutting device and method for gypsum board to solve the technical problems of low cutting precision and low stability and controllability in the prior art.
  • the present invention specifically provides the following technical solutions:
  • An automated high-precision cutting device for gypsum board including: a motion controller, a dual-axis motor module, a servo motor module and a cutter structure.
  • the motion controller is electrically connected to the dual-axis motor module.
  • the dual-axis motor module The shaft motor module is electrically connected to the servo motor module, and the servo motor module is controllably connected to the cutter structure, wherein,
  • the motion controller is used to set an operation trajectory program that controls the rotational movement of the cutter structure along the operation trajectory based on the cutting length of the gypsum board and the structural parameters of the cutter structure.
  • the dual-axis motor module is used to execute the operation trajectory.
  • the program outputs a drive signal that controls the rotational movement of the servo motor module.
  • the servo motor module is used to perform rotational movement according to the drive signal to provide a driving force for the cutter structure to perform rotational movement according to the operating trajectory.
  • the cutter structure uses The machine performs rotational motion along the running trajectory based on the driving force to continuously cut the gypsum board being conveyed according to the cutting length with high precision.
  • the servo motor module includes an upper cutter servo motor and a lower cutter servo motor, and the upper cutter servo motor and the lower cutter servo motor are both electrically connected to the dual-axis motor module.
  • the cutter structure includes an upper cutter and a lower cutter, and the upper cutter servo motor is control-connected to the upper cutter, and the lower cutter servo motor is control-connected to the lower cutter.
  • the upper cutter is located above the gypsum board being transported, and the lower cutter is located below the gypsum board being transported.
  • the upper cutter servo motor and the lower cutter servo motor are both used to perform rotational motion according to the same driving signal to provide the same driving force for the upper cutter and the lower cutter to perform rotational motion along the running trajectory respectively.
  • the upper cutter and the lower cutter perform synchronous rotational motion along the running trajectory above and below the gypsum board being transported, respectively, so as to perform bidirectional fixed-point continuous cutting of the gypsum board being transported according to the cutting length from above and below the gypsum board to improve the cutting accuracy.
  • the motion controller includes an interactive unit, a running trajectory planning unit and a trajectory program generating unit.
  • the interactive unit is used to input the cutting length of the gypsum board.
  • the running trajectory planning unit is used to input the cutting length of the gypsum board. Based on the cutting length input by the interactive unit combined with the shearing circle size formed by the rotation of the upper cutter/lower cutter, the rotation starting point, shearing point, synchronization start point and synchronization end point of the upper cutter/lower cutter and each are set.
  • the running trajectory of the rotation speed between points, the trajectory program generation unit is used to generate the running trajectory program including the drive signal output value according to the running trajectory encoding, the upper cutter and the lower cutter are synchronized from the synchronization starting point to the synchronization point.
  • the rotation speed between the end points is consistent with the transmission speed of the plasterboard during transmission
  • the rotation direction of the upper cutter and the lower cutter between the synchronization starting point and the synchronization end point is consistent with the transmission direction of the plasterboard during transmission.
  • the rotation direction of the upper cutter and the lower cutter between the synchronization end point and the synchronization starting point is opposite to the conveying direction of the gypsum board during conveyance.
  • the shearing point of the upper cutter and the shearing point of the lower cutter are located on the same vertical axis as the conveying gypsum board, and are respectively located on the conveying gypsum board.
  • the upper end surface and the lower end surface of the board are used to realize bidirectional cutting of the gypsum board from the upper end surface of the gypsum board and the lower end surface of the gypsum board in the same longitudinal direction.
  • the size of the shearing circle formed by the rotation of the upper cutter is the same as the size of the shearing circle formed by the rotation of the lower cutter, and the trajectory outline size of the running trajectory is the same as that of the upper cutter/lower cutter.
  • the shear circle formed by the rotational motion has the same size.
  • the present invention provides a high-precision cutting method according to the described automated high-precision cutting device for gypsum board, which includes the following steps:
  • Step S1 setting a running track program for controlling the rotational motion of the cutter structure along the running track according to the cutting length of the gypsum board and the structural parameters of the cutter structure, and controlling the dual-axis motor module to execute the running track program to output a driving signal for controlling the rotational motion of the servo motor module;
  • Step S2 The servo motor module performs rotational movement according to the drive signal to provide the cutter structure with driving force for rotational movement according to the operating trajectory;
  • Step S3 The cutter structure rotates along the running trajectory according to the driving force to perform high-precision continuous cutting of the conveying gypsum board according to the cutting length.
  • the running trajectory includes a rotation starting point, a shearing point, a synchronization starting point and a synchronization ending point, as well as the rotation speed between each point, and the synchronization starting point is set according to a preset length.
  • the starting point to the synchronization end point are symmetrically set on both sides of the shear point on the track outline.
  • the rotation starting point and the shear point are symmetrically set on both sides of the same central axis on the track outline.
  • the upper cut point is symmetrically set.
  • the rotation speed of the knife and the lower cutter between the synchronization start point and the synchronization end point is set to the transmission speed of the paper-faced gypsum board during transportation.
  • an optimization algorithm is used to set the rotation speed of the upper cutter and the lower cutter between the synchronization end point and the synchronization starting point based on the cutting length and the trajectory profile size of the running trajectory, including:
  • the cutting time interval of the gypsum board is the same as the time for the upper cutter/lower cutter to rotate for one revolution along the running track. , divide the preset length from the synchronization start point to the synchronization end point by the transmission speed to obtain the time for the upper cutter/lower cutter to rotate between the synchronization start point and the synchronization end point in the running trajectory;
  • the time interval of the cutting of the gypsum board minus the time of the upper cutter/lower cutter rotating between the synchronization start point and the synchronization end point is obtained, and the time of the upper cutter/lower cutter rotating between the synchronization end point and the synchronization start point is divided into equal parts according to the preset time length to obtain a set of motion time series ⁇ t i
  • ⁇ is the sum of the fluctuation degrees between adjacent motion sequences
  • v i+1 and v i are the rotation speeds at the i-th motion sequence respectively
  • t i is the i-th motion sequence
  • min is the minimization operator
  • the rotation speed and the running time sequence at each motion sequence are integrated to obtain the rotation length between the synchronization end point and the synchronization starting point, and the rotation speed limit of the servo motor module is used as the constraint condition of the optimization function, and the function of the constraint condition
  • the expression is:
  • L is the rotation length from the synchronization end point to the synchronization start point
  • l is the preset length from the synchronization start point to the synchronization end point
  • v max is the maximum rotation speed reached by the servo motor module
  • the optimization function of the rotation speed is solved to obtain the determined value of the rotation speed ⁇ v i
  • the dual-axis motor module synchronously transmits the drive signal to the upper cutter servo motor and the lower cutter servo motor, and the upper cutter servo motor and the lower cutter servo motor synchronously generate respectively Said driving force drives the upper cutter and the lower cutter.
  • step S3 the upper cutter and the lower cutter synchronously receive driving force and synchronously perform rotational motion along the running trajectory to synchronously run to the shearing point to cut the conveying paper plaster.
  • the board is cut in both directions.
  • the present invention has the following beneficial effects:
  • the invention uses the upper and lower cutters to perform bidirectional cutting, and the upper cutter and the lower cutter are synchronized with electronic gears.
  • the electronic gears are independent shafts, eliminating the need for intermediate links, and there is no need to consider mechanical losses. Stepless steps can be achieved through software. Speed regulation, good transmission flexibility, high control accuracy, and no mechanical backlash. Then the cutter is electronically synchronized with the main line of the production line.
  • the control method has short response time and low machining difficulty. It also uses minimized speed fluctuations to set the rotation speed on the running trajectory, thus improving the efficiency of the upper cutter servo motor and lower cutter. Operation stability of servo motor.
  • Figure 1 is a schematic structural diagram of an automated high-precision cutting device for gypsum board provided by an embodiment of the present invention
  • Figure 2 is a flow chart of a high-precision cutting method provided by an embodiment of the present invention.
  • 1-motion controller 2-dual-axis motor module; 3-servo motor module; 4-cutter structure; 5-rotation starting point; 6-cutting point; 7-synchronization starting point; 8-synchronization ending point; 9-operation track; 10-paper gypsum board; 301-upper cutter servo motor; 302-lower cutter servo motor; 401-upper cutter; 402-lower cutter.
  • the present invention provides an automated high-precision cutting device for gypsum board, including: a motion controller 1, a dual-axis motor module 2, a servo motor module 3 and a cutter structure 4.
  • the motion controller 1 is electrically connected to the biaxial motor module 2
  • the biaxial motor module 2 is electrically connected to the servo motor module 3
  • the servo motor module 3 and the cutter structure 4 are control connected, wherein,
  • the motion controller 1 is used to set an operation trajectory program that controls the rotational movement of the cutter structure 4 along the operation trajectory according to the cutting length of the gypsum board and the structural parameters of the cutter structure 4.
  • the dual-axis motor module 2 is used to Executing the running trajectory program outputs a driving signal that controls the rotational movement of the servo motor module 3.
  • the servo motor module 3 is used to perform rotational movement according to the driving signal to provide a drive for the cutter structure 4 to perform rotational movement according to the running trajectory. Force, the cutter structure 4 is used to rotate along the running trajectory according to the driving force to continuously cut the paper-faced gypsum board during transportation according to the cutting length with high precision.
  • the servo motor module 3 includes an upper cutter servo motor 301 and a lower cutter servo motor 302, both of which are electrically connected to the dual-axis motor module 2.
  • the cutter structure 4 includes an upper cutter 401 and a lower cutter 402.
  • the upper cutter servo motor 301 is controlled and connected to the upper cutter 401
  • the lower cutter servo motor 302 is controlled and connected to the lower cutter 402.
  • the upper cutter 401 is located above the gypsum board being transported, and the lower cutter 402 is located below the gypsum board being transported.
  • the upper cutter servo motor 301 and the lower cutter servo motor 302 are both used to perform rotational motion according to the same driving signal to provide the same driving force for the upper cutter 401 and the lower cutter 402 to perform rotational motion along the running trajectory respectively.
  • the upper cutter 401 and the lower cutter 402 perform synchronous rotational motion along the running trajectory above and below the gypsum board in transit respectively, so as to perform bidirectional fixed-point continuous cutting of the gypsum board in transit according to the cutting length from the top and bottom of the gypsum board to improve the cutting accuracy.
  • the motion controller 1 includes an interactive unit, a running trajectory planning unit and a trajectory program generating unit.
  • the interactive unit is used to input the cutting length of the gypsum board.
  • the running trajectory planning unit is used to input the cutting length according to the interactive unit. Combined with the shearing circle size formed by the rotation of the upper cutter 401/lower cutter 402, the rotation starting point, shearing point, synchronization start point and synchronization end point of the upper cutter 401/lower cutter 402 are set, as well as the rotation between each point.
  • the running trajectory of the rotational speed, the trajectory program generation unit is used to generate the running trajectory program including the driving signal output value according to the running trajectory encoding
  • the upper cutter 401 and the lower cutter 402 are from the synchronization starting point to the synchronization end point.
  • the rotation speed between them is consistent with the transmission speed of the gypsum board during transportation
  • the rotation direction of the upper cutter 401 and the lower cutter 402 between the synchronization starting point and the synchronization end point is consistent with the transportation direction of the paper gypsum board during transportation.
  • the rotation direction of the upper cutter 401 and the lower cutter 402 between the synchronization end point and the synchronization start point is opposite to the transfer direction of the gypsum board during transfer.
  • the shearing point of the upper cutter 401 and the shearing point of the lower cutter 402 are located on the same vertical longitudinal axis as the conveying gypsum board, and are respectively located on the upper and lower end surfaces of the conveying gypsum board. In order to achieve bidirectional cutting of the gypsum board from the upper end surface of the gypsum board and the lower end surface of the gypsum board in the same longitudinal direction.
  • the size of the shearing circle formed by the rotation of the upper cutter 401 is the same as the size of the shearing circle formed by the rotation of the lower cutter 402.
  • the trajectory outline size of the running trajectory is the same as the size of the shearing circle formed by the rotation of the upper cutter 401/lower cutter 402. Cut the circumferential dimensions to be consistent.
  • the output shaft of the servo upper cutter motor is directly connected to the upper cutter, and the output shaft of the servo lower cutter motor is directly connected to the lower cutter.
  • There is no mechanical connection between the upper cutter and the lower cutter so that electronic gear synchronization is performed between the upper cutter and the lower cutter. , that is, the upper cutter and the lower cutter can synchronously rotate and cut on the gypsum board.
  • the electronic gear is an independent shaft, eliminating the need for intermediate links, and does not need to consider mechanical losses. Stepless speed regulation can be achieved through software.
  • the transmission has good flexibility, the gear ratio can be modified arbitrarily, the control accuracy is high, and no mechanical backlash will occur.
  • the cutter is set with a synchronization start point and a synchronization end point, and the cutter rotation speed from the synchronization start point to the synchronization end point is electronically cam synchronized with the main line of the production line (transmission speed of the gypsum board).
  • This control method has a short response time and low machining difficulty.
  • the theoretical error is ⁇ 0.5mm.
  • the control accuracy of this method is ⁇ 1mm.
  • the present invention provides a high-precision cutting method, comprising the following steps:
  • Step S1 Based on the cutting length of the gypsum board and the structural parameters of the cutter structure, set an operation trajectory program that controls the rotational movement of the cutter structure along the operation trajectory, and control the dual-axis motor module to execute the operation trajectory program to output and control the servo motor.
  • Driving signal for module rotation
  • the running trajectory includes the rotation starting point, the shearing point, the synchronization starting point and the synchronization ending point, as well as the rotation speed between each point, and the synchronization starting point to the synchronization ending point are arranged on the trajectory outline according to the preset length. They are symmetrically set on both sides of the shearing point. The rotation starting point and the shearing point are symmetrically set on both sides of the same central axis on the trajectory profile. Move the upper cutter and the lower cutter from the synchronous starting point to The rotation speed between the synchronization end points is set to the transport speed of the plasterboard being transported.
  • the optimization algorithm is used to set the rotation speed of the upper cutter and the lower cutter between the synchronization end point and the synchronization starting point based on the cutting length and the trajectory profile size of the running trajectory, including:
  • the cutting time interval of the gypsum board is the same as the time for the upper cutter/lower cutter to rotate for one revolution along the running track. , divide the preset length from the synchronization start point to the synchronization end point by the transmission speed to obtain the time for the upper cutter/lower cutter to rotate between the synchronization start point and the synchronization end point in the running trajectory;
  • ⁇ is the sum of the fluctuation degrees between adjacent motion sequences
  • v i+1 and v i are the rotation speeds at the i-th motion sequence respectively
  • t i is the i-th motion sequence
  • min is the minimization operator
  • the rotation speed and the running time sequence at each motion sequence are integrated to obtain the rotation length between the synchronization end point and the synchronization starting point, and the rotation speed limit of the servo motor module is used as the constraint condition of the optimization function, and the function of the constraint condition
  • the expression is:
  • L is the rotation length from the synchronization end point to the synchronization start point
  • l is the preset length from the synchronization start point to the synchronization end point
  • v max is the maximum rotation speed reached by the servo motor module
  • the optimization function of the rotation speed is solved to obtain the determined value of the rotation speed ⁇ v i
  • Minimizing the sum of the fluctuations between adjacent motion sequences is the optimization goal, which can ensure that there will not be frequent sudden increases or decreases in speed during the rotation of the upper cutter/lower cutter, and that a stable speed will be maintained between adjacent motion sequences. Replacement can ensure the smooth rotation of the cutter, improve the stability of the shearing process, and improve the precision of shearing.
  • Step S2 The servo motor module performs rotational movement according to the drive signal to provide the cutter structure with driving force for rotational movement according to the operating trajectory;
  • the dual-axis motor module synchronously transmits the drive signal to the upper cutter servo motor and the lower cutter servo motor, and the upper cutter servo motor and the lower cutter servo motor synchronously generate all the signals that drive the upper cutter and the lower cutter respectively. Describe the driving force.
  • Step S3 The cutter structure rotates along the running trajectory according to the driving force to perform high-precision continuous cutting of the conveying gypsum board according to the cutting length.
  • step S3 the upper cutter and the lower cutter synchronously receive the driving force and rotate along the running trajectory synchronously, so as to synchronously run to the shearing point to bidirectionally cut the paper-faced gypsum board during transportation.
  • the invention uses the upper and lower cutters to perform bidirectional cutting, and the upper cutter and the lower cutter are synchronized with electronic gears.
  • the electronic gears are independent shafts, eliminating the need for intermediate links, and there is no need to consider mechanical losses. Stepless steps can be achieved through software. Speed regulation, good transmission flexibility, high control accuracy, and no mechanical backlash. Then the cutter is electronically synchronized with the main line of the production line.
  • the control method has short response time and low machining difficulty. It also uses minimized speed fluctuations to set the rotation speed on the running trajectory, thus improving the efficiency of the upper cutter servo motor and lower cutter. Operation stability of servo motor.

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Abstract

一种纸面石膏板自动化高精度切断装置及方法，包括：运动控制器(1)、双轴电机模块(2)、伺服电机模块(3)和切刀结构(4)，所述运动控制器(1)与所述双轴电机模块(2)电性连接，所述双轴电机模块(2)与所述伺服电机模块(3)电性连接，所述伺服电机模块(3)和切刀结构(4)控制连接。本装置利用上下切刀进行双向切割，而且上切刀(401)和下切刀(402)之间进行电子齿轮同步，该电子齿轮为独立的轴，免去了中间环节，不需要考虑机械损耗，可以通过软件实现无级调速，传动柔性好，控制精度高，不会产生机械背隙。然后切刀与生产线主线进行电子凸轮同步，控制方式响应时间短，机械加工难度低。

Description

一种纸面石膏板自动化高精度切断装置及方法 技术领域
本发明涉及石膏板切断技术领域，具体涉及一种纸面石膏板自动化高精度切断装置及方法。
背景技术
开展纸面石膏板智能生产过程无人化自动化技术研究，符合工业4.0战略和中国制造2025行动纲领的具体要求。通过对生产现场的生产工艺和控制方式的全面采集和深度分析，发现导致生产瓶颈和产品缺陷的深层次原因，不断提高生产效率和石膏板的产品品质。基于现场数据采集开展综合分析，提高石膏板的生产控制水平，减少现场操作人员，降低人员对生产的干预，降低企业运营成本，能有效节约资源和能源，具有深远现实意义。
切断机是石膏板生产线关键设备，其作用是将连续成型的石膏板湿板切断分组，切断精度与后续生产有着密切关系，因此，提高切断机切断精度及稳定性，是石膏板生产线连续生产的保障，也是提高生产投入产出率的较关键因素。现有技术中，石膏板切断机传动用直齿轮，而且润滑条件较差，润滑时需停机打开防护罩，涂抹润滑脂；所以传动齿轮很容易磨损，传动系统传动过程中容易产生间隙，传动精度不高，造成石膏板切断精度不高；再加上，上、下切刀间距及相对转角的调整非常不方便，调整时必须停机，打开防护罩，松开定位螺栓，调整后再紧固，相当麻烦，不利于稳定生产，不适合于大型纸面石膏板生产线的生产需求。
发明内容
本发明的目的在于提供一种纸面石膏板自动化高精度切断装置及方法，以解决现有技术中切断精度低，稳定控制性低的技术问题。
为解决上述技术问题，本发明具体提供下述技术方案：
一种纸面石膏板自动化高精度切断装置，包括：运动控制器、双轴电机模块、伺服电机模块和切刀结构，所述运动控制器与所述双轴电机模块电性 连接，所述双轴电机模块与所述伺服电机模块电性连接，所述伺服电机模块和切刀结构控制连接，其中，
所述运动控制器用于依据纸面石膏板的切割长度、切刀结构的结构参数设定控制切刀结构沿运行轨迹旋转运动的运行轨迹程序，所述双轴电机模块用于执行所述运行轨迹程序输出控制伺服电机模块旋转运动的驱动信号，所述伺服电机模块用于根据所述驱动信号进行旋转运动以为切刀结构提供依所述运行轨迹进行旋转运动的驱动力，所述切刀结构用于依据所述驱动力沿运行轨迹进行旋转运动以对传送中纸面石膏板按切割长度进行高精度连续切断。
作为本发明的一种优选方案，所述伺服电机模块包括上切刀伺服电机和下切刀伺服电机，所述上切刀伺服电机和下切刀伺服电机均与双轴电机模块电性连接，所述切刀结构包括上切刀和下切刀，所述上切刀伺服电机与所述上切刀控制连接，所述下切刀伺服电机与所述下切刀控制连接，所述上切刀位于传送中纸面石膏板的上方，所述下切刀位于传送中纸面石膏板的下方，所述上切刀伺服电机和所述下切刀伺服电机均用于根据同一驱动信号进行旋转运动以分别为上切刀和下切刀提供依所述运行轨迹进行旋转运动的同一驱动力，所述上切刀和下切刀在同一驱动力作用下沿运行轨迹分别在传送中纸面石膏板上方和下方进行同步旋转运动，以由纸面石膏板的上方和下方对传送中纸面石膏板按切割长度进行双向定点的连续切断实现切断精度的提高。
作为本发明的一种优选方案，所述运动控制器包括交互单元、运行轨迹规划单元和轨迹程序生成单元，所述交互单元用于输入纸面石膏板的切割长度，所述运行轨迹规划单元用于根据交互单元输入的切割长度结合上切刀/下切刀旋转运动形成的剪切圆周尺寸设定出包含上切刀/下切刀的旋转起点、剪切点、同步起始点和同步终止点以及各点间的旋转转速的运行轨迹，所述轨迹程序生成单元用于根据所述运行轨迹编码生成包含驱动信号输出数值的所述运行轨迹程序，所述上切刀和下切刀在同步起始点到同步终止点之间的旋转转速与传送中纸面石膏板的传送转速一致，所述上切刀和下切刀在同步起始点到同步终止点之间的旋转方向与传送中纸面石膏板的传送方向相同，所述上切刀和下切刀在同步终止点到同步起始点之间的旋转方向与传送中纸面 石膏板的传送方向相反。
作为本发明的一种优选方案，所述上切刀的剪切点与所述下切刀的剪切点位于与传送中纸面石膏板的同一垂直纵轴上，且分别位于传送中纸面石膏板上端面与下端面上以实现从纸面石膏板上端面和纸面石膏板下端面在同一纵向上对纸面石膏板进行双向切断。
作为本发明的一种优选方案，所述上切刀旋转运动形成的剪切圆周尺寸与下切刀旋转运动形成的剪切圆周尺寸相同，所述运行轨迹的轨迹轮廓尺寸与上切刀/下切刀旋转运动形成的剪切圆周尺寸一致。
作为本发明的一种优选方案，本发明提供了一种根据所述的纸面石膏板自动化高精度切断装置的高精度切断方法，包括以下步骤：
步骤S1、依据纸面石膏板的切割长度、切刀结构的结构参数设定控制切刀结构沿运行轨迹旋转运动的运行轨迹程序，并控制双轴电机模块执行所述运行轨迹程序输出控制伺服电机模块旋转运动的驱动信号；
步骤S2、所述伺服电机模块根据所述驱动信号进行旋转运动以为切刀结构提供依所述运行轨迹进行旋转运动的驱动力；
步骤S3、所述切刀结构依据所述驱动力沿运行轨迹进行旋转运动以对传送中纸面石膏板按切割长度进行高精度连续切断。
作为本发明的一种优选方案，步骤S1中，所述运行轨迹包括旋转起始点、剪切点、同步起始点和同步终止点以及各点间的旋转转速，按预设长度将所述同步起始点到同步终止点在轨迹轮廓上分别对称设定于剪切点的两侧，所述旋转起始点与剪切点对称设定在位于轨迹轮廓上同一圆心轴的两侧，将所述上切刀和下切刀在同步起始点到同步终止点之间的旋转转速设置为传送中纸面石膏板的传送转速。
作为本发明的一种优选方案，利用优化算法基于所述切割长度和运行轨迹的轨迹轮廓尺寸设置同步终止点到同步起始点间上切刀和下切刀的旋转转速，包括：
将切割长度除以传送中纸面石膏板的传送转速得到纸面石膏板的切割时间间隔，所述纸面石膏板的切割时间间隔与上切刀/下切刀沿运行轨迹旋转运 动一周的时间相同，将同步起始点到同步终止点的预设长度除以所述传送转速得到运行轨迹中上切刀/下切刀在同步起始点到同步终止点间旋转运动的时间；
将所述纸面石膏板的切割时间间隔减去上切刀/下切刀在同步起始点到同步终止点间旋转运动的时间得到上切刀/下切刀在同步终止点到同步起始点间旋转运动的时间，将上切刀/下切刀在同步终止点到同步起始点间旋转运动的时间进行按预设时长进行等份分割得到一组运动时序{t i|i∈[1,n]}，n为运动时序总数量；
为上切刀/下切刀在每个运动时序处设定旋转转速{v i|i∈[1,n]}，利用方差公式量化相邻运动时序间的波动程度总和作为旋转转速的优化函数，所述旋转转速的优化函数为：
Figure PCTCN2022141986-appb-000001
式中，δ为相邻运动时序间的波动程度总和，v i+1、v i分别为第i个运动时序处的旋转转速，t i为第i个运动时序，min为最小化运算符；
将每个运动时序处的旋转转速与运行时序进行积分求解得到同步终止点到同步起始点间的旋转长度，以及伺服电机模块的转速极限作为所述优化函数的约束条件，所述约束条件的函数表达式为：
Figure PCTCN2022141986-appb-000002
式中，L为同步终止点到同步起始点间的旋转长度，l为同步起始点到同步终止点的预设长度，v max为伺服电机模块达到的最大旋转转速；
基于约束条件对旋转转速的优化函数进行求解得到旋转转速{v i|i∈[1,n]}的确定值。
作为本发明的一种优选方案，步骤S1和步骤S2中，双轴电机模块将驱动信号同步传送至上切刀伺服电机和下切刀伺服电机，且上切刀伺服电机和 下切刀伺服电机同步生成分别驱动上切刀和下切刀的所述驱动力。
作为本发明的一种优选方案，步骤S3中，所述上切刀和下切刀同步接收驱动力并同步沿运行轨迹进行旋转运动，以同步运行至所述剪切点处对传送中纸面石膏板进行双向切断。
本发明与现有技术相比较具有如下有益效果：
本发明利用上下切刀进行双向切割，而且上切刀与下切刀之间进行电子齿轮同步，该电子齿轮为独立的轴，免去了中间环节，不需要考虑机械损耗，可以通过软件实现无级调速，传动柔性好，控制精度高，不会产生机械背隙。然后切刀与生产线主线进行电子凸轮同步，控制方式响应时间短，机械加工难度低，并且利用最小化的速度波动来设定运行轨迹上的旋转转速，从而提高了上切刀伺服电机和下切刀伺服电机的运行稳定性。
附图说明
为了更清楚地说明本发明的实施方式或现有技术中的技术方案，下面将对实施方式或现有技术描述中所需要使用的附图作简单地介绍。显而易见地，下面描述中的附图仅仅是示例性的，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图引伸获得其它的实施附图。
图1为本发明实施例提供的纸面石膏板自动化高精度切断装置结构示意图；
图2为本发明实施例提供的高精度切断方法流程图。
图中的标号分别表示如下：
1-运动控制器；2-双轴电机模块；3-伺服电机模块；4-切刀结构；5-旋转起点；6-剪切点；7-同步起始点；8-同步终止点；9-运行轨迹；10-纸面石膏板；301-上切刀伺服电机；302-下切刀伺服电机；401-上切刀；402-下切刀。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做 出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
如图1所示，本发明提供了一种纸面石膏板自动化高精度切断装置，包括：运动控制器1、双轴电机模块2、伺服电机模块3和切刀结构4，所述运动控制器1与所述双轴电机模块2电性连接，所述双轴电机模块2与所述伺服电机模块3电性连接，所述伺服电机模块3和切刀结构4控制连接，其中，
所述运动控制器1用于依据纸面石膏板的切割长度、切刀结构4的结构参数设定控制切刀结构4沿运行轨迹旋转运动的运行轨迹程序，所述双轴电机模块2用于执行所述运行轨迹程序输出控制伺服电机模块3旋转运动的驱动信号，所述伺服电机模块3用于根据所述驱动信号进行旋转运动以为切刀结构4提供依所述运行轨迹进行旋转运动的驱动力，所述切刀结构4用于依据所述驱动力沿运行轨迹进行旋转运动以对传送中纸面石膏板按切割长度进行高精度连续切断。
所述伺服电机模块3包括上切刀伺服电机301和下切刀伺服电机302，所述上切刀伺服电机301和下切刀伺服电机302均与双轴电机模块2电性连接，所述切刀结构4包括上切刀401和下切刀402，所述上切刀伺服电机301与所述上切刀401控制连接，所述下切刀伺服电机302与所述下切刀402控制连接，所述上切刀401位于传送中纸面石膏板的上方，所述下切刀402位于传送中纸面石膏板的下方，所述上切刀伺服电机301和所述下切刀伺服电机302均用于根据同一驱动信号进行旋转运动以分别为上切刀401和下切刀402提供依所述运行轨迹进行旋转运动的同一驱动力，所述上切刀401和下切刀402在同一驱动力作用下沿运行轨迹分别在传送中纸面石膏板上方和下方进行同步旋转运动，以由纸面石膏板的上方和下方对传送中纸面石膏板按切割长度进行双向定点的连续切断实现切断精度的提高。
所述运动控制器1包括交互单元、运行轨迹规划单元和轨迹程序生成单元，所述交互单元用于输入纸面石膏板的切割长度，所述运行轨迹规划单元用于根据交互单元输入的切割长度结合上切刀401/下切刀402旋转运动形成的剪切圆周尺寸设定出包含上切刀401/下切刀402的旋转起点、剪切点、同步起始点和同步终止点以及各点间的旋转转速的运行轨迹，所述轨迹程序生 成单元用于根据所述运行轨迹编码生成包含驱动信号输出数值的所述运行轨迹程序，所述上切刀401和下切刀402在同步起始点到同步终止点之间的旋转转速与传送中纸面石膏板的传送转速一致，所述上切刀401和下切刀402在同步起始点到同步终止点之间的旋转方向与传送中纸面石膏板的传送方向相同，所述上切刀401和下切刀402在同步终止点到同步起始点之间的旋转方向与传送中纸面石膏板的传送方向相反。
所述上切刀401的剪切点与所述下切刀402的剪切点位于与传送中纸面石膏板的同一垂直纵轴上，且分别位于传送中纸面石膏板上端面与下端面上以实现从纸面石膏板上端面和纸面石膏板下端面在同一纵向上对纸面石膏板进行双向切断。
所述上切刀401旋转运动形成的剪切圆周尺寸与下切刀402旋转运动形成的剪切圆周尺寸相同，所述运行轨迹的轨迹轮廓尺寸与上切刀401/下切刀402旋转运动形成的剪切圆周尺寸一致。
伺服上切刀电机输出轴直接连接上切刀，伺服下切刀电机输出轴直接连接下切刀，上切刀与下切刀之间没有机械连接关系，这样上切刀与下切刀之间进行电子齿轮同步，即上切刀和下切刀能够同步旋转运动在纸面石膏板上剪切，该电子齿轮为独立的轴，免去了中间环节，不需要考虑机械损耗，可以通过软件实现无级调速，传动柔性好，齿轮比可以任意修改，控制精度高，不会产生机械背隙。然后切刀设置有同步起始点和同步终止点，并将同步起始点到同步终止点的切刀旋转转速与生产线主线(纸面石膏板的传送速度)进行电子凸轮同步。该控制方式响应时间短，机械加工难度低，理论上误差在±0.5mm，但考虑到机械方面或其他原因，该方法控制精度在±1mm。
如图2所示，基于纸面石膏板自动化高精度切断装置，本发明提供了一种根据高精度切断方法，包括以下步骤：
步骤S1、依据纸面石膏板的切割长度、切刀结构的结构参数设定控制切刀结构沿运行轨迹旋转运动的运行轨迹程序，并控制双轴电机模块执行所述运行轨迹程序输出控制伺服电机模块旋转运动的驱动信号；
步骤S1中，所述运行轨迹包括旋转起始点、剪切点、同步起始点和同步 终止点以及各点间的旋转转速，按预设长度将所述同步起始点到同步终止点在轨迹轮廓上分别对称设定于剪切点的两侧，所述旋转起始点与剪切点对称设定在位于轨迹轮廓上同一圆心轴的两侧，将所述上切刀和下切刀在同步起始点到同步终止点之间的旋转转速设置为传送中纸面石膏板的传送转速。
利用优化算法基于所述切割长度和运行轨迹的轨迹轮廓尺寸设置同步终止点到同步起始点间上切刀和下切刀的旋转转速，包括：
将切割长度除以传送中纸面石膏板的传送转速得到纸面石膏板的切割时间间隔，所述纸面石膏板的切割时间间隔与上切刀/下切刀沿运行轨迹旋转运动一周的时间相同，将同步起始点到同步终止点的预设长度除以所述传送转速得到运行轨迹中上切刀/下切刀在同步起始点到同步终止点间旋转运动的时间；
将所述纸面石膏板的切割时间间隔减去上切刀/下切刀在同步起始点到同步终止点间旋转运动的时间得到上切刀/下切刀在同步终止点到同步起始点间旋转运动的时间，将上切刀/下切刀在同步终止点到同步起始点间旋转运动的时间进行按预设时长进行等份分割得到一组运动时序{t i|i∈[1,n]}，n为运动时序总数量；
为上切刀/下切刀在每个运动时序处设定旋转转速{v i|i∈[1,n]}，利用方差公式量化相邻运动时序间的波动程度总和作为旋转转速的优化函数，所述旋转转速的优化函数为：
Figure PCTCN2022141986-appb-000003
式中，δ为相邻运动时序间的波动程度总和，v i+1、v i分别为第i个运动时序处的旋转转速，t i为第i个运动时序，min为最小化运算符；
将每个运动时序处的旋转转速与运行时序进行积分求解得到同步终止点到同步起始点间的旋转长度，以及伺服电机模块的转速极限作为所述优化函数的约束条件，所述约束条件的函数表达式为：
Figure PCTCN2022141986-appb-000004
式中，L为同步终止点到同步起始点间的旋转长度，l为同步起始点到同步终止点的预设长度，v max为伺服电机模块达到的最大旋转转速；
基于约束条件对旋转转速的优化函数进行求解得到旋转转速{v i|i∈[1,n]}的确定值。
相邻运动时序间的波动程度总和最小化为优化目标，能够保证在上切刀/下切刀旋转运行过程中不会出现频繁的速度突然增加或减小的现象，相邻时序间保持稳定的速度更替，从而能够保证切刀平稳的旋转运行，提高剪切过程的平稳性，提高剪切的精度。
步骤S2、所述伺服电机模块根据所述驱动信号进行旋转运动以为切刀结构提供依所述运行轨迹进行旋转运动的驱动力；
步骤S1和步骤S2中，双轴电机模块将驱动信号同步传送至上切刀伺服电机和下切刀伺服电机，且上切刀伺服电机和下切刀伺服电机同步生成分别驱动上切刀和下切刀的所述驱动力。
步骤S3、所述切刀结构依据所述驱动力沿运行轨迹进行旋转运动以对传送中纸面石膏板按切割长度进行高精度连续切断。
步骤S3中，所述上切刀和下切刀同步接收驱动力并同步沿运行轨迹进行旋转运动，以同步运行至所述剪切点处对传送中纸面石膏板进行双向切断。
本发明利用上下切刀进行双向切割，而且上切刀与下切刀之间进行电子齿轮同步，该电子齿轮为独立的轴，免去了中间环节，不需要考虑机械损耗，可以通过软件实现无级调速，传动柔性好，控制精度高，不会产生机械背隙。然后切刀与生产线主线进行电子凸轮同步，控制方式响应时间短，机械加工难度低，并且利用最小化的速度波动来设定运行轨迹上的旋转转速，从而提高了上切刀伺服电机和下切刀伺服电机的运行稳定性。
以上实施例仅为本申请的示例性实施例，不用于限制本申请，本申请的保护范围由权利要求书限定。本领域技术人员可以在本申请的实质和保护范 围内，对本申请做出各种修改或等同替换，这种修改或等同替换也应视为落在本申请的保护范围内。

Claims (10)

  1. 一种纸面石膏板自动化高精度切断装置，其特征在于，包括：运动控制器(1)、双轴电机模块(2)、伺服电机模块(3)和切刀结构(4)，所述运动控制器(1)与所述双轴电机模块(2)电性连接，所述双轴电机模块(2)与所述伺服电机模块(3)电性连接，所述伺服电机模块(3)和切刀结构(4)控制连接，其中，
    所述运动控制器(1)用于依据纸面石膏板的切割长度、切刀结构(4)的结构参数设定控制切刀结构(4)沿运行轨迹旋转运动的运行轨迹程序，所述双轴电机模块(2)用于执行所述运行轨迹程序输出控制伺服电机模块(3)旋转运动的驱动信号，所述伺服电机模块(3)用于根据所述驱动信号进行旋转运动以为切刀结构(4)提供依所述运行轨迹进行旋转运动的驱动力，所述切刀结构(4)用于依据所述驱动力沿运行轨迹进行旋转运动以对传送中纸面石膏板按切割长度进行高精度连续切断。
  2. 根据权利要求1所述的一种纸面石膏板自动化高精度切断装置，其特征在于：所述伺服电机模块(3)包括上切刀伺服电机(301)和下切刀伺服电机(302)，所述上切刀伺服电机(301)和下切刀伺服电机(302)均与双轴电机模块(2)电性连接，所述切刀结构(4)包括上切刀(401)和下切刀(402)，所述上切刀伺服电机(301)与所述上切刀(401)控制连接，所述下切刀伺服电机(302)与所述下切刀(402)控制连接，所述上切刀(401)位于传送中纸面石膏板的上方，所述下切刀(402)位于传送中纸面石膏板的下方，所述上切刀伺服电机(301)和所述下切刀伺服电机(302)均用于根据同一驱动信号进行旋转运动以分别为上切刀(401)和下切刀(402)提供依所述运行轨迹进行旋转运动的同一驱动力，所述上切刀(401)和下切刀(402)在同一驱动力作用下沿运行轨迹分别在传送中纸面石膏板上方和下方进行同步旋转运动，以由纸面石膏板的上方和下方对传送中纸面石膏板按切割长度进行双向定点的连续切断实现切断精度的提高。
  3. 根据权利要求2所述的一种纸面石膏板自动化高精度切断装置，其特征在于：所述运动控制器(1)包括交互单元、运行轨迹规划单元和轨迹程序生成单元，所述交互单元用于输入纸面石膏板的切割长度，所述运行轨迹规 划单元用于根据交互单元输入的切割长度结合上切刀(401)/下切刀(402)旋转运动形成的剪切圆周尺寸设定出包含上切刀(401)/下切刀(402)的旋转起点、剪切点、同步起始点和同步终止点以及各点间的旋转转速的运行轨迹，所述轨迹程序生成单元用于根据所述运行轨迹编码生成包含驱动信号输出数值的所述运行轨迹程序，所述上切刀(401)和下切刀(402)在同步起始点到同步终止点之间的旋转转速与传送中纸面石膏板的传送转速一致，所述上切刀(401)和下切刀(402)在同步起始点到同步终止点之间的旋转方向与传送中纸面石膏板的传送方向相同，所述上切刀(401)和下切刀(402)在同步终止点到同步起始点之间的旋转方向与传送中纸面石膏板的传送方向相反。
  4. 根据权利要求3所述的一种纸面石膏板自动化高精度切断装置，其特征在于：所述上切刀(401)的剪切点与所述下切刀(402)的剪切点位于与传送中纸面石膏板的同一垂直纵轴上，且分别位于传送中纸面石膏板上端面与下端面上以实现从纸面石膏板上端面和纸面石膏板下端面在同一纵向上对纸面石膏板进行双向切断。
  5. 根据权利要求4所述的一种纸面石膏板自动化高精度切断装置，其特征在于：所述上切刀(401)旋转运动形成的剪切圆周尺寸与下切刀(402)旋转运动形成的剪切圆周尺寸相同，所述运行轨迹的轨迹轮廓尺寸与上切刀(401)/下切刀(402)旋转运动形成的剪切圆周尺寸一致。
  6. 一种根据权利要求1-5任一项所述的纸面石膏板自动化高精度切断装置的高精度切断方法，其特征在于，包括以下步骤：
    步骤S1、依据纸面石膏板的切割长度、切刀结构的结构参数设定控制切刀结构沿运行轨迹旋转运动的运行轨迹程序，并控制双轴电机模块执行所述运行轨迹程序输出控制伺服电机模块旋转运动的驱动信号；
    步骤S2、所述伺服电机模块根据所述驱动信号进行旋转运动以为切刀结构提供依所述运行轨迹进行旋转运动的驱动力；
    步骤S3、所述切刀结构依据所述驱动力沿运行轨迹进行旋转运动以对传送中纸面石膏板按切割长度进行高精度连续切断。
  7. 根据权利要求6所述的高精度切断方法，其特征在于，步骤S1中，所述运行轨迹包括旋转起始点、剪切点、同步起始点和同步终止点以及各点间的旋转转速，按预设长度将所述同步起始点到同步终止点在轨迹轮廓上分别对称设定于剪切点的两侧，所述旋转起始点与剪切点对称设定在位于轨迹轮廓上同一圆心轴的两侧，将所述上切刀和下切刀在同步起始点到同步终止点之间的旋转转速设置为传送中纸面石膏板的传送转速。
  8. 根据权利要求7所述的高精度切断方法，其特征在于，利用优化算法基于所述切割长度和运行轨迹的轨迹轮廓尺寸设置同步终止点到同步起始点间上切刀和下切刀的旋转转速，包括：
    将切割长度除以传送中纸面石膏板的传送转速得到纸面石膏板的切割时间间隔，所述纸面石膏板的切割时间间隔与上切刀/下切刀沿运行轨迹旋转运动一周的时间相同，将同步起始点到同步终止点的预设长度除以所述传送转速得到运行轨迹中上切刀/下切刀在同步起始点到同步终止点间旋转运动的时间；
    将所述纸面石膏板的切割时间间隔减去上切刀/下切刀在同步起始点到同步终止点间旋转运动的时间得到上切刀/下切刀在同步终止点到同步起始点间旋转运动的时间，将上切刀/下切刀在同步终止点到同步起始点间旋转运动的时间进行按预设时长进行等份分割得到一组运动时序{t i|i∈[1,n]}，n为运动时序总数量；
    为上切刀/下切刀在每个运动时序处设定旋转转速{v i|i∈[1,n]}，利用方差公式量化相邻运动时序间的波动程度总和作为旋转转速的优化函数，所述旋转转速的优化函数为：
    Figure PCTCN2022141986-appb-100001
    式中，δ为相邻运动时序间的波动程度总和，v i+1、v i分别为第i个运动时序处的旋转转速，t i为第i个运动时序，min为最小化运算符；
    将每个运动时序处的旋转转速与运行时序进行积分求解得到同步终止点 到同步起始点间的旋转长度，以及伺服电机模块的转速极限作为所述优化函数的约束条件，所述约束条件的函数表达式为：
    Figure PCTCN2022141986-appb-100002
    式中，L为同步终止点到同步起始点间的旋转长度，l为同步起始点到同步终止点的预设长度，v max为伺服电机模块达到的最大旋转转速；
    基于约束条件对旋转转速的优化函数进行求解得到旋转转速{v i|i∈[1,n]}的确定值。
  9. 根据权利要求6所述的高精度切断方法，其特征在于，步骤S1和步骤S2中，双轴电机模块将驱动信号同步传送至上切刀伺服电机和下切刀伺服电机，且上切刀伺服电机和下切刀伺服电机同步生成分别驱动上切刀和下切刀的所述驱动力。
  10. 根据权利要求6所述的高精度切断方法，其特征在于，步骤S3中，所述上切刀和下切刀同步接收驱动力并同步沿运行轨迹进行旋转运动，以同步运行至所述剪切点处对传送中纸面石膏板进行双向切断。
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