CN101776888B - Shearing method of flying shears and special motion controller for flying shears - Google Patents
Shearing method of flying shears and special motion controller for flying shears Download PDFInfo
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- CN101776888B CN101776888B CN2009103042397A CN200910304239A CN101776888B CN 101776888 B CN101776888 B CN 101776888B CN 2009103042397 A CN2009103042397 A CN 2009103042397A CN 200910304239 A CN200910304239 A CN 200910304239A CN 101776888 B CN101776888 B CN 101776888B
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Abstract
The invention is applicable to the technical field of flying shears, and provides a shearing method of flying shears and a special motion controller for the flying shears. The shearing method comprises the following steps: comparing the moving length S of the flying shears and the sheared length M of the material in the cycle time T; when M is equal to S, controlling the flying shears to shear by moving at the uniform speed V0 in the cycle time T; when M is smaller than S, controlling the flying shears to shear by accelerating from V0 and then decelerating to V0 in the cycle time T; and when M is greater than S, controlling the flying shears to shear by decelerating from V0 and then accelerating to V0 in the cycle time T, wherein V0 is the feeding speed of the material. By comparing the moving length S of the flying shears and the sheared length M of the material, the invention determines the moving mode to be adopted by the flying shears based on the comparative results. The invention can solve the problems of inconvenient system maintenance, low accuracy, large mechanical shock and short service life of the existing flying shears.
Description
Technical field
The invention belongs to the flying shear technical field, relate in particular to a kind of cutting method and special motion controller for flying shears of flying shear.
Background technology
Nowadays, in factory, usually can use shearing system and shear starting material, the course of work of shearing system is: coiled strip is put on the material feeding platform, delivers to uncoiler by feeding cart; The conehead stretching material of uncoiler, nip roll are depressed the back uncoiling, through planishing rod, to Buffer Pool; Through measurement rod, be transferred to shearing machine by the feeding rod, the shear action in the shearing machine is mainly accomplished by last lower scissors, wherein; Last scissors motion is horizontal reciprocating movement, and the lower scissors movement locus is circular, and the sheet material after the shearing passes through travelling belt; To material receiving desk, whole shear work is accomplished in neat, packing.
Between feeding and the shearing is the gordian technique in the flying shear control synchronously, accomplishes feeding through main drive shaft, accomplishes through driven shaft and shears, and the angular encoder of measuring roller and toggle is a feedback element.Shear axis is according to the actual angle of feeding position, speed and the angular encoder feedback scissors of measuring roller feedback, and rotating speed, the position of adjustment scissors guarantee that the shear history medium velocity is synchronous, and the length of shearing are preseting lengths.
In flying shear control device technical field in the past, mainly be that the driver that is directed against the flying shear motor carries out dedicated development, in driver, increase intelligence control circuit and expansion interface circuit and load special-purpose control program, realize technology controlling and process to rotary flying shears.
Yet; The special-purpose driving governor of shearing drive motor is not easy to maintenance, repair; The back recovery of breaking down is chronic normally; And flying shear is not an equipment that works alone, and flying shear is always formed a production line with other equipment are common, and all there is inconvenience in aspects such as special-purpose Drive and Control Circuit constitutes at hardware, communication interface compatibility and control function expansion.And when using special-purpose drive control circuit flying shear to shear, its shear precision is also lower.
In flying shear speed control in the past, adopt single straight line to add/slow down.According to the maximum moment of motor and the inertia of load, set the most greatly/retarded velocity.Shear motor speed from static to motion; Static from moving to; And can produce great acceleration change from quickening to change to deceleration, the variation of the acceleration of knowing as us is the variation of power, thereby machinery is produced big impulsive force; Reduce the life-span of equipment, influenced the precision of processing greatly.
Summary of the invention
The purpose of the embodiment of the invention is to provide a kind of cutting method and special motion controller for flying shears of flying shear, be intended to solve existing shearing system and safeguard inconvenience, and precision is not high, mechanical impact force is big, the problem that the life-span is low.
The embodiment of the invention is achieved in that a kind of cutting method of flying shear, and said cutting method may further comprise the steps:
The size of the sheared length M of flying shear movement length S and material in cycle length T relatively;
When M=S, the control flying shear is in cycle length T, with V
0Uniform motion is sheared;
When M＜S, the control flying shear is in cycle length T, from V
0Accelerated motion, and then V is got back in deceleration
0Shear;
When M＞S, the control flying shear is in cycle length T, earlier from V
0Retarded motion, and then quicken to get back to V
0Shear,
Said V
0Speed for the material feeding.
Another purpose of the embodiment of the invention is to provide a kind of special motion controller for flying shears, and said special motion controller for flying shears comprises the cutting system of flying shear, and said cutting system comprises:
Comparing unit is used for the size of comparison sheared length M of flying shear movement length S and material in cycle length T;
First control module is used for when M=S, and the control flying shear is in cycle length T, with V
0Uniform motion is sheared;
Second control module is used for when M＜S, and the control flying shear is in cycle length T, from V
0Accelerated motion, and then V is got back in deceleration
0Shear;
The 3rd control module is used for when M＞S, and the control flying shear is in cycle length T, earlier from V
0Retarded motion, and then quicken to get back to V
0Shear,
Said V
0Speed for the material feeding.
In an embodiment of the present invention, the sheared length M through contrast flying shear movement length S and material confirms the mode of motion that flying shear will adopt according to comparing result.Can solve the inconvenience of shearing system maintenance in the past through the present invention, and precision is not high, mechanical impact force is big, the problem that the life-span is low.
Description of drawings
Fig. 1 is the flying shear blade movement locus synoptic diagram that the embodiment of the invention provides;
Fig. 2 is the implementing procedure figure of the cutting method of the flying shear that provides of the embodiment of the invention;
Fig. 3 is the structural representation of the cutting system of the flying shear that provides of the embodiment of the invention.
Embodiment
In order to make the object of the invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with accompanying drawing and embodiment.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
In an embodiment of the present invention, the sheared length M through contrast flying shear movement length S and material confirms the mode of motion that flying shear will adopt according to comparing result.Can solve the inconvenience of shearing system maintenance in the past through the present invention, and the not high problem of precision.
Fig. 1 shows the flying shear blade movement locus that the embodiment of the invention provides.
In shearing machine physical construction, knife rest is installed on the horizontal guide rail of support, and last scissors is fixed on the knife rest, and lower scissors is installed on the vertical guide rail of knife rest, and brace and connecting rod framework is dragged by motor, and transfer motion power is to lower scissors.When crank rotated, whole knife rest along continuous straight runs guide rail movement, lower scissors be vertically motion simultaneously.When toggle rotated continuously, last scissors was done horizontal reciprocating movement with knife rest, when lower scissors is done tangential movement with knife rest, vertically moved reciprocatingly.Therefore, by the resultant motion of lower scissors, its movement locus is circular, and the radius of circular trace is the radius of brace and connecting rod framework.In the horizontal direction, the distance between the blade is a steady state value up and down.On the vertical direction, the distance between the blade is along with the angle at crank rod movement place changes and changes up and down, and when distance between the vertical direction was 0, blade interlock was up and down accomplished once and sheared.
The movement locus of lower scissors is a circle; Minor arc between A point and the C point is called as the synchronization zone, and shearing blade arrives A the time of order gets into the synchronization zone instantly, and this time, the horizontal component and the feeding speed of tangential velocity of lower scissors sword was equal; Instantly shearing blade the top B time of ordering just of arriving track; The speed of the speed of lower scissors blade, feeding speed and last scissors is identical, cuts off steel plate, withdraws from retaining zone from the C point then.The synchronization zone at this place mainly is in order to make speed obtain a buffering.
When working control, need guarantee that the speed component of scissors horizontal direction in the synchronization zone and sheet material speed keep synchronously.The essence that this shows flying shear control is the control to the motion of flying shear scissors.
Fig. 2 shows the implementing procedure of the cutting method of the flying shear that the embodiment of the invention provides, and details are as follows:
In step S201, the size of the sheared length M of flying shear movement length S and material in cycle length T relatively.
In cycle length T, flying shear movement length S can obtain through the movement locus that calculates flying shear.For example, the movement locus of flying shear is circular, through measuring radius, can calculate the flying shear movement length.The sheared length M of material confirms according to demand.When M=S, execution in step S202; When M＜S, execution in step S203; When M＞S, execution in step S204.
In step S202, the control flying shear is in cycle length T, with V
0Uniform motion is sheared.
In order to reach synchronous purpose, need make the speed V that speed and the material of flying shear when shearing moves
0Identical, and the run duration of the traveling time of material and flying shear is cycle T, at this moment, sheared length M equals S again, and therefore, the control flying shear is with V
0Uniform motion gets final product.
In step S203, the control flying shear is in cycle length T, earlier from V
0Retarded motion, and then quicken to get back to V
0Shear said V
0Speed for the material feeding.
Since M＜S, and both run durations are identical, therefore, make interior flying shear movement locus length of same time longer, will make the movement velocity V of the average velocity of flying shear motion faster than material
0For reaching synchronous purpose, can be earlier from V
0Accelerated motion a period of time, and then a period of time of slowing down get back to V
0Quicken relevant with deceleration, the accelerated mode of employing with the time of slowing down.As embodiments of the invention, can adopt the mode of trapezoidal acceleration, deceleration, the mode that also can adopt S shape to quicken, slow down, accekeration is based on being perhaps changing of fixing.Therefore, the mode of adoptable accelerated motion, retarded motion is a lot, makes last speed reach V
0, and T cycle length that is less than or equal to flying shear T.T. of acceleration, moderating process, the movement locus of flying shear reaches S and gets final product.
As embodiments of the invention, the detailed process of this step can for: accomplish once shear after, the control flying shear is earlier with speed V
0Run duration t
1, control flying shear retarded motion time t again
2, control flying shear accelerated motion time t
3, make flying shear speed get back to V
0, at remaining T-t
1-t
2-t
3Time in, with speed V
0Motion is sheared.Wherein, t
1, t
2, t
3All greater than 0 less than T, and 3 sums are less than T.
In step S204, the control flying shear is in cycle length T, from V
0Retarded motion, and then quicken to get back to V
0Shear.
Since M＞S, and both run durations are identical, and therefore, the average velocity that flying shear is moved is slower than the movement velocity V of material
0For reaching synchronous purpose, can be earlier from V
0Retarded motion a period of time, and then quicken a period of time and get back to V
0As embodiments of the invention, can control flying shear and before slowing down, after quickening, keep V
0Motion a period of time is to carry out velocity-stabilization, buffering.Its deceleration, accelerator can certainly adopt a lot of modes.
As another embodiment of the present invention, can also further whether judge M greater than 2S, as M during greater than 2S, the control flying shear is earlier with speed V
0Motion, retarded motion is to stopping again, and after stopping a period of time, accelerated motion is to speed V again
0, and with speed V
0Motion moves excess time, shears.Promptly, outside the process of quickening again, a period of time can also be stopped, to wait for that material is moved except retarded motion.
In the process of above-mentioned acceleration, deceleration, adopt the acceleration of S shape, ways of deceleration can avoid the acceleration kick, thereby reduce the impulsive force of mechanical system, can effectively prolong the serviceable life of equipment.
Fig. 3 shows the structure of the cutting system of the flying shear that the embodiment of the invention provides, and the cutting system of this flying shear can be software unit, hardware cell or the unit soft, that scleroma is closed of special motion controller for flying shears.
The cutting system of this flying shear comprises: comparing unit 31, first control module 32, second control module 33, the 3rd control module 34.Comparing unit 31 is the size of flying shear movement length S and the sheared length M of material in cycle length T relatively, and when M=S, first control module 32 is controlled flying shears in cycle length T, with V
0Uniform motion is sheared; When M＜S, second control module, 33 control flying shears are in cycle length T, from V
0Accelerated motion, and then V is got back in deceleration
0Shear; When M＞S, the 3rd control module 34 control flying shears are in cycle length T, earlier from V
0Retarded motion, and then quicken to get back to V
0Shear, wherein V
0Speed for the material feeding.
As embodiments of the invention, second control module 33 control flying shears are in cycle length T, from V
0Accelerated motion, and then V is got back in deceleration
0The process of shearing can be for after: synchronization zone motion-control module 331 once shears on accomplishing, and the control flying shear is earlier with speed V
0Run duration t
1, backhaul district motion-control module 332 control flying shear accelerated motion time t
2, catch up with district's motion-control module 333 control flying shear retarded motion time t
3, make flying shear speed get back to V
0, stable region motion-control module 334 is at remaining T-t
1-t
2-t
3Time in, with speed V
0Motion is sheared.
As embodiments of the invention, this cutting system also comprises: whether judging unit 35 judges M greater than 2S, and as M during greater than 2S, the first operation phase control module, 36 control flying shears are earlier with speed V
0Motion, retarded motion is to stopping again, and after stopping a period of time, the second operation phase control module 37 accelerated motion again arrives speed V
0, and with speed V
0Motion moves excess time, shears.
In sum, the sheared length M through contrast flying shear movement length S and material confirms the mode of motion that flying shear will adopt according to comparing result.Can solve the inconvenience of shearing system maintenance in the past through the present invention, and precision is not high, mechanical impact force is big, the problem that the life-span is low.
The above is merely preferred embodiment of the present invention, not in order to restriction the present invention, all any modifications of within spirit of the present invention and principle, being done, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. the cutting method of a flying shear is characterized in that, said cutting method may further comprise the steps:
The size of the sheared length M of flying shear movement length S and material in cycle length T relatively;
When M=S, the control flying shear is sheared with the V0 uniform motion in cycle length T;
When M＜S, the control flying shear from V0 accelerated motion, and then slows down and gets back to V0 and shear in cycle length T;
When M＞S, the control flying shear earlier from the V0 retarded motion, and then quickens to get back to V0 and shears in cycle length T, and said V0 is the speed of material feeding.
2. the method for claim 1 is characterized in that, and is said when M＜S, and the control flying shear earlier from V0 accelerated motion, and then slows down and gets back to V0 and carry out cutting steps and be specially in cycle length T:
After on accomplishing, once shearing, the control flying shear is earlier with speed V0 run duration t1;
Control flying shear accelerated motion time t2;
Control flying shear retarded motion time t3 makes flying shear speed get back to V0;
In the time of remaining T-t1-t2-t3,, shear with speed V0 motion.
3. the method for claim 1 is characterized in that, said method also comprises step:
Judge that whether M is greater than 2S;
As M during greater than 2S, with speed V0 motion, retarded motion is to stopping again earlier for the control flying shear;
After stopping a period of time, speed V0 is arrived in accelerated motion again, and moves excess time with speed V0 motion, shears.
4. the method for claim 1 is characterized in that, described accelerated motion adopts trapezoidal acceleration or S shape to quicken.
5. a special motion controller for flying shears is characterized in that, said special motion controller for flying shears comprises the cutting system of flying shear, and said cutting system comprises:
Comparing unit is used for the size of comparison sheared length M of flying shear movement length S and material in cycle length T;
First control module is used for when M=S, and the control flying shear is sheared with the V0 uniform motion in cycle length T;
Second control module is used for when M＜S, and the control flying shear from V0 accelerated motion, and then slows down and gets back to V0 and shear in cycle length T;
The 3rd control module is used for when M＞S, and the control flying shear earlier from the V0 retarded motion, and then quickens to get back to V0 and shears in cycle length T,
Said V0 is the speed of material feeding.
6. special motion controller for flying shears as claimed in claim 5 is characterized in that, said second control module comprises again:
The synchronization zone motion-control module, after being used on accomplishing, once shearing, the control flying shear is earlier with speed V0 run duration t1;
Backhaul district motion-control module is used to control flying shear accelerated motion time t2;
Catch up with district's motion-control module, be used to control flying shear retarded motion time t3, make flying shear speed get back to V0;
The stable region motion-control module was used in the time of remaining T-t1-t2-t3, with speed V0 motion, sheared.
7. special motion controller for flying shears as claimed in claim 5 is characterized in that, said cutting system also comprises:
Judging unit is used to judge that whether M is greater than 2S;
The first operation phase control module is used for as M during greater than 2S, and with speed V0 motion, retarded motion is to stopping again earlier for the control flying shear;
The second operation phase control module is used for after stopping a period of time, and speed V0 is arrived in accelerated motion again, and moves excess time with speed V0 motion, shears.
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| CN2009103042397A CN101776888B (en) | 2009-07-10 | 2009-07-10 | Shearing method of flying shears and special motion controller for flying shears |
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|---|---|---|---|
| CN2009103042397A CN101776888B (en) | 2009-07-10 | 2009-07-10 | Shearing method of flying shears and special motion controller for flying shears |
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| CN101776888A CN101776888A (en) | 2010-07-14 |
| CN101776888B true CN101776888B (en) | 2012-05-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102744741A (en) * | 2012-07-24 | 2012-10-24 | 中达电通股份有限公司 | Fixed-length cutting control device |
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| CN102033506A (en) * | 2010-10-29 | 2011-04-27 | 上海金自天正信息技术有限公司 | Automatic control method and system for flying shear |
| CN103231107B (en) * | 2013-04-01 | 2015-09-09 | 马钢控制技术有限责任公司 | A kind of control method of portable flying shear |
| CN107052444A (en) * | 2016-12-20 | 2017-08-18 | 中冶南方（武汉）自动化有限公司 | Flying shear control method based on vector controller |
| CN110673546B (en) * | 2019-09-30 | 2021-02-09 | 中冶南方工程技术有限公司 | Control method for realizing high-precision fixed-length shearing of rotary flying shear |
| CN111804736B (en) * | 2020-05-27 | 2022-04-12 | 广东韶钢松山股份有限公司 | High-speed flying shear control method |
| CN112068491B (en) * | 2020-09-02 | 2021-09-21 | 四川省达州钢铁集团有限责任公司 | Method for improving response speed of flying shear |
| CN114932265B (en) * | 2022-06-15 | 2023-06-23 | 中冶南方工程技术有限公司 | Flying shear control method and system |
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| CN102744741A (en) * | 2012-07-24 | 2012-10-24 | 中达电通股份有限公司 | Fixed-length cutting control device |
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| Publication number | Publication date |
|---|---|
| CN101776888A (en) | 2010-07-14 |
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Address after: 518000 W211 room, West conference and research building, Shenzhen hi tech Industrial Park, Nanshan District, Guangdong Patentee after: Solid High Tech Co.,Ltd. Address before: 518000 W211 room, West conference and research building, Shenzhen hi tech Industrial Park, Nanshan District, Guangdong Patentee before: GOOGOL TECHNOLOGY (SHENZHEN) Ltd. |
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