CN115383887A - Automatic high-precision cutting device and method for thistle board - Google Patents
Automatic high-precision cutting device and method for thistle board Download PDFInfo
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- CN115383887A CN115383887A CN202211152550.6A CN202211152550A CN115383887A CN 115383887 A CN115383887 A CN 115383887A CN 202211152550 A CN202211152550 A CN 202211152550A CN 115383887 A CN115383887 A CN 115383887A
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- 238000005520 cutting process Methods 0.000 title claims abstract description 82
- 238000000034 method Methods 0.000 title claims abstract description 19
- 241000132536 Cirsium Species 0.000 title claims abstract description 7
- 230000033001 locomotion Effects 0.000 claims abstract description 100
- 230000001360 synchronised effect Effects 0.000 claims abstract description 77
- 230000005540 biological transmission Effects 0.000 claims abstract description 26
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 7
- 229910052602 gypsum Inorganic materials 0.000 claims description 85
- 239000010440 gypsum Substances 0.000 claims description 85
- 238000010008 shearing Methods 0.000 claims description 30
- 238000005457 optimization Methods 0.000 claims description 16
- 230000003993 interaction Effects 0.000 claims description 8
- 239000011507 gypsum plaster Substances 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 18
- 230000033228 biological regulation Effects 0.000 abstract description 4
- 238000003754 machining Methods 0.000 abstract description 4
- 230000004044 response Effects 0.000 abstract description 4
- 230000009471 action Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 230000001050 lubricating effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000008569 process Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000009751 slip forming Methods 0.000 description 1
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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
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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
- 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
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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
- 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
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- 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
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- 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
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Abstract
The invention discloses an automatic high-precision cutting device and method for a thistle board, which comprises the following steps: the cutting device comprises a motion controller, a double-shaft motor module, a servo motor module and a cutter structure, wherein the motion controller is electrically connected with the double-shaft motor module, the double-shaft motor module is electrically connected with the servo motor module, and the servo motor module is connected with the cutter structure in a control mode. The invention utilizes the upper cutter and the lower cutter to carry out bidirectional cutting, and carries out electronic gear synchronization between the upper cutter and the lower cutter, the electronic gear is an independent shaft, thereby avoiding an intermediate link and mechanical loss, realizing stepless speed regulation through software, having good transmission flexibility and high control precision, and not generating mechanical back clearance. Then the cutter and the production line main line are synchronized by an electronic cam, the response time of the control mode is short, and the machining difficulty is low.
Description
Technical Field
The invention relates to the technical field of gypsum board cutting, in particular to an automatic high-precision cutting device and method for a paper-surface gypsum board.
Background
The research of unmanned automation technology in the intelligent production process of the paper-surface gypsum board is developed, and the concrete requirements of industrial 4.0 strategy and Chinese 2025 action compendium are met. Through comprehensive acquisition and deep analysis of the production process and the control mode of a production field, the deep-level reasons causing production bottlenecks and product defects are found, and the production efficiency and the product quality of the gypsum board are continuously improved. The comprehensive analysis is developed based on field data acquisition, the production control level of the gypsum board is improved, field operators are reduced, the intervention of the operators on production is reduced, the operation cost of enterprises is reduced, resources and energy can be effectively saved, and the method has far-reaching practical significance.
The cutting machine is key equipment of a gypsum board production line and has the function of cutting and grouping wet gypsum boards which are continuously formed, and the cutting precision is closely related to subsequent production, so that the cutting precision and the cutting stability of the cutting machine are improved, the continuous production of the gypsum board production line is guaranteed, and the key factor for improving the production input and output capacity is also realized. In the prior art, a straight gear is used for transmission of a gypsum board cutting machine, the lubricating condition is poor, and the machine needs to be stopped to open a protective cover and paint lubricating grease during lubrication; therefore, the transmission gear is easy to wear, a gap is easy to generate in the transmission process of a transmission system, the transmission precision is not high, and the cutting precision of the gypsum board is not high; in addition, the adjustment of the distance between the upper cutter and the lower cutter and the relative rotation angle is very inconvenient, the machine must be stopped during adjustment, the protective cover is opened, the positioning bolt is loosened, and the machine is fastened after adjustment, so that the machine is quite troublesome, is not favorable for stable production, and is not suitable for the production requirement of a large thistle board production line.
Disclosure of Invention
The invention aims to provide an automatic high-precision cutting device and method for a thistle board, which aim to solve the technical problems of low cutting precision and low stability and controllability in the prior art.
In order to solve the technical problems, the invention specifically provides the following technical scheme:
an automatic high accuracy cutting device of thistle board includes: the device comprises a motion controller, a double-shaft motor module, a servo motor module and a cutter structure, wherein the motion controller is electrically connected with the double-shaft motor module, the double-shaft motor module is electrically connected with the servo motor module, the servo motor module is connected with the cutter structure in a control way, wherein,
the motion controller is used for setting a running track program for controlling the cutter structure to rotate along the running track according to the cutting length of the gypsum plaster board and the structural parameters of the cutter structure, the double-shaft motor module is used for executing the running track program and outputting a driving signal for controlling the servo motor module to rotate, the servo motor module is used for rotating according to the driving signal to provide a driving force for the cutter structure to rotate according to the running track, and the cutter structure is used for rotating according to the driving force along the running track to continuously cut off the gypsum plaster board from the paper surface according to the cutting length in transmission at high precision.
As a preferred scheme of the present invention, the servo motor module includes an upper cutter servo motor and a lower cutter servo motor, both the upper cutter servo motor and the lower cutter servo motor are electrically connected to the biaxial motor module, the cutter structure includes an upper cutter and a lower cutter, the upper cutter servo motor is connected to the upper cutter control, the lower cutter servo motor is connected to the lower cutter control, the upper cutter is located above the gypsum board on the paper surface in conveying, the lower cutter is located below the gypsum board on the paper surface in conveying, both the upper cutter servo motor and the lower cutter servo motor are configured to perform a rotational motion according to a same driving signal to provide a same driving force for the upper cutter and the lower cutter to perform a rotational motion according to the operation trajectory, and the upper cutter and the lower cutter perform a synchronous rotational motion along the operation trajectory respectively above and below the gypsum board in conveying under the same driving force, so as to perform a bidirectional continuous fixed-point cutting on the gypsum board in conveying according to the cutting length above and below the gypsum board, thereby achieving an improvement in fixed point cutting accuracy.
As a preferable aspect of the present invention, the motion controller includes an interaction unit, a motion trajectory planning unit, and a trajectory program generating unit, the interaction unit is configured to input a cutting length of the gypsum plasterboard, the motion trajectory planning unit is configured to set a motion trajectory including a rotation start point, a shearing point, a synchronization start point, and a synchronization end point of the upper cutter/the lower cutter, and a rotation speed between the points, according to a cutting circumference size formed by a rotation motion of the upper cutter/the lower cutter, the motion trajectory program generating unit is configured to generate the motion trajectory program including a driving signal output value according to the motion trajectory code, a rotation speed between the synchronization start point and the synchronization end point of the upper cutter and the lower cutter is identical to a transfer speed of the gypsum plasterboard being transferred, a rotation direction between the synchronization start point and the synchronization end point of the upper cutter and the lower cutter is identical to a transfer direction of the gypsum plasterboard being transferred, and a rotation direction between the synchronization end point and the synchronization start point of the upper cutter and the lower cutter is opposite to the transfer direction of the gypsum plasterboard being transferred.
As a preferable mode of the present invention, the shearing point of the upper cutter and the shearing point of the lower cutter are located on the same vertical longitudinal axis as the paper-faced gypsum board in conveyance, and are respectively located on the upper end face and the lower end face of the paper-faced gypsum board in conveyance to realize bidirectional cutting of the paper-faced gypsum board from the upper end face of the paper-faced gypsum board and the lower end face of the paper-faced gypsum board in the same longitudinal direction.
As a preferable mode of the present invention, the size of the shearing circumference formed by the rotational motion of the upper cutter is the same as the size of the shearing circumference formed by the rotational motion of the lower cutter, and the track profile size of the running track is the same as the size of the shearing circumference formed by the rotational motion of the upper cutter/the lower cutter.
As a preferable aspect of the present invention, there is provided a high-precision cutting method according to the automatic high-precision cutting device for gypsum plasterboards, comprising the steps of:
s1, setting a running track program for controlling a cutter structure to rotate along a running track according to the cutting length of the gypsum plaster board and the structural parameters of the cutter structure, and controlling a double-shaft motor module to execute the running track program and output a driving signal for controlling a servo motor module to rotate;
s2, the servo motor module performs rotary motion according to the driving signal to provide a driving force for the cutter structure to perform rotary motion according to the running track;
and S3, the cutter structure rotates along the running track according to the driving force so as to continuously cut off the paper gypsum board in transmission at high precision according to the cutting length.
As a preferable scheme of the present invention, in step S1, the running track includes a rotation starting point, a shearing point, a synchronization starting point, a synchronization ending point, and rotation speeds between the points, the synchronization starting point and the synchronization ending point are symmetrically set on two sides of the shearing point on the track profile according to a preset length, the rotation starting point and the shearing point are symmetrically set on two sides of a same circular mandrel located on the track profile, and the rotation speed of the upper cutter and the lower cutter between the synchronization starting point and the synchronization ending point is set as a conveying speed of the paper-faced gypsum board during conveying.
As a preferred embodiment of the present invention, the method for setting the rotation speed of the upper cutter and the lower cutter between the synchronous end point and the synchronous start point based on the cutting length and the track profile size of the running track by using the optimization algorithm comprises:
dividing the cutting length by the conveying rotating speed of the paper-surface gypsum board in conveying to obtain the cutting time interval of the paper-surface gypsum board, wherein the cutting time interval of the paper-surface gypsum board is the same as the time of the upper cutter/lower cutter in rotating motion for one circle along the running track, and dividing the preset length from the synchronous starting point to the synchronous end point by the conveying rotating speed to obtain the time of the upper cutter/lower cutter in the running track in rotating motion from the synchronous starting point to the synchronous end point;
subtracting the time of the rotary motion of the upper cutter/the lower cutter from the synchronous initial point to the synchronous end point from the cutting time interval of the paper-surface gypsum board to obtain the time of the rotary motion of the upper cutter/the lower cutter from the synchronous end point to the synchronous initial point, and equally dividing the time of the rotary motion of the upper cutter/the lower cutter from the synchronous end point to the synchronous initial point according to preset time length to obtain a group of motion time sequences { t } i |i∈[1,n]N is the total number of motion sequences;
setting a rotational speed v for the upper/lower cutter at each movement timing i |i∈[1,n]Quantifying the total fluctuation degree between adjacent motion time sequences by using a variance formula to serve as an optimization function of the rotation speed, wherein the optimization function of the rotation speed is as follows:
where δ is the sum of the fluctuation degrees between adjacent motion sequences, v i+1 、v i Respectively, the rotational speed at the ith motion sequence, t i The ith movement time sequence is, and min is a minimization operator;
carrying out integral solution on the rotation speed and the operation time sequence at each motion time sequence to obtain the rotation length from a synchronous end point to a synchronous start point, and taking the rotation speed limit of a servo motor module as a constraint condition of the optimization function, wherein the function expression of the constraint condition is as follows:
wherein 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 The maximum rotating speed reached by the servo motor module;
solving the optimization function of the rotating speed based on the constraint condition to obtain the rotating speed { v } i |i∈[1,n]The determined value.
As a preferred scheme of the present invention, in step S1 and step S2, the dual-axis motor module synchronously transmits the driving 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 the driving forces for respectively driving the upper cutter and the lower cutter.
In a preferred embodiment of the present invention, in step S3, the upper cutter and the lower cutter synchronously receive the driving force and synchronously rotate along the running track, so as to synchronously run to the shearing point to cut off the paper-surface gypsum board in conveying in two directions.
Compared with the prior art, the invention has the following beneficial effects:
the invention utilizes the upper cutter and the lower cutter to carry out bidirectional cutting, and carries out electronic gear synchronization between the upper cutter and the lower cutter, the electronic gear is an independent shaft, thereby avoiding an intermediate link and mechanical loss, realizing stepless speed regulation through software, having good transmission flexibility and high control precision, and not generating mechanical back clearance. Then the cutter and the production line main line are synchronized through an electronic cam, the response time of a control mode is short, the machining difficulty is low, and the rotation speed on the running track is set by utilizing the minimized speed fluctuation, so that the running stability of the upper cutter servo motor and the lower cutter servo motor is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary and that other implementation drawings may be derived from the provided drawings by those of ordinary skill in the art without inventive effort.
Fig. 1 is a schematic structural view of an automatic high-precision cutting device for a gypsum board with paper surface according to an embodiment of the present invention;
fig. 2 is a flowchart of a high-precision cutting method according to an embodiment of the present invention.
The reference numerals in the drawings denote the following, respectively:
1-a motion controller; 2-a dual-shaft motor module; 3-a servo motor module; 4-cutter structure; 5-starting point of rotation; 6-shearing point; 7-sync start point; 8-synchronization end point; 9-a running track; 10-gypsum plasterboard; 301-upper cutter servo motor; 302-lower cutter servo motor; 401-upper cutter; 402-lower cutter.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present invention provides an automatic high-precision cutting device for gypsum plasterboards, comprising: the device comprises a motion controller 1, a double-shaft motor module 2, a servo motor module 3 and a cutter structure 4, wherein the motion controller 1 is electrically connected with the double-shaft motor module 2, the double-shaft motor module 2 is electrically connected with the servo motor module 3, the servo motor module 3 is connected with the cutter structure 4 in a control way,
the motion controller 1 is used for setting a running track program for controlling the cutter structure 4 to rotate along the running track according to the cutting length of the gypsum plasterboard and the structural parameters of the cutter structure 4, the double-shaft motor module 2 is used for executing the running track program and outputting a driving signal for controlling the servo motor module 3 to rotate, the servo motor module 3 is used for performing rotation according to the driving signal to provide a driving force for the cutter structure 4 to perform rotation according to the running track, and the cutter structure 4 is used for performing rotation according to the driving force along the running track to perform high-precision continuous cutting on the gypsum plasterboard in conveying according to the cutting length.
The servo motor module 3 comprises an upper cutter servo motor 301 and a lower cutter servo motor 302, the upper cutter servo motor 301 and the lower cutter servo motor 302 are both electrically connected with the double-shaft motor module 2, the cutter structure 4 comprises an upper cutter 401 and a lower cutter 402, the upper cutter servo motor 301 is in control connection with the upper cutter 401, the lower cutter servo motor 302 is in control connection with the lower cutter 402, the upper cutter 401 is located above the gypsum board on the paper surface in conveying, the lower cutter 402 is located below the gypsum board on the paper surface in conveying, the upper cutter servo motor 301 and the lower cutter servo motor 302 are both used for performing rotary motion according to the same driving signal to respectively provide the same driving force for the upper cutter 401 and the lower cutter 402 to perform rotary motion according to the running track, and the upper cutter 401 and the lower cutter 402 perform synchronous rotary motion respectively above and below the gypsum board on the paper surface in conveying along the running track under the action of the same driving force, so that the fixed point precision of the gypsum board on the paper surface in conveying is continuously improved according to the cutting.
The motion controller 1 comprises an interaction unit, a motion trajectory planning unit and a trajectory program generating unit, wherein the interaction unit is used for inputting the cutting length of the gypsum plasterboard, the motion trajectory planning unit is used for setting a motion trajectory comprising a rotation starting point, a shearing point, a synchronous starting point, a synchronous ending point and a rotation speed between the points of the upper cutter 401/the lower cutter 402 according to the cutting length input by the interaction unit and the shearing circumference size formed by the rotation motion of the upper cutter 401/the lower cutter 402, the trajectory program generating unit is used for generating the motion trajectory program comprising a driving signal output value according to the motion trajectory code, the rotation speed between the synchronous starting point and the synchronous ending point of the upper cutter 401 and the lower cutter 402 is consistent with the transmission speed of the gypsum plasterboard in transmission, the rotation direction between the synchronous starting point and the synchronous ending point of the upper cutter 401 and the lower cutter 402 is the same as the transmission direction of the gypsum plasterboard in transmission, and the rotation direction between the synchronous ending point and the synchronous starting point of the upper cutter 401 and the lower cutter 402 is opposite to the transmission direction of the gypsum plasterboard in transmission.
The shearing point of the upper cutter 401 and the shearing point of the lower cutter 402 are positioned on the same vertical longitudinal axis of the paper-faced gypsum board in transmission and are respectively positioned on the upper end surface and the lower end surface of the paper-faced gypsum board in transmission so as to realize bidirectional cutting of the paper-faced gypsum board from the upper end surface of the paper-faced gypsum board and the lower end surface of the paper-faced gypsum board in the same longitudinal direction.
The size of a shearing circumference formed by the rotary motion of the upper cutter 401 is the same as that formed by the rotary motion of the lower cutter 402, and the track outline size of the running track is consistent with that formed by the rotary motion of the upper cutter 401/the lower cutter 402.
The servo upper cutter motor output shaft is directly connected with the upper cutter, the servo lower cutter motor output shaft is directly connected with the lower cutter, and the upper cutter and the lower cutter are not in mechanical connection relation, so that electronic gears are synchronized between the upper cutter and the lower cutter, namely the upper cutter and the lower cutter can synchronously rotate to shear on the paper-surface gypsum board, the electronic gears are independent shafts, intermediate links are omitted, mechanical loss is not needed to be considered, stepless speed regulation can be realized through software, transmission flexibility is good, gear ratios can be modified at will, control precision is high, and mechanical back gaps cannot be generated. Then the cutter is provided with a synchronous starting point and a synchronous end point, and the rotation speed of the cutter from the synchronous starting point to the synchronous end point is synchronized with the main line of the production line (the conveying speed of the paper-surface gypsum board) by an electronic cam. The control method has short response time and low machining difficulty, theoretically has an error of +/-0.5 mm, but takes mechanical aspects or other reasons into consideration, and the control precision of the method is +/-1 mm.
As shown in FIG. 2, the invention provides a high-precision cutting method based on an automatic high-precision cutting device for gypsum plasterboards, which comprises the following steps:
s1, setting a running track program for controlling a cutter structure to rotate along a running track according to the cutting length of the gypsum plaster board and the structural parameters of the cutter structure, and controlling a double-shaft motor module to execute the running track program and output a driving signal for controlling a servo motor module to rotate;
in the step S1, the operation trajectory includes a rotation starting point, a shearing point, a synchronous starting point, a synchronous ending point, and rotation speeds between the points, the synchronous starting point and the synchronous ending point are symmetrically set on both sides of the shearing point on the trajectory profile according to a preset length, the rotation starting point and the shearing point are symmetrically set on both sides of the same circular center shaft on the trajectory profile, and the rotation speeds of the upper cutter and the lower cutter between the synchronous starting point and the synchronous ending point are set as the conveying speeds of the paper-faced gypsum board in conveying.
Setting the rotating speeds of the upper cutter and the lower cutter between a synchronous end point and a synchronous starting point by utilizing an optimization algorithm based on the cutting length and the track contour size of the running track, wherein the rotating speeds comprise:
dividing the cutting length by the conveying rotating speed of the paper-surface gypsum board in conveying to obtain the cutting time interval of the paper-surface gypsum board, wherein the cutting time interval of the paper-surface gypsum board is the same as the time of the upper cutter/lower cutter in rotating motion for one circle along the running track, and dividing the preset length from the synchronous starting point to the synchronous end point by the conveying rotating speed to obtain the time of the upper cutter/lower cutter in the running track in rotating motion from the synchronous starting point to the synchronous end point;
subtracting the time of the rotary motion of the upper cutter/the lower cutter between the synchronous starting point and the synchronous ending point from the cutting time interval of the paper-surface gypsum board to obtain the time of the rotary motion of the upper cutter/the lower cutter between the synchronous ending point and the synchronous starting point, and equally dividing the time of the rotary motion of the upper cutter/the lower cutter between the synchronous ending point and the synchronous starting point according to preset time length to obtain a group of motion time sequences { t } i |i∈[1,n]N is the total number of motion sequences;
setting a rotational speed v for the upper/lower cutter at each movement timing i |i∈[1,n]Quantifying the total fluctuation degree between adjacent motion time sequences by using a variance formula to serve as an optimization function of the rotation speed, wherein the optimization function of the rotation speed is as follows:
where δ is the sum of the fluctuation degrees between adjacent motion sequences, v i+1 、v i Respectively, the rotational speed at the ith motion sequence, t i The ith movement time sequence is, and min is a minimization operator;
carrying out integral solution on the rotation speed and the operation time sequence at each motion time sequence to obtain the rotation length from a synchronous end point to a synchronous start point, and taking the rotation speed limit of a servo motor module as a constraint condition of the optimization function, wherein the function expression of the constraint condition is as follows:
wherein 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 The maximum rotating speed reached by the servo motor module;
solving the optimization function of the rotating speed based on the constraint condition to obtain the rotating speed { v } i |i∈[1,n]The determined value.
The minimum fluctuation sum of adjacent motion time sequences is an optimization target, so that the phenomenon of frequent sudden increase or decrease of speed can be avoided in the rotating operation process of the upper cutter/the lower cutter, and the stable speed alternation is kept between the adjacent time sequences, thereby ensuring the stable rotating operation of the cutters, improving the stability of the shearing process and improving the shearing precision.
S2, the servo motor module performs rotary motion according to the driving signal to provide driving force for the cutter structure to perform rotary motion according to the running track;
in the step S1 and the step S2, the dual-axis motor module synchronously transmits the driving 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 the driving forces for respectively driving the upper cutter and the lower cutter.
And S3, the cutter structure rotates along the running track according to the driving force so as to continuously cut off the paper gypsum board in transmission at high precision according to the cutting length.
In step S3, the upper cutter and the lower cutter synchronously receive the driving force and synchronously rotate along the running track to synchronously run to the shearing point to cut off the gypsum plasterboard in transmission in two directions.
The invention utilizes the upper cutter and the lower cutter to carry out bidirectional cutting, and carries out electronic gear synchronization between the upper cutter and the lower cutter, the electronic gear is an independent shaft, thereby avoiding an intermediate link and needing no consideration of mechanical loss, realizing stepless speed regulation by software, having good transmission flexibility and high control precision, and not generating mechanical back clearance. Then the cutter and the production line main line are synchronized through an electronic cam, the response time of a control mode is short, the machining difficulty is low, and the rotation speed on the running track is set by utilizing the minimized speed fluctuation, so that the running stability of the upper cutter servo motor and the lower cutter servo motor is improved.
The above embodiments are only exemplary embodiments of the present application, and are not intended to limit the present application, and the protection scope of the present application is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present application and such modifications and equivalents should also be considered to be within the scope of the present application.
Claims (10)
1. The utility model provides an automatic high accuracy cutting device of thistle board which characterized in that includes: the device comprises a motion controller (1), a double-shaft motor module (2), a servo motor module (3) and a cutter structure (4), wherein the motion controller (1) is electrically connected with the double-shaft motor module (2), the double-shaft motor module (2) is electrically connected with the servo motor module (3), the servo motor module (3) is in control connection with the cutter structure (4),
the motion controller (1) is used for setting a running track program for controlling the cutter structure (4) to rotate along the running track according to the cutting length of the gypsum plaster board and the structural parameters of the cutter structure (4), the double-shaft motor module (2) is used for executing the running track program to output a driving signal for controlling the servo motor module (3) to rotate, the servo motor module (3) is used for performing rotating motion according to the driving signal to provide a driving force for the cutter structure (4) to perform rotating motion according to the running track, and the cutter structure (4) is used for performing rotating motion according to the driving force along the running track to perform high-precision continuous cutting on the gypsum plaster board in transmission according to the cutting length.
2. The automatic high-precision cutting device for gypsum plasterboards according to claim 1, wherein: the automatic gypsum board cutting machine is characterized in that the servo motor module (3) comprises an upper cutter servo motor (301) and a lower cutter servo motor (302), the upper cutter servo motor (301) and the lower cutter servo motor (302) are electrically connected with the double-shaft motor module (2), the cutter structure (4) comprises an upper cutter (401) and a lower cutter (402), the upper cutter servo motor (301) is in control connection with the upper cutter (401), the lower cutter servo motor (302) is in control connection with the lower cutter (402), the upper cutter (401) is located above a gypsum board in conveying, the lower cutter (402) is located below the gypsum board in conveying, the upper cutter servo motor (301) and the lower cutter servo motor (302) are both used for performing rotary motion according to the same driving signal to respectively provide the upper cutter (401) and the lower cutter (402) with the same driving force for performing rotary motion according to the running track, the upper cutter (401) and the lower cutter (402) respectively perform rotary motion along the same running track under the same driving force to achieve the purpose of performing continuous cutting on the gypsum board from the upper side and the lower side to cut off the gypsum board, and the paper.
3. The automatic high-precision cutting device for gypsum plasterboards according to claim 2, wherein: the motion controller (1) comprises an interaction unit, a motion trajectory planning unit and a trajectory program generating unit, wherein the interaction unit is used for inputting the cutting length of the gypsum plasterboard, the motion trajectory planning unit is used for setting a motion trajectory which comprises a rotation starting point, a shearing point, a synchronous starting point, a synchronous ending point and a rotation speed between the points of an upper cutter (401)/a lower cutter (402) according to the cutting length input by the interaction unit and the size of a shearing circumference formed by the rotation motion of the upper cutter (401)/the lower cutter (402), the trajectory program generating unit is used for generating the motion trajectory program which comprises a driving signal output value according to the motion trajectory code, the rotation speed between the synchronous starting point and the synchronous ending point of the upper cutter (401) and the lower cutter (402) is consistent with the conveying speed of the gypsum plasterboard in conveying, the rotation direction between the synchronous starting point and the synchronous ending point of the upper cutter (401) and the lower cutter (402) is the same as the conveying direction of the gypsum plasterboard in conveying, and the rotation direction between the synchronous starting point and the synchronous ending point and the synchronous starting point of the upper cutter (401) and the lower cutter (402) is opposite to the synchronous ending point.
4. An automatic high-precision cutting device for gypsum plasterboards according to claim 3, wherein: the shearing point of the upper cutter (401) and the shearing point of the lower cutter (402) are positioned on the same vertical longitudinal axis of the paper-faced gypsum board in transmission and are respectively positioned on the upper end surface and the lower end surface of the paper-faced gypsum board in transmission so as to realize bidirectional cutting of the paper-faced gypsum board from the upper end surface of the paper-faced gypsum board and the lower end surface of the paper-faced gypsum board in the same longitudinal direction.
5. The automatic high-precision cutting device for gypsum plasterboards according to claim 4, wherein: the size of a shearing circumference formed by the rotary motion of the upper cutter (401) is the same as that formed by the rotary motion of the lower cutter (402), and the track profile size of the running track is consistent with that formed by the rotary motion of the upper cutter (401)/the lower cutter (402).
6. A high-precision cutting method of the automatic high-precision cutting device of the paper-surface gypsum board according to any one of claims 1 to 5, characterized by comprising the following steps:
s1, setting a running track program for controlling a cutter structure to rotate along a running track according to the cutting length of the gypsum plaster board and the structural parameters of the cutter structure, and controlling a double-shaft motor module to execute the running track program and output a driving signal for controlling a servo motor module to rotate;
s2, the servo motor module performs rotary motion according to the driving signal to provide driving force for the cutter structure to perform rotary motion according to the running track;
and S3, the cutter structure rotates along the running track according to the driving force so as to continuously cut the paper gypsum board in transmission at high precision according to the cutting length.
7. The high precision cutting method according to claim 6, wherein in step S1, the movement trajectory includes a rotation start point, a shearing point, a synchronization start point and a synchronization end point, and rotation speeds between the points, the synchronization start point and the synchronization end point are symmetrically set on both sides of the shearing point on the trajectory profile according to a preset length, the rotation start point and the shearing point are symmetrically set on both sides of a same circular center axis on the trajectory profile, and the rotation speed between the synchronization start point and the synchronization end point of the upper cutter and the lower cutter is set as a conveying speed of the paper-faced gypsum board being conveyed.
8. The high precision cutting method according to claim 7, wherein setting the rotation speed of the upper cutter and the lower cutter between the synchronous end point and the synchronous start point based on the cutting length and the trajectory profile size of the running trajectory by using an optimization algorithm comprises:
dividing the cutting length by the conveying rotating speed of the paper-surface gypsum board in conveying to obtain the cutting time interval of the paper-surface gypsum board, wherein the cutting time interval of the paper-surface gypsum board is the same as the time of the upper cutter/the lower cutter rotating for a circle along the running track, and dividing the preset length from the synchronous starting point to the synchronous end point by the conveying rotating speed to obtain the time of the upper cutter/the lower cutter rotating between the synchronous starting point to the synchronous end point in the running track;
subtracting the time of the upper cutter/the lower cutter in the rotary motion between the synchronous starting point and the synchronous ending point from the cutting time interval of the paper-surface gypsum board to obtain the time of the upper cutter/the lower cutter in the rotary motion between the synchronous ending point and the synchronous starting point, and carrying out the rotary motion between the synchronous ending point and the synchronous starting point on the upper cutter/the lower cutterDividing the same into equal parts according to preset duration to obtain a group of motion time sequences { t } i |i∈[1,n]N is the total number of motion sequences;
setting a rotation speed { v ] for the upper cutter/the lower cutter at each movement timing i |i∈[1,n]Quantifying the total fluctuation degree between adjacent motion time sequences by using a variance formula to serve as an optimization function of the rotation speed, wherein the optimization function of the rotation speed is as follows:
where δ is the sum of the fluctuation degrees between adjacent motion sequences, v i+1 、v i Respectively, the rotational speed at the ith motion sequence, t i For the ith motion sequence, min is the minimization operator;
and performing integral solution on the rotation speed and the running time sequence at each motion time sequence to obtain the rotation length from a synchronous end point to a synchronous start point, and taking the rotation speed limit of the servo motor module as a constraint condition of the optimization function, wherein the function expression of the constraint condition is as follows:
wherein 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 The maximum rotation speed reached by the servo motor module;
solving the optimization function of the rotating speed based on the constraint condition to obtain the rotating speed { v } i |i∈[1,n]The determined value.
9. The high accuracy cut-off method according to claim 6, wherein in step S1 and step S2, the dual-axis motor module synchronously transmits a driving 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 the driving forces for driving the upper cutter and the lower cutter, respectively.
10. A high-precision cutting method according to claim 6, wherein in step S3, the upper cutter and the lower cutter synchronously receive driving force and synchronously rotate along the running track so as to synchronously run to the cutting point to cut off the paper-surface gypsum board in transmission in two directions.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202211152550.6A CN115383887B (en) | 2022-09-21 | 2022-09-21 | Automatic high-precision cutting device and method for gypsum plaster board |
| PCT/CN2022/141986 WO2024060444A1 (en) | 2022-09-21 | 2022-12-26 | Automated high-precision cut-off device and method for paper-faced gypsum board |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211152550.6A CN115383887B (en) | 2022-09-21 | 2022-09-21 | Automatic high-precision cutting device and method for gypsum plaster board |
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| CN115383887B CN115383887B (en) | 2024-02-23 |
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| WO2024060444A1 (en) | 2024-03-28 |
| CN115383887B (en) | 2024-02-23 |
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