Cutting device and control system for special-shaped flexible materials based on optical reflection jitter detection and suppression

Abstract

The present invention discloses a cutting device for special-shaped flexible materials and its control system based on optical reflection jitter detection and suppression; the cutting tool is isolated from the movement of the machine body, the jitter information of the tool is detected by the optical reflection method, and the torsion piezoelectric ceramic and the deflection piezoelectric ceramic are respectively used to actively output control to eliminate the jitter of the tool, and the magnetic suspension is used to eliminate the dynamic impact; the position detection laser emitted by the laser diode is irradiated on the side of the blade, and the reflection on the quadrant photodetector is used to realize the position detection and rotation of the blade in the axial direction; the torsion piezoelectric ceramics fixed on the front and back surfaces inside the torsion fixing box are used to realize the rotation of the T-shaped fixing bracket around its central axis, and the deflection piezoelectric ceramic fixed on the upper surface inside the deflection piezoelectric ceramic realizes the deflection of the T-shaped fixing bracket through telescopic cooperation; the voice coil motor driving block is used to control the tool shaft fixed with the voice coil mover to realize the displacement compensation and jitter suppression in the axial direction.

Description

Technical Field

[0001] The present invention belongs to the field of efficient cutting of special-shaped flexible materials, and in particular relates to a cutting device for special-shaped flexible materials based on light reflection jitter detection and suppression and a control system thereof. Background Art

[0002] For the cutting of flexible materials, the existing cutting machine equipment can already realize intelligent and information-based cutting, but the requirements for cutting stability of different materials are different, which puts higher requirements on the working stability of our cutting operations.

[0003] When performing efficient cutting operations, the existing cutting methods have a heavy transmission mechanism, which causes the tool to produce a large movement acceleration during each acceleration and deceleration process, which is reflected in the cutting effect as a slight vibration of the tool. Even for equipment with good rigidity, the redundancy of the transmission system will cause slight vibration at the tool end, which needs to be avoided as much as possible for fine cutting and efficient cutting.

[0004] On the other hand, materials of different toughness and hardness exert different forces on the cutting tool during cutting operations. Especially when cutting uneven materials, the cutting tool will be subjected to non-periodic random impacts, which will greatly affect the quality of cutting for efficient cutting operations. Summary of the invention

[0005] Purpose of the invention: The present invention provides a cutting device and control system for special-shaped flexible materials based on light reflection jitter detection suppression, which can suppress the tool's own oscillation in high-speed operation through active compensation, achieve closed-loop feedback high-precision control and thus achieve efficient cutting.

[0006] Technical solution: A cutting device for special-shaped flexible materials based on light reflection jitter detection and suppression, comprising a flexible cutting panel provided on the upper end surface of a rectangular parallelepiped frame structure, on which the special-shaped flexible material to be cut is laid; an X-direction synchronous belt transmission mechanism is provided on one side of the rectangular parallelepiped frame structure, and a Y-direction screw transmission mechanism for realizing Y-direction movement is laid above the X-direction synchronous belt transmission mechanism, and the Y-direction screw transmission mechanism is arranged across the flexible cutting panel; a Z-direction screw transmission mechanism for realizing Z-direction movement is provided on the Y-direction screw transmission mechanism; a spacing distance is provided between the X-direction synchronous belt transmission mechanism and the Y-direction screw transmission mechanism, and the Y-direction screw transmission mechanism and the Z-direction screw transmission mechanism are connected to each other; a displacement detection vibration compensation module is fixedly installed on the Z-direction screw transmission mechanism;

[0007] The displacement detection vibration compensation module includes a fixed bracket, one end of which is fixed to the Z-direction screw drive mechanism; a rotary drive motor is fixed in the fixing hole of the fixed bracket near the fixed end; the shaft of the rotary drive motor is fixedly connected to the driving synchronous pulley, and the fixed bracket is provided with a driven synchronous pulley at the end far from the fixed end, and the driven synchronous pulley is connected to the driving synchronous pulley through a synchronous belt and transmits power.

[0008] Specifically, the driven synchronous pulley is fixedly connected to the connecting shaft and coaxially connected to the through hole at the end of the fixed bracket far from the fixed end; the end face at the lower end of the connecting shaft is fixed to the upper part of the torsion fixing box; a T-shaped groove is formed inside the torsion fixing box, and four deflection piezoelectric ceramics are symmetrically fixed along the x and y directions inside the T-shaped groove, and the suspension magnets symmetrically arranged below the four deflection piezoelectric ceramics cooperate to achieve fixation in the Z direction.

[0009] Specifically, two stabilizing springs are symmetrically installed between the torsion fixing box and the T-shaped fixing bracket to keep the central axis of the T-shaped fixing bracket coincident with the central axis of the connecting shaft; four torsion piezoelectric ceramics are symmetrically installed on the T-shaped fixing bracket in the XOZ plane, and the cooperation of the torsion piezoelectric ceramics and the stabilizing springs realizes the stability of the T-shaped fixing bracket in the XOY plane.

[0010] Specifically, a pair of elongated side plates are symmetrically arranged on both sides of the lower end of the T-shaped fixing bracket, and a tool shaft is arranged between the pair of elongated side plates; tool shaft outer magnetic rings are respectively fixed on the elongated side plates; a tool shaft inner magnetic ring is fixedly installed at the center of the two tool shaft outer magnetic rings, and the tool inner magnetic ring is fixed on the tool shaft, and a tool is vertically fixed at the center of the tool shaft.

[0011] Specifically, a laser diode is arranged on one side of the elongated side plate close to the tool, and a quadrant photodetector is fixedly installed inside the upper end of the elongated side plate. The laser diode focuses the laser on the side of the tool through position detection laser and then reflects it on the quadrant photodetector to detect the displacement and deflection angle of the tool; a drive plate is also arranged on one side of the elongated side plate.

[0012] A cylindrical voice coil motor drive block is fixedly installed on the inner side of one of the elongated side plates, and a voice coil mover is coaxially fixed on the voice coil motor drive block, and the voice coil mover is fixed on the tool shaft, and the axial movement is realized by driving the voice coil motor drive block.

[0013] Specifically, both ends of the tool shaft are hexagonal, and a circle of mover magnets, that is, 6 mover magnets, are fixedly installed on each side of the hexagon in a circumferential array. The T-shaped fixing bracket is fixedly connected to the drive plate, and the drive plate is located on one side of the elongated side plate; the mover magnets correspond one by one to the rotation drive electromagnets fixedly installed on the six side faces of the corresponding hexagonal empty slots of the drive plate.

[0014] A control system for an irregular flexible material cutting device based on optical reflection jitter detection suppresses the jitter of the cutting tool by isolating the movement of the cutting tool from the movement of the machine body. The jitter information of the tool is detected by the optical reflection method, and the torsional piezoelectric ceramics and the deflecting piezoelectric ceramics are respectively used to actively output control to eliminate the jitter of the tool in the x, y, and z directions, and the magnetic suspension is used to eliminate the dynamic impact in the Z direction. The specific implementation steps are as follows: The position detection laser emitted by the laser diode is focused on the blade and reflected on the quadrant photodetector. The quadrant photodetector is divided into PD1, PD2, PD3, and PD4. First, through the I-V conversion module, the photocurrent is converted into a photovoltage signal. Through the operation circuit, the X-direction movement signal obtained by PD1 + PD2 - PD3 - PD4 is passed through the phase-locked loop 1 to obtain the amplitude Ax and frequency fx in the X direction. Similarly, the Y-direction movement signal obtained by PD1 + PD3 - PD2 - PD4 is passed through the phase-locked loop 2 to obtain the amplitude Ay and frequency fy in the Y direction, and the information in the X and Y directions is input to the main control chip MCU for calculation. The obtained drive signal is respectively output by the digital-to-analog converter DAC to drive the voice coil motor drive block to drive the tool shaft fixed with the voice coil mover to achieve precise control of the blade in the Y direction. On the other hand, the MCU drive signal passes through another multi-channel digital-to-analog converter DAC and is output through a high-voltage amplifier to drive and control the torsional piezoelectric ceramics 1, 2, 3, 4 and the deflecting piezoelectric ceramics 1, 2, 3, 4 to achieve the deflection of the blade around the Z and Y axes and the torsion around the X axis.

[0015] Specifically, the specific position of the control process for controlling the torsional piezoelectric ceramics 1, 2, 3, 4 and the deflecting piezoelectric ceramics 1, 2, 3, 4 to achieve the deflection of the blade around the Z and Y axes is as follows:

[0016] First, initialize the voice coil motor drive block, the quadrant photodetector, and the rotation drive electromagnet; initialize the torsional piezoelectric ceramics and the deflecting piezoelectric ceramics. Subsequently, control the rotation drive electromagnet to achieve the rotation of the blade. Then, the laser diode measures the current of PD1 - 4 through the position detection laser reflected on the quadrant photodetector. Subsequently, after calculation, it is input to the phase-locked loops 1 and 2 to respectively calculate the amplitudes Ax, Ay and frequencies fx, fy in the X and Y directions. In the system, the amplitude judgment threshold DA, the frequency judgment threshold Df in the X and Y directions; the deflection warning threshold D; the X-direction frequency deviation Dfx = fxn + 1 - fxn, the Y-direction frequency deviation Dfy = fyn + 1 - fyn, the X-direction amplitude deviation DAx = Axn + 1 - Axn, the Y-direction amplitude deviation DAy = Ayn + 1 - Ayn are set. Secondly, judge the deflection information of the tool in its xyz directions by solving the blade movement signal in the xy directions of the quadrant photodetector.

[0017] Specifically, after the absolute value of the deflection position in the X direction detected by the quadrant photodetector is less than the set threshold D, it is sequentially determined whether the absolute value of the deflection position in the Y direction is less than the set threshold D, and whether the frequency deviations Dfx and Dfy are less than the threshold Df. When all are satisfied, it is determined that the jitter is extremely weak and negligible;

[0018] When the absolute value of the deflection position in the X direction detected by the quadrant photodetector is greater than the set threshold D, and further it is determined that the jitter frequency Dfx of the deflection in the X direction is less than the threshold Df, it indicates a deflection with a large linearity, that is, the displacement of the tool axis in the Y-axis direction. At this time, it is determined whether it is a positive deflection or a negative deflection. By testing the positive and negative of Ax, if it is positive, the voice coil motor drive block for axial offset outputs negatively, and vice versa, it outputs negatively;

[0019] When the absolute value of the deflection position in the X direction detected by the quadrant photodetector is greater than the set threshold D, and further it is determined that the jitter frequency Dfx of the deflection in the X direction is greater than the threshold Df, it indicates that the main movement of the blade is the deflection jitter around the Z-axis direction. Therefore, the direction is determined by further judging the deflection of the quadrant photodetector in the Y direction. When the deflection in the Y direction is negative, the deflection piezoelectric ceramic 1 extends; the deflection piezoelectric ceramic 2 retracts, and vice versa, the deflection piezoelectric ceramic 1 retracts; the deflection piezoelectric ceramic 2 extends;

[0020] When the absolute value of the deflection position in the X direction detected by the quadrant photodetector is less than the set threshold D, and further it is determined that the absolute value of the displacement amount Ay of the deflection in the Y direction is greater than the threshold D, it indicates that the jitter offset in the Y direction is relatively serious and needs to be compensated; then it is judged:

[0021] When the offset jitter frequency Dfy in the Y direction is greater than the threshold Df, it indicates that the blade twists around the y direction, and then the positive and negative of the direction are judged. When its displacement in the X direction is positive, the deflection piezoelectric ceramic 4 retracts, and the deflection piezoelectric ceramic 3 extends; vice versa, the deflection piezoelectric ceramic 3 retracts, and the deflection piezoelectric ceramic 4 extends;

[0022] When the offset jitter frequency Dfy in the Y direction is less than the threshold Df, it indicates that the blade twists around the x direction, and then the positive and negative of the direction are judged. When its displacement in the Y direction is positive, the torsion piezoelectric ceramics 1 and 4 retract; the torsion piezoelectric ceramics 2 and 3 extend, and vice versa, the torsion piezoelectric ceramics 1 and 4 extend; the torsion piezoelectric ceramics 2 and 3 retract.

[0023] Beneficial effects: Compared with the prior art, the advantages of the present invention are as follows:

[0024] 1. Detect the deflection angle and position of the tool tip by the light reflection method, decompose it into vibration signals in the x and y directions, calculate the amplitudes and frequencies in different directions, analyze the jitter and offset state of the blade, and then achieve the suppression of the tool's own oscillation during high-speed operation through active compensation, realizing closed-loop feedback high-precision control and thus efficient cutting.

[0025] 2. Detect the deflection of the blade in the x, y, and z directions through a four-quadrant photodetector, and cooperate with a voice coil motor drive to quickly achieve displacement compensation to realize offset compensation in the direction of the Y axis of the tool shaft.

[0026] 3. Detect the deflection of the blade in the x, y, and z directions through a four-quadrant photodetector, and cooperate with a torsional piezoelectric ceramic and a deflection piezoelectric ceramic to realize angle compensation for the deflection of the blade in the X, Y, and Z directions.

[0027] 4. By setting the amplitude judgment threshold DA and the frequency deflection threshold Df, and cooperating with the detection of frequency and vibration amplitude, the detection of the spatial angle of the blade is realized, improving the detection sensitivity and processing accuracy.

[0028] 5. When the amplitudes Ax and Ay are less than the threshold, the jitter amplitude is too small and can be ignored; when the jitter amplitude is large enough, by judging the change of the jitter frequency, it is determined whether it is a deflection of the displacement in the tool shaft direction or a torsion of the angle, so as to distinguish the deflection mode. Description of the Drawings

[0029] Figure 1 It is a control block diagram of a control system for a special-shaped flexible material cutting device based on light reflection jitter detection and suppression of the present invention;

[0030] Figure 2 It is a control flow chart of a control system for a special-shaped flexible material cutting device based on light reflection jitter detection and suppression of the present invention;

[0031] Figure 3 It is a general schematic diagram of a control system for a special-shaped flexible material cutting device based on light reflection jitter detection and suppression of the present invention;

[0032] Figure 4 It is an isometric view of a displacement detection vibration compensation module of a control system for a special-shaped flexible material cutting device based on light reflection jitter detection and suppression of the present invention;

[0033] Figure 5 It is a front view of a displacement detection vibration compensation module of a control system for a special-shaped flexible material cutting device based on light reflection jitter detection and suppression of the present invention;

[0034] Figure 6Left view of the displacement detection vibration compensation module of a control system for a cutting device for special-shaped flexible materials based on optical reflection jitter detection and suppression according to the present invention;

[0035] Figure 7 A - A sectional view of the displacement detection vibration compensation module of a control system for a cutting device for special-shaped flexible materials based on optical reflection jitter detection and suppression according to the present invention;

[0036] Figure 8 B - B sectional view of the displacement detection vibration compensation module of a control system for a cutting device for special-shaped flexible materials based on optical reflection jitter detection and suppression according to the present invention;

[0037] In the figure: 1 X - direction synchronous belt drive mechanism; 2 Y - direction lead screw drive mechanism; 3 Z - direction lead screw drive mechanism; 4 Displacement detection vibration compensation module; 5 Special-shaped flexible material to be cut; 6 Flexible cutting panel; 4 - 1 Fixed bracket; 4 - 2 Rotation drive motor; 4 - 3 Driving synchronous pulley; 4 - 4 Synchronous belt; 4 - 5 Driven synchronous pulley; 4 - 6 Connecting shaft; 4 - 7 T - shaped fixed bracket; 4 - 8 Driving plate; 4 - 9 Tool shaft; 4 - 10 Blade; 4 - 11 Mover magnet; 4 - 12 Rotation driving electromagnet; 4 - 13 Outer magnetic ring of tool shaft; 4 - 14 Inner magnetic ring of tool shaft; 4 - 15 Voice coil motor drive block; 4 - 16 Voice coil mover; 4 - 17 Laser diode; 4 - 18 Position detection laser; 4 - 19 Quadrant photodetector; 4 - 20 Torsion fixing box; 4 - 21 Torsion end cover; 4 - 22 Fixed spring; 4 - 23 Torsion piezoelectric ceramic; 4 - 24 Deflection piezoelectric ceramic; 4 - 25 Stabilizing spring; 4 - 26 Suspension magnet. Detailed implementation manners

[0038] The present invention will be further clarified below in conjunction with the accompanying drawings and specific implementation manners.

[0039] The present invention relates to a cutting device for special-shaped flexible materials and its control system based on optical reflection jitter detection and suppression. It isolates the cutting tool from the movement of the machine body, detects the jitter information of the tool by the optical reflection method, and respectively uses torsion piezoelectric ceramics and deflection piezoelectric ceramics to actively output control to eliminate the jitter of the tool in the x, y, and z directions, and uses magnetic suspension to eliminate the dynamic impact in the Z direction. The technical implementation method is as follows:

[0040] The laser emitted by the laser diode is focused on the blade for position detection and then reflected onto the quadrant photodetector. The quadrant photodetector is divided into PD1, PD2, PD3, and PD4. First, it passes through the I-V conversion module to convert the photocurrent into a photovoltage signal. Through the operation circuit, the X-direction motion signal obtained from PD1 + PD2 - PD3 - PD4 is processed by phase-locked loop 1 to obtain the amplitude Ax and frequency fx in the X direction. Similarly, the Y-direction motion signal obtained from PD1 + PD3 - PD2 - PD4 is processed by phase-locked loop 2 to obtain the amplitude Ay and frequency fy in the Y direction. The X and Y direction information is input into the main control chip MCU for calculation, and the obtained drive signal is output by the digital-to-analog converter DAC to drive the voice coil motor drive block to drive the tool shaft fixed with the voice coil mover to achieve precise control of the blade in the Y direction. On the other hand, the MCU drive signal passes through another multi-channel digital-to-analog converter DAC and is output through a high-voltage amplifier to drive and control the torsion piezoelectric ceramics 1, 2, 3, 4 and the deflection piezoelectric ceramics 1, 2, 3, 4 to achieve the deflection of the blade around the Z and Y axes and the torsion around the X axis.

[0041] The control flow is as follows:

[0042] First, initialize the voice coil motor drive block, the quadrant photodetector, and the rotation drive electromagnet; initialize the torsion piezoelectric ceramics and the deflection piezoelectric ceramics. Then, control the rotation drive electromagnet to rotate the blade. Subsequently, the laser diode measures the current of PD1 - 4 through the position detection laser reflected on the quadrant photodetector. After subsequent operations, it is input into phase-locked loops 1 and 2 to respectively calculate the amplitudes Ax, Ay and frequencies fx, fy in the X and Y directions. In the system, set the amplitude judgment threshold DA in the X direction, the frequency judgment threshold Df, the deflection warning threshold D; the X-direction frequency deviation Dfx = fxn + 1 - fxn, the Y-direction frequency deviation Dfy = fyn + 1 - fyn, the X-direction amplitude deviation DAx = Axn + 1 - Axn, and the Y-direction amplitude deviation DAy = Ayn + 1 - Ayn.

[0043] Subsequently, judge the deflection information of the tool in the xyz directions by resolving the blade motion signal in the xy directions of the quadrant photodetector.

[0044] When the absolute value of the deflection position detected by the quadrant photodetector in the X direction is less than the set threshold D, then sequentially judge whether the absolute value of the deflection position in the Y direction is less than the set threshold D, and whether the frequency deviations Dfx and Dfy are less than the threshold Df. When all are satisfied, it is determined that the jitter is extremely weak and negligible.

[0045] When the absolute value of the deflection position in the X direction detected by the quadrant photodetector is greater than the set threshold D, and it is further determined that the jitter frequency Dfx of the deflection in the X direction is less than the threshold Df, it indicates a deflection with a large linearity, which is the displacement of the tool axis in the Y-axis direction. At this time, it is judged whether it is a positive deflection or a negative deflection. By testing the positive and negative of Ax, if it is positive, the voice coil motor drive block for axial offset outputs negatively; otherwise, it outputs negatively.

[0046] When the absolute value of the deflection position in the X direction detected by the quadrant photodetector is greater than the set threshold D, and it is further determined that the jitter frequency Dfx of the deflection in the X direction is greater than the threshold Df, it indicates that the main movement of the blade is the deflection jitter around the Z-axis direction. Therefore, the direction is judged by further judging the deflection in the Y direction of the quadrant photodetector. When the deflection in the Y direction is negative, the deflection piezoelectric ceramic 1 extends; the deflection piezoelectric ceramic 2 retracts; otherwise, the deflection piezoelectric ceramic 1 retracts; the deflection piezoelectric ceramic 2 extends.

[0047] When the absolute value of the deflection position in the X direction detected by the quadrant photodetector is less than the set threshold D, and it is further determined that the absolute value of the displacement Ay of the deflection in the Y direction is greater than the threshold D, it indicates that the jitter offset in the Y direction is relatively serious and needs to be compensated. Then it is judged:

[0048] When the offset jitter frequency Dfy in the Y direction is greater than the threshold Df, it indicates that the blade twists around the y direction. Then the positive and negative of the direction are judged. When its displacement in the X direction is positive, the deflection piezoelectric ceramic 4 retracts; the deflection piezoelectric ceramic 3 extends. Otherwise, the deflection piezoelectric ceramic 3 retracts; the deflection piezoelectric ceramic 4 extends.

[0049] When the offset jitter frequency Dfy in the Y direction is less than the threshold Df, it indicates that the blade twists around the x direction. Then the positive and negative of the direction are judged. When its displacement in the Y direction is positive, the torsion piezoelectric ceramics 1 and 4 retract; the torsion piezoelectric ceramics 2 and 3 extend. Otherwise, the torsion piezoelectric ceramics 1 and 4 extend; the torsion piezoelectric ceramics 2 and 3 retract.

[0050] A cutting device for special-shaped flexible materials based on optical reflection jitter detection and suppression according to the present invention includes an X-direction synchronous belt transmission mechanism; a Y-direction lead screw transmission mechanism; a Z-direction lead screw transmission mechanism; a displacement detection and vibration compensation module; a special-shaped flexible material to be cut; a flexible cutting panel.

[0051] Above the X-direction synchronous belt transmission mechanism of the rectangular parallelepiped frame structure, a Y-direction lead screw transmission mechanism for realizing the movement in the Y direction is laid, and on the Y-direction lead screw transmission mechanism, a Z-direction lead screw transmission mechanism for realizing the movement in the Z direction is installed.

[0052] The displacement detection and vibration compensation module is fixedly installed on the moving block of the Z-direction lead screw transmission mechanism and realizes the displacement in the Z direction under its drive.

[0053] The special-shaped flexible material to be cut is placed on the flexible cutting panel of a cuboid, and the flexible cutting panel is placed on the fixed body of the X-direction synchronous belt drive mechanism.

[0054] One end of the long-arm-shaped fixed bracket is fixed on the moving block of the Z-direction screw drive mechanism. A rotary drive motor is fixed in the fixing hole near the fixed end. Its shaft is fixedly connected with the driving synchronous pulley and is linked with the driven synchronous pulley fixed at the outer end of the fixed bracket through a synchronous belt to transmit power.

[0055] The driven synchronous pulley is fixedly connected with the connecting shaft and is coaxially connected with the through hole at the distal end of the fixed bracket. The end face at the lower end of the connecting shaft is fixed at the center of the upper part of the rectangular torsion fixing box; a T-shaped groove is opened inside the torsion fixing box, and it is fixed in the Z direction through the cooperation of 4 deflection piezoelectric ceramics symmetrically fixed along the x and y directions above and the suspension magnets symmetrically arranged below.

[0056] The torsion end cover on the back of the torsion fixing box is fixedly connected with it.

[0057] Two stabilizing springs are symmetrically installed between the corresponding torsion fixing box and the T-shaped fixing bracket in the X-axis direction around the inside of the torsion fixing box to keep the central axis of the T-shaped fixing bracket coincident with the central axis of the connecting shaft; four torsion piezoelectric ceramics are symmetrically installed on the T-shaped fixing bracket in the Y-axis direction symmetrically with respect to the XOZ plane, and the stability of the T-shaped fixing bracket in the XOY plane is realized through the cooperation of the torsion piezoelectric ceramics and the stabilizing springs.

[0058] The lower extended side plates of the T-shaped fixing bracket are symmetrically distributed, and through holes coaxial in the Y direction are opened, in which the outer magnetic ring of the tool shaft is fixed. The inner magnetic ring of the tool is fixedly installed at the center of the outer magnetic rings of the tool shaft on both sides, and its polarity is opposite to that of the outer magnetic ring of the tool. And the inner magnetic ring of the tool is fixed on the tool shaft, and a tool is fixed at the center of the tool shaft. Therefore, the tool and the inner magnetic ring of the tool are fixedly connected through the tool shaft, and its radial non-contact positioning is realized through the outer magnetic ring of the tool, and it shows a non-linear load in the Z-direction load bearing. That is, the greater the impact force received by the tool, the stronger the dynamic bearing capacity of the lower working frame received by the tool and the greater the movement resistance, ensuring the anti-impact performance in the Z direction. Fixed end covers are symmetrically fixed on both sides of the fixed through holes at the lower end of the lower working frame in the axial direction of the tool shaft to realize the axial positioning of the tool shaft.

[0059] A through hole is opened on the left side of the lower extended side plate of the T-shaped fixing bracket, in which a laser diode is fixed, and a quadrant photodetector is fixed above it. The laser diode focuses the laser on the side of the blade through the position detection laser and then reflects it on the quadrant photodetector to realize the detection of the blade displacement and deflection angle.

[0060] On the right inner side of the lower extended side plate of the T-shaped fixing bracket, a cylindrical voice coil motor driving block is fixedly installed. The voice coil mover is coaxially fixed with the voice coil motor driving block, and the voice coil mover is fixed on the tool shaft, and is driven by the voice coil motor driving block to achieve axial movement.

[0061] Both ends of the cylindrical tool shaft are of a hexagonal structure. On each side, a circle of six mover magnets is fixedly installed in a circumferential array, which corresponds one-to-one with the rotary driving electromagnets fixedly installed on the six-sided surfaces in the corresponding hexagonal empty slots of the driving plate. When an alternating current is applied, the tool shaft fixed on the driving plate is driven by the rotary driving electromagnets to achieve non-contact rotational movement, and a certain redundancy of the movement axis center deviation is left to ensure effective driving under the conditions of large impact, large polygon, and axis deviation. The driving plate is fixedly connected to the T-shaped fixing bracket.

[0062] The method for realizing the suppression of blade deflection and jitter by the displacement detection and vibration compensation module adopted in the present invention is as follows:

[0063] The position detection laser emitted by the laser diode is irradiated on the side of the blade, and is reflected on the quadrant photodetector to realize the position detection of the blade in the axial direction and the rotation in the X, Y, and Z directions.

[0064] The T-shaped fixing bracket is rotated around its Z-direction central axis through the torsion piezoelectric ceramics fixed on the front and rear surfaces inside the torsion fixing box, and the T-shaped fixing bracket is deflected around the X-axis and Y-axis through the telescopic cooperation of the deflection piezoelectric ceramics fixed on the upper surface inside the deflection piezoelectric ceramics.

[0065] The tool shaft fixed with the voice coil mover is controlled by the voice coil motor driving block to achieve displacement compensation and jitter suppression in the axial direction.

[0066] The above is only the implementation mode of the present invention, and its description is relatively specific and detailed, but it cannot be understood as a limitation to the scope of the patent of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention.

Claims

1. A cutting device for special-shaped flexible materials based on light reflection jitter detection and suppression, characterized in that: It includes that a flexible cutting panel is provided on the upper end face of a cuboid frame structure, and the to-be-cut special-shaped flexible material is laid on the flexible cutting panel; an X-direction synchronous belt transmission mechanism is provided on one side of the cuboid frame structure, and a Y-direction lead screw transmission mechanism for realizing Y-direction movement is laid above the X-direction synchronous belt transmission mechanism, and the Y-direction lead screw transmission mechanism is arranged across the flexible cutting panel; a Z-direction lead screw transmission mechanism for realizing Z-direction movement is provided on the Y-direction lead screw transmission mechanism; there is a spacing distance between the X-direction synchronous belt transmission mechanism and the Y-direction lead screw transmission mechanism, and the Y-direction lead screw transmission mechanism and the Z-direction lead screw transmission mechanism are connected to each other; a displacement detection vibration compensation module is fixedly installed on the Z-direction lead screw transmission mechanism; The displacement detection vibration compensation module includes a fixed bracket, and one end of the fixed bracket is fixed on the Z-direction lead screw transmission mechanism; a rotary drive motor is fixed in the fixing hole of the fixed bracket near the fixed end; the shaft of the rotary drive motor is fixedly connected with the driving synchronous pulley, and a driven synchronous pulley is provided at one end of the fixed bracket far from the fixed end, and the driven synchronous pulley is connected with the driving synchronous pulley through a synchronous belt and transmits power; The driven synchronous pulley is fixedly connected with the connecting shaft and is coaxially connected with the through hole at one end of the fixed bracket far from the fixed end; the lower end face of the connecting shaft is fixed on the upper part of the torsion fixing box; a T-shaped groove is opened inside the torsion fixing box, and four deflection piezoelectric ceramics are symmetrically fixed along the x and y directions inside the T-shaped groove, and the suspension magnets symmetrically arranged below the four deflection piezoelectric ceramics cooperate to realize fixation in the Z direction; Two stabilizing springs are symmetrically installed between the torsion fixing box and the T-shaped fixing bracket to keep the central axis of the T-shaped fixing bracket coincident with the central axis of the connecting shaft; four torsion piezoelectric ceramics are symmetrically installed on the T-shaped fixing bracket in the XOZ plane, and the stability of the T-shaped fixing bracket in the XOY plane is realized by the cooperation of the torsion piezoelectric ceramics and the stabilizing springs.

2. The cutting device for special-shaped flexible materials based on light reflection jitter detection and suppression according to claim 1, characterized in that: A pair of elongated side plates are symmetrically arranged on both sides of the lower end of the T-shaped fixing bracket, and a tool shaft is arranged between the pair of elongated side plates; outer magnetic rings of the tool shaft are respectively fixed on the elongated side plates; an inner magnetic ring of the tool shaft is fixedly installed at the center of the two outer magnetic rings of the tool shaft, and the inner magnetic ring of the tool is fixed on the tool shaft, and a tool is vertically fixed at the center of the tool shaft.

3. The cutting device for special-shaped flexible materials based on light reflection jitter detection and suppression according to claim 2, characterized in that: A laser diode is provided on one side of the elongated side plate close to the tool, and a four-quadrant photodetector is fixedly installed inside the upper end of the elongated side plate. The laser diode focuses the laser on the side of the tool through position detection laser and then reflects it on the four-quadrant photodetector to detect the displacement and deflection angle of the tool; a drive plate is also provided on one side of the elongated side plate; A cylindrical voice coil motor drive block is fixedly installed on the inner side of one of the elongated side plates, and a voice coil mover is coaxially fixed on the voice coil motor drive block, and the voice coil mover is fixed on the tool shaft, and the voice coil motor drive block drives to realize axial movement.

4. The cutting device for special-shaped flexible materials based on light reflection jitter detection and suppression according to claim 3, characterized in that: Both ends of the tool shaft are hexagonal, and a ring of mover magnets, that is, 6 mover magnets, are fixedly installed on each side of the hexagon in a circumferential array. The T-shaped fixing bracket is fixedly connected to the driving plate, and the driving plate is located on one side of the extended side plate. The mover magnets correspond one by one to the rotary driving electromagnets fixedly installed on the six side surfaces in the corresponding hexagonal empty slots of the driving plate.

5. The control system of the cutting device for special-shaped flexible materials based on light reflection jitter detection and suppression according to any one of claims 1-4, characterized in that: Isolate the movement of the cutting tool from the movement of the machine body, detect the tool jitter information by the light reflection method, and respectively use the torsion piezoelectric ceramics and the deflection piezoelectric ceramics to actively output control to eliminate the jitter of the tool in the x, y, and z directions, and use magnetic suspension to eliminate the dynamic impact in the Z direction. The specific implementation steps are as follows: The position detection laser emitted by the laser diode is focused on the blade and reflected on the quadrant photodetector. The quadrant photodetector is divided into PD1, PD2, PD3, and PD4. First, through the I-V conversion module, the photocurrent is converted into a photovoltage signal. Through the operation circuit, the X-direction movement signal obtained by PD1 + PD2 - PD3 - PD4 and the amplitude Ax and frequency fx in the X direction are obtained through the phase-locked loop 1. Similarly, the Y-direction movement signal obtained by PD1 + PD3 - PD2 - PD4 and the amplitude Ay and frequency fy in the Y direction are obtained through the phase-locked loop 2. The information in the X and Y directions is input into the main control chip MCU for calculation, and the obtained driving signal is output by the digital-to-analog converter DAC to drive the voice coil motor drive block to drive the tool shaft fixed with the voice coil mover to achieve precise control of the blade in the Y direction. On the other hand, the MCU driving signal passes through another multi-channel digital-to-analog converter DAC and is output through a high-voltage amplifier to drive and control the torsion piezoelectric ceramics 1, 2, 3, 4 and the deflection piezoelectric ceramics 1, 2, 3, 4 to achieve the deflection of the blade around the Z and Y axes and the torsion around the X axis.

6. The control system of the cutting device for special-shaped flexible materials based on light reflection jitter detection and suppression according to claim 5, characterized in that: The specific position of the control process for controlling the torsion piezoelectric ceramics 1, 2, 3, 4 and the deflection piezoelectric ceramics 1, 2, 3, 4 to achieve the deflection of the blade around the Z and Y axes: First, initialize the voice coil motor drive block, the quadrant photodetector, and the rotary driving electromagnet; initialize the torsion piezoelectric ceramics and the deflection piezoelectric ceramics. Then, control the rotary driving electromagnet to achieve the rotation of the blade. Subsequently, the laser diode measures the current of PD1-4 through the position detection laser reflected on the quadrant photodetector. Subsequently, after calculation, it is input into the phase-locked loops 1 and 2 to respectively calculate the amplitudes Ax, Ay and frequencies fx, fy in the X and Y directions. In the system, the amplitude judgment threshold DA, the frequency judgment threshold Df in the X and Y directions; the deflection warning threshold D; the X-direction frequency deviation Dfx = fxn+1 - fxn, the Y-direction frequency deviation Dfy = fyn+1 - fyn, the X-direction amplitude deviation DAx = Axn+1 - Axn, the Y-direction amplitude deviation DAy = Ayn+1 - Ayn are set. Secondly, judge the blade movement signal in the xy direction of the quadrant photodetector to calculate the deflection information of the tool in its xyz directions.

7. The control system of the cutting device for special-shaped flexible materials based on light reflection jitter detection and suppression according to claim 6, characterized in that: After the absolute value of the deflection position in the X direction detected by the quadrant photodetector is less than the set threshold D, it is successively judged whether the absolute value of the deflection position in the Y direction is less than the set threshold D, and whether the frequency deviations Dfx and Dfy are less than the threshold Df. When all are satisfied, it is determined that the jitter is extremely weak and can be ignored. After the absolute value of the deflection position in the X direction detected by the quadrant photodetector is greater than the set threshold D, and further judging that when the jitter frequency Dfx of the deflection in the X direction is less than the threshold Df, it indicates a deflection with a large linearity, that is, the displacement of the tool axis in the Y-axis direction. At this time, it is judged whether it is a positive deflection or a negative deflection. By testing the positive and negative of Ax, if it is positive, the axial offset voice coil motor drive block outputs negatively, otherwise it outputs negatively. After the absolute value of the deflection position in the X direction detected by the quadrant photodetector is greater than the set threshold D, and further judging that when the jitter frequency Dfx of the deflection in the X direction is greater than the threshold Df, it indicates that the main movement of the blade is a deflection jitter around the Z-axis direction. Therefore, the direction is judged by further judging the deflection of the quadrant photodetector in the Y direction. When the deflection in the Y direction is negative, the deflection piezoelectric ceramic 1 extends; the deflection piezoelectric ceramic 2 retracts, otherwise the deflection piezoelectric ceramic 1 retracts; the deflection piezoelectric ceramic 2 extends. After the absolute value of the deflection position in the X direction detected by the quadrant photodetector is less than the set threshold D, and further judging that when the absolute value of the displacement amount Ay of the deflection in the Y direction is greater than the threshold D, it indicates that the jitter offset in the Y direction is relatively serious and needs to be compensated; then judge: When the offset jitter frequency Dfy in the Y direction is greater than the threshold Df, it indicates that the blade twists around the y direction, and then judge the positive and negative of the direction. When its displacement in the X direction is positive, the deflection piezoelectric ceramic 4 retracts and the deflection piezoelectric ceramic 3 extends; otherwise, the deflection piezoelectric ceramic 3 retracts and the deflection piezoelectric ceramic 4 extends. When the offset jitter frequency Dfy in the Y direction is less than the threshold Df, it indicates that the blade twists around the x direction, and then judge the positive and negative of the direction. When its displacement in the Y direction is positive, the torsion piezoelectric ceramics 1 and 4 retract; the torsion piezoelectric ceramics 2 and 3 extend, otherwise the torsion piezoelectric ceramics 1 and 4 extend; the torsion piezoelectric ceramics 2 and 3 retract.

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