CN102350541A - Three-shaft following online cutting numerical control milling machine and three-shaft following control method thereof - Google Patents
Three-shaft following online cutting numerical control milling machine and three-shaft following control method thereof Download PDFInfo
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- CN102350541A CN102350541A CN2011102142874A CN201110214287A CN102350541A CN 102350541 A CN102350541 A CN 102350541A CN 2011102142874 A CN2011102142874 A CN 2011102142874A CN 201110214287 A CN201110214287 A CN 201110214287A CN 102350541 A CN102350541 A CN 102350541A
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Abstract
The invention discloses a three-shaft following online cutting numerical control milling machine and a three-shaft following control method thereof. The milling machine has a three-shaft structure consisting of a trolley driving shaft, a feeding propulsion shaft and a saw blade rotating shaft; the trolley driving shaft drives a trolley to move on a conveyor belt; the feeding propulsion shaft is arranged on the trolley; and the feeding propulsion shaft drives the saw blade rotating shaft to move. When the accumulated length of a length measuring coder is close to the set pipe length, a movement control unit emits a signal, and the trolley driving shaft is quickly started; and when the pipe length reaches the set pipe length, the speed of the trolley is kept synchronous with the speed of a welded pipe, the feeding propulsion shaft is quickly started, and welded pipe cutting is performed according to the curve calculated by the control unit. The milling machine overcomes the defects of the conventional online cutting numerical control milling machine, and meets the production requirement of precision welded pipes.
Description
Technical field
The present invention is applied to the online cutting CNC milling machine of metallurgy industry welded tube scale, belongs to servo-controlled technical field, relates in particular to the online cutting CNC milling machine of a kind of three servo-actuateds and three follow-up control methods thereof.
Background technology
Digit Control Machine Tool has become one of important symbol of weighing a national manufacturing industry level, China by manufacturing powerhouse in the evolution of manufacturing industry power, Digit Control Machine Tool plays a part very important.Along with the development of production technology, the user is more and more higher to performance of products, required precision, to the efficient of producing require also more and more higher, this just requires Digit Control Machine Tool to develop towards high speed, high precision int direction.The online number defined by cut control milling machine of existing welded tube; Have only two axles; A travelling car driving shaft, a saw blade rotating shaft does not have the feeding cardan shaft; Advance and directly drive by cylinder; And the travelling car driving shaft is the mode that simple frequency converter adds synchronous plate, and the saw blade rotating shaft generally all use straight mode, and logic and programme-control are realized by PLC (programmable logic controller (PLC)); Cause conventional online cutting milling machine, have following shortcoming:
1, production efficiency is low, the production noise is big;
2, precision is not high, and online fixed length error is big;
3, the jagged and otch of welded tube otch should be out of shape.
Summary of the invention
The online cutting CNC milling machine of a kind of three servo-actuateds provided by the invention and three follow-up control methods thereof have adopted three servo-actuated control schemes, have solved the shortcoming of existing online cutting CNC milling machine, and have satisfied the production requirement of accurate welded tube.
In order to achieve the above object, the present invention provides a kind of three servo-actuateds online cutting CNC milling machine, and it has three-axis structure, and this three-axis structure comprises dolly driving shaft, feeding cardan shaft and saw blade rotating shaft;
Described dolly driving shaft drives dolly and on conveyer belt, moves, and described feeding cardan shaft is arranged on the dolly, and this feeding cardan shaft drives the motion of saw blade rotating shaft.
A kind of three follow-up control methods that are used for three online cutting CNC milling machines of servo-actuated, this control method realize that based on three follow-up control devices these three follow-up control methods comprise following steps:
Step 1, three follow-up control devices start, and carry out self check, if self check is passed through, then carry out steps 2, if self check is not passed through, then carry out steps 7;
Step 2, utilize input/output module that systematic parameter is set; Make three follow-up control devices get into SBR; Motion control unit control servo drive unit starts the saw blade rotating shaft; And judge whether the saw blade rotating shaft rotates according to the linear velocity of motion control unit setting; If carry out step 3, if not; Then continue to wait for, rotate according to the linear velocity that motion control unit is set up to the saw blade rotating shaft;
Step 3, milling machine get into auto state, judge whether the main frame production line starts, if then carry out step 4;
Step 4, survey long codes device start, and measure the length and the linear velocity of welded tube, send to motion control unit, if it is in proper working order to survey the long codes device, motion control unit has been received the data of survey long codes device, then carry out step 5, if not, then carry out step 8;
Step 5, reach soon when setting pipe range when surveying long codes device cumulative length; Motion control unit sends signal; The dolly driving shaft starts fast; Drive moving of car; And make that the accumulative total pipe range of just surveying the long codes device is the pipe range that sets when the movement velocity of the movement velocity of dolly and welded tube keeps synchronous;
Judge whether to have accomplished aforesaid operations, if, carry out step 6, if not, carry out step 9;
Step 6, motion control unit send signal, and the feeding cardan shaft starts fast, and the propelling curve according to motion control unit is set cuts welded tube, and after cutting was accomplished, the feeding cardan shaft reversed fast, and returns initial point;
Judge whether to have accomplished aforesaid operations, if, carry out step 11, if not, carry out step 10;
Step 7, carry out fault detect, and get rid of fault, carry out step 2;
Step 8, production line stop, and the inspection reason is fixed a breakdown, and carry out step 3;
Step 9, judge whether to exist fault, if, then carry out step 8, if not, then carry out step 5;
Step 10, judge whether to exist fault, if, then carry out step 8, if not, then carry out step 6;
Step 11, dolly driving shaft are separated synchronously, stop fast and reverse, high speed is back to the dolly origin position, waits for the arrival in next cutting cycle.
In the described step 2, the systematic parameter of setting has the length of welded tube, material, welded tube external diameter, wall thickness, saw blade type, saw blade diameter, saw blade thickness, the saw blade number of teeth, maximum tooth load.
In the described step 2,
Blade rotation axis line speed is calculated as?:
;
Where, V is the linear velocity,
= 3.14, D for the saw blade diameter,
for the blade rotation axis motor speed.
In the described step 3,
Feed propulsion propeller shaft speed is calculated as:?
;
Where,
is the forward speed,
is the saw blade motor speed, Z for the saw blade teeth, C is the amount of feed per tooth,
is the position of the feed coefficient of the propeller shaft.
According to the propeller shaft in different positions, the location factor
is not the same, the location factor
in the range of 0.0 to 1.
The present invention is stable, and reliability is high, and response is fast, and precision is high, and otch does not have burr, do not have distortion, noise is little, maintains easily.
Description of drawings
Fig. 1 and Fig. 2 are the three-axis structure sketch mapes of three online cutting CNC milling machines of servo-actuated provided by the invention;
Fig. 3 is the electrical block diagram of three follow-up control devices;
Fig. 4 is the flow chart of three follow-up control methods provided by the invention.
The specific embodiment
Following according to Fig. 1～Fig. 4, specify preferred embodiment of the present invention.
Fig. 1 is the three-axis structure front view of three online cutting CNC milling machines of servo-actuated; Fig. 2 is the three-axis structure side view of three online cutting CNC milling machines of servo-actuated; As depicted in figs. 1 and 2; Three online cutting CNC milling machines of servo-actuated have three-axis structure, and this three-axis structure comprises dolly driving shaft 2, feeding cardan shaft 3 and saw blade rotating shaft 1.Described dolly driving shaft 2 drives dolly and on conveyer belt, moves, and described feeding cardan shaft 3 is arranged on the dolly, and this feeding cardan shaft 3 drives 1 motion of saw blade rotating shaft.
Among Fig. 1 and Fig. 2, the origin position 4 of dolly and the origin position 5 of feeding cardan shaft have been identified.
Increased feeding cardan shaft 3, when the online cutting of milling machine welded tube 6, can regulate the speed of saw blade incision welded tube arbitrarily, do not had cardan shaft before having avoided, directly driven the saw blade cutting and the shortcoming that causes by cylinder.
The present invention provides a kind of three follow-up control methods that are used for three online cutting CNC milling machines of servo-actuated; This control method realizes based on three follow-up control devices; As shown in Figure 3; These three follow-up control devices comprise motion control unit 101; The rectification feedback unit 102 that is connected with motion control power supply 101 circuit; The some servo drive units 103 that are connected with rectification feedback unit 102 circuit; The survey long codes device 104 that is connected with servo drive unit 103 circuit; And circuit connects the input/output module 105 and remote I/O module 106 of said motion control unit 101, and described servo drive unit 103 circuit respectively connects described dolly driving shaft 2, feeding cardan shaft 3 and saw blade rotating shaft 1.
The SINAMICS-SIMOTION D425 that described motion control unit 101 adopts Siemens; These motion control unit 101 logic of sets controls, technology controlling and process, motion control are in one; Existing common disjunction operation control function; Can realize again location, angle synchronously, motion control functions such as electronic gear and electric cam; And can effectively compensate mechanical clearance; Reach best control accuracy; Control and coordinate all driver modules in the whole drive system, accomplish the control of each speed ring, electric current loop even position ring.Communication interface Drive-CLiQ through Siemens between motion control unit 101 and rectification feedback unit 102 and the servo drive unit 103 realizes real-time synchronous communication.
Described rectification feedback unit 102 is rectified into direct current with three-phase alternating current, supplies with each servo drive unit 103, and this rectification feedback unit 102 can also directly feed back to electrical network with braking energy.
Described servo drive unit 103 becomes three-phase alternating current with dc inverter; Drive the axis servomotor motor and control each motion; The axis servomotor motor can be selected the 1FT6 serial motors for use; The 1FT6 motor is structure and is compact permagnetic synchronous motor; This motor has satisfied the peak demand at dynamic property, speed adjustable range and speed and aspects such as position, precision; Be built-in with absolute value encoder, and be connected to servo drive unit 103, be exclusively used in the high-performance lathe through Drive-CLIQ.
Described input/output module 105 is selected SIEMENS MP277 series for use, and as the input of all technological parameters of user, the output of video data and all failure codes is used.
Described remote I/O module 106 is convenient to the input that the valve of milling machine fuselage etc. is carried out the sensing components and parts such as control and sensor of components and parts.Adopt the ET200S series of SIEMENS, adopt Profibus-DP with the communication of control module.
Described survey long codes device 104 is used to detect the speed of production of welded tube.
As shown in Figure 4, described three follow-up control methods that are used for three online cutting CNC milling machines of servo-actuated comprise following steps:
Step 1, three follow-up control devices start, and carry out self check, if self check is passed through, then carry out steps 2, if self check is not passed through, then carry out steps 7;
Step 2, utilize input/output module that systematic parameter is set; Make three follow-up control devices get into SBR; Motion control unit control servo drive unit starts the saw blade rotating shaft; And judge whether the saw blade rotating shaft rotates according to the linear velocity of motion control unit setting; If carry out step 3, if not; Then continue to wait for, rotate according to the linear velocity that motion control unit is set up to the saw blade rotating shaft;
The systematic parameter that is provided with has the length, material, welded tube external diameter, wall thickness, saw blade type, saw blade diameter, saw blade thickness, the saw blade number of teeth, maximum tooth load of welded tube etc.;
Blade rotation axis line speed is calculated as?:?
Where, V is the linear velocity (M / min),
= 3.14, D for the saw blade diameter (mm),
for the blade rotation axis motor speed (RPM), the factors affecting the motor speed: pipe diameter, wall thickness, etc.;
Step 3, milling machine get into auto state, judge whether the main frame production line starts, if then carry out step 4;
This milling machine has three kinds of duties: manual state-emulation mode-auto state;
Manual state: behind the milling equipment power-up initializing, system can automatically get into manual state, and under this state, each of milling machine spool can only manual operation;
Emulation mode: whether this state is normal in order to simulate each function of this milling machine, is used to test usefulness, do not produce when the main frame line, when speed measuring coder is not worked, can get into emulation mode, allows the milling machine simulation start, and watches milling machine ruuning situation;
Auto state: the main frame line will be started shooting when producing continuously, and this milling machine must get into auto state, and during auto state, milling machine can be accomplished each all action automatically, satisfies the demand of cutting automatically;
The main frame production line is the moulding of being responsible for welded tube, the production equipment of welding;
Step 4, survey long codes device start, and measure the length and the linear velocity of welded tube, send to motion control unit, if it is in proper working order to survey the long codes device, motion control unit has been received the data of survey long codes device, then carry out step 5, if not, then carry out step 8;
Step 5, reach soon when setting pipe range when surveying long codes device cumulative length; Motion control unit sends signal; The dolly driving shaft starts fast; Drive moving of car; And make that the accumulative total pipe range of just surveying the long codes device is the pipe range that sets when the movement velocity of the movement velocity of dolly and welded tube keeps synchronous;
Judge whether to have accomplished aforesaid operations, if, carry out step 6, if not, carry out step 9;
The dolly driving shaft with sliding machine (having rotating saw blade on the dolly); Need remove to follow the tracks of the line speed of synchronous welded tube; Have only the speed of dolly and welded tube to keep synchronous; Saw blade just can carry out the feeding cutting; Otherwise saw blade will be burst apart; Angular cut perhaps occurs, this also is the difficult point of online cutting.When motion control unit control dolly driving shaft starts, acceleration what, when reach synchronous with welded tube;
Step 6, motion control unit send signal, and the feeding cardan shaft starts fast, and the propelling curve according to motion control unit is set cuts welded tube, and after cutting was accomplished, the feeding cardan shaft reversed fast, and returns initial point;
Judge whether to have accomplished aforesaid operations, if, carry out step 11, if not, carry out step 10;
Feed propulsion propeller shaft speed is calculated as:?
;
Where,
is the advance speed (mm / min),
to the blade motor speed (RPM / min), Z of the blade teeth, C is the amount of feed per tooth (mm / tooth),
is the position of the feed coefficient of the propeller shaft (0.0 to 1).
According to the propeller shaft in different positions, the location factor
is not the same, that is the propeller shaft of the propeller shaft forward speed is different according to different positions, and continue to change.
The motor speed of feeding cardan shaft is earlier to calculate fltting speed by above-mentioned formula, then according to seize back confiscated property out the motor speed of cardan shaft of the pitch of mechanical leading screw.
The factor that influences the propelling curve of feeding cardan shaft has: the position of the amount of feeding of the diameter of welded tube, wall thickness, sawtooth, the number of teeth, cardan shaft etc., and advance curve directly to have influence on the flatness of welded tube otch, have or not properties of product such as burr;
Step 7, carry out fault detect, and get rid of fault, carry out step 2;
Step 8, production line stop, and the inspection reason is fixed a breakdown, and carry out step 3;
Step 9, judge whether to exist fault, if, then carry out step 8, if not, then carry out step 5;
Step 10, judge whether to exist fault, if, then carry out step 8, if not, then carry out step 6;
Step 11, dolly driving shaft are separated synchronously, stop fast and reverse, high speed is back to the dolly origin position, waits for the arrival in next cutting cycle.
Although content of the present invention has been done detailed introduction through above preferred embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.After those skilled in the art have read foregoing, for multiple modification of the present invention with to substitute all will be conspicuous.Therefore, protection scope of the present invention should be limited appended claim.
Claims (6)
1. the online cutting CNC milling machine of three servo-actuateds is characterized in that this milling machine has three-axis structure, and this three-axis structure comprises dolly driving shaft (2), feeding cardan shaft (3) and saw blade rotating shaft (1);
Described dolly driving shaft (2) drives dolly and on conveyer belt, moves, and described feeding cardan shaft (3) is arranged on the dolly, and this feeding cardan shaft (3) drives saw blade rotating shaft (1) motion.
2. three follow-up control methods that are used for three online cutting CNC milling machines of servo-actuated, this control method realizes based on three follow-up control devices, it is characterized in that, these three follow-up control methods comprise following steps:
Step 1, three follow-up control devices start, and carry out self check, if self check is passed through, then carry out steps 2, if self check is not passed through, then carry out steps 7;
Step 2, utilize input/output module that systematic parameter is set; Make three follow-up control devices get into SBR; Motion control unit control servo drive unit starts the saw blade rotating shaft; And judge whether the saw blade rotating shaft rotates according to the linear velocity of motion control unit setting; If carry out step 3, if not; Then continue to wait for, rotate according to the linear velocity that motion control unit is set up to the saw blade rotating shaft;
Step 3, milling machine get into auto state, judge whether the main frame production line starts, if then carry out step 4;
Step 4, survey long codes device start, and measure the length and the linear velocity of welded tube, send to motion control unit, if it is in proper working order to survey the long codes device, motion control unit has been received the data of survey long codes device, then carry out step 5, if not, then carry out step 8;
Step 5, reach soon when setting pipe range when surveying long codes device cumulative length; Motion control unit sends signal; The dolly driving shaft starts fast; Drive moving of car; And make that the accumulative total pipe range of just surveying the long codes device is the pipe range that sets when the movement velocity of the movement velocity of dolly and welded tube keeps synchronous;
Judge whether to have accomplished aforesaid operations, if, carry out step 6, if not, carry out step 9;
Step 6, motion control unit send signal, and the feeding cardan shaft starts fast, and the propelling curve according to motion control unit is set cuts welded tube, and after cutting was accomplished, the feeding cardan shaft reversed fast, and returns initial point;
Judge whether to have accomplished aforesaid operations, if, carry out step 11, if not, carry out step 10;
Step 7, carry out fault detect, and get rid of fault, carry out step 2;
Step 8, production line stop, and the inspection reason is fixed a breakdown, and carry out step 3;
Step 9, judge whether to exist fault, if, then carry out step 8, if not, then carry out step 5;
Step 10, judge whether to exist fault, if, then carry out step 8, if not, then carry out step 6;
Step 11, dolly driving shaft are separated synchronously, stop fast and reverse, high speed is back to the dolly origin position, waits for the arrival in next cutting cycle.
3. three follow-up control methods that are used for three online cutting CNC milling machines of servo-actuated as claimed in claim 2; It is characterized in that; In the described step 2, the systematic parameter of setting has the length of welded tube, material, welded tube external diameter, wall thickness, saw blade type, saw blade diameter, saw blade thickness, the saw blade number of teeth, maximum tooth load.
4. three follow-up control methods that are used for three online cutting CNC milling machines of servo-actuated as claimed in claim 2 is characterized in that, in the described step 2,
Blade rotation axis line speed is calculated as?:
;
Where, V is the linear velocity,
= 3.14, D for the blade diameter,
for the blade rotation axis motor speed.
5. three follow-up control methods that are used for three online cutting CNC milling machines of servo-actuated as claimed in claim 2 is characterized in that, in the described step 3,
Feed propulsion propeller shaft speed is calculated as:?
;
Where,
To promote speed,
for the saw blade motor speed, Z for the saw blade teeth, C is the amount of feed per tooth,
is the position of the feed coefficient of the propeller shaft .
As claimed in claim 5, wherein for a three-axis CNC milling machine with movable cutting line follow-up control method for a three-axis, characterized in that, according to the different positions of the propeller shaft, the location coefficient
is not the same , the position coefficient
in the range of 0.0 to 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110214287 CN102350541B (en) | 2011-07-29 | 2011-07-29 | Three-shaft following online cutting numerical control milling machine and three-shaft following control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110214287 CN102350541B (en) | 2011-07-29 | 2011-07-29 | Three-shaft following online cutting numerical control milling machine and three-shaft following control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102350541A true CN102350541A (en) | 2012-02-15 |
| CN102350541B CN102350541B (en) | 2013-11-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110214287 Expired - Fee Related CN102350541B (en) | 2011-07-29 | 2011-07-29 | Three-shaft following online cutting numerical control milling machine and three-shaft following control method thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105296685A (en) * | 2015-11-21 | 2016-02-03 | 北京恒图科技有限公司 | Control method for two-cross-beam four-tool-bit cutting equipment |
| CN106054818A (en) * | 2016-06-23 | 2016-10-26 | 天津钢管集团股份有限公司 | Intelligent control device of constant torque during billet cutting and operating method |
| CN106424916A (en) * | 2016-12-08 | 2017-02-22 | 大连三高集团有限公司 | Automatic control system and automatic control method for flying saw machine |
| CN108568740A (en) * | 2017-03-09 | 2018-09-25 | 小松Ntc株式会社 | The cutting workpiece processing method of wire saw and wire saw |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08276317A (en) * | 1995-04-06 | 1996-10-22 | Sumitomo Metal Ind Ltd | Cutting method of rotary hot saw |
| JP2004106101A (en) * | 2002-09-18 | 2004-04-08 | Nakata Mfg Co Ltd | Pipe cutting method |
| CN2820400Y (en) * | 2005-09-19 | 2006-09-27 | 洛阳市双勇机器制造有限公司 | Follower flying saw machine |
-
2011
- 2011-07-29 CN CN 201110214287 patent/CN102350541B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08276317A (en) * | 1995-04-06 | 1996-10-22 | Sumitomo Metal Ind Ltd | Cutting method of rotary hot saw |
| JP2004106101A (en) * | 2002-09-18 | 2004-04-08 | Nakata Mfg Co Ltd | Pipe cutting method |
| CN2820400Y (en) * | 2005-09-19 | 2006-09-27 | 洛阳市双勇机器制造有限公司 | Follower flying saw machine |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105296685A (en) * | 2015-11-21 | 2016-02-03 | 北京恒图科技有限公司 | Control method for two-cross-beam four-tool-bit cutting equipment |
| CN106054818A (en) * | 2016-06-23 | 2016-10-26 | 天津钢管集团股份有限公司 | Intelligent control device of constant torque during billet cutting and operating method |
| CN106054818B (en) * | 2016-06-23 | 2018-10-02 | 天津钢管集团股份有限公司 | The permanent torque intelligent controlling device and operating method of steel billet cutting process |
| CN106424916A (en) * | 2016-12-08 | 2017-02-22 | 大连三高集团有限公司 | Automatic control system and automatic control method for flying saw machine |
| CN108568740A (en) * | 2017-03-09 | 2018-09-25 | 小松Ntc株式会社 | The cutting workpiece processing method of wire saw and wire saw |
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| Publication number | Publication date |
|---|---|
| CN102350541B (en) | 2013-11-06 |
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