A control method and device for realizing flexible avoidance of a chuck by a support frame of a heavy laser pipe cutting machine, a processor and a storage medium thereof

Abstract

The present application relates to a kind of control method for realizing support frame flexible avoidance chuck to heavy laser pipe cutting machine, comprising the following steps: calculating the speed limit of chuck in the descending-limit interval of support frame;Calculate target magnification;Calculate magnification change time;Calculate the descending magnification position;Whether chuck is in the descending magnification position-limit position interval of support frame and support frame is not descended to position by multimedia timer detection;Detect whether there is speed limit source, if so, adjust empty shift magnification to target magnification Frp.The present application also relates to a kind of control device for realizing support frame flexible avoidance chuck to heavy laser pipe cutting machine, processor and computer readable storage medium.The control method for realizing support frame flexible avoidance chuck to heavy laser pipe cutting machine, device, processor and its computer readable storage medium of the present application, while guaranteeing overall processing efficiency, can be set as a very small value for the descending-limit interval of support frame, effectively improve the utilization of support frame.

Description

Technical Field

[0001] This invention relates to the field of laser tube cutting technology, and particularly to the fields of long tube processing and heavy tube processing. Specifically, it relates to a control method, device, processor, and computer-readable storage medium for enabling the support frame of a heavy-duty laser tube cutting machine to flexibly avoid the chuck. Background Technology

[0002] In the field of laser tube cutting, to achieve the processing of long tubes as a whole and the processing of heavy tubes, machine tool manufacturers have invented heavy-duty laser tube cutting machines such as three-chuck and four-chuck machines. Because the tubes to be processed are long and heavy, the support frame is particularly important for assisting in the processing of the tubes. A schematic diagram of a four-chuck heavy-duty laser tube cutting machine is shown below. Figure 1 As shown, when chuck 2 passes support frame 3, support frame 3 needs to move to a safe position. Since it generally takes 2-3 seconds for support frame 3 to move to a safe position, if support frame 3 only begins to descend when chuck 2 reaches its limit position where it will collide with support frame 3, it will affect processing efficiency. Synchronous descent of support frame 3 during chuck 2 movement can improve overall processing efficiency. Therefore, the concept of a descent-limit range for support frame 3 is proposed: when chuck 2 reaches the descent position, support frame 3 begins to descend; if support frame 3 has not descended to its limit position when chuck 2 reaches its limit position, an alarm should be triggered and movement should stop. Since chuck 2 may pass through support frame 3 from left to right or from right to left, support frame 3 has two descent-limit ranges. If the descent-limit range is set too small, the support frame will not descend in time when the chuck speed is too fast; if the descent-limit range is set too large, the support frame will descend prematurely, reducing its utilization rate. For heavy-duty laser tube cutting machines, improving the utilization rate of the support frame while ensuring processing safety and efficiency is an urgent problem to be solved. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a control method, device, processor and computer-readable storage medium for enabling the support frame of a heavy-duty laser tube cutting machine to flexibly avoid the chuck, which is characterized by high utilization, high safety and wide applicability.

[0004] To achieve the above objectives, the present invention provides a control method, apparatus, processor, and computer-readable storage medium for enabling the support frame of a heavy-duty laser tube cutting machine to flexibly avoid the chuck:

[0005] The control method for enabling the support frame of a heavy-duty laser tube cutting machine to flexibly avoid the chuck is characterized by the following steps:

[0006] (1) Calculate the chuck's speed limit Velocity within the descent-limit range of the support frame;

[0007] (2) Calculate the target multiplier Frp, and adjust the speed by adjusting the multiplier during the air movement process;

[0008] (3) Calculate the rate change time FrpChangeTime;

[0009] (4) Calculate the downscaling position FrpChangePos;

[0010] (5) Detect whether the chuck is in the range of the downshift position FrpChangePos to the limit position LimitPos of the support frame and the support frame has not descended to the correct position by using a multimedia timer. If so, add a speed limiter; otherwise, remove the speed limiter if there is one.

[0011] (6) Detect the presence of a speed limiting source. If present, proceed to step (7); otherwise, proceed to step (8).

[0012] (7) Adjust the drift ratio to the target ratio Frp;

[0013] (8) Restore the space shift multiplier.

[0014] Preferably, the calculation of the chuck's speed limit Velocity within the descent-limit range of the support frame in step (1) is specifically as follows:

[0015] The Velocity, the speed limit of the chuck within the descent limit range of the support frame, is calculated using the following formula:

[0016]

[0017] Where LimitPos is the extreme position of the support frame, DownPos is the descent position of the support frame, and DownTime is the time required for the support frame to descend to the correct position.

[0018] Preferably, the calculation of the target multiplier Frp in step (2) is specifically as follows:

[0019] Calculate the target multiplier Frp using the following formula:

[0020]

[0021] Where IniVelocity is the initial speed of the chuck, with a multiplier of 100 at the initial speed, and CurrentFrp is the current airspeed multiplier.

[0022] Preferably, the calculation of the magnification change time FrpChangeTime in step (3) is specifically as follows:

[0023] Calculate the scaling factor change time FrpChangeTime using the following formula:

[0024]

[0025] Where Frp100To0Time is the time required for the magnification to drop from 100 to 0, and FrpSlideTime is the filtering time, which is the delay time for average filtering to prevent abnormal noise caused by sudden acceleration changes.

[0026] Preferably, the calculation of the downscaling position FrpChangePos in step (4) is specifically as follows:

[0027] Calculate the downscale position FrpChangePos using the following formula:

[0028]

[0029] Where DownPos is the lowering position of the support frame, Velocity is the speed limit of the chuck within the lowering limit range of the support frame, and IniVelocity is the initial speed of the chuck.

[0030] Preferably, the multimedia timer in step (5) scans once at regular intervals.

[0031] The control device for enabling the support frame of a heavy-duty laser tube cutting machine to flexibly avoid the chuck is characterized in that the device comprises:

[0032] A processor is configured to execute computer-executable instructions;

[0033] The memory stores one or more computer-executable instructions, which, when executed by the processor, implement the steps of the control method described above for enabling the support frame of a heavy-duty laser tube cutting machine to flexibly avoid the chuck.

[0034] The control processor for enabling flexible avoidance of the chuck by the support frame of a heavy-duty laser tube cutting machine is characterized in that the processor is configured to execute computer-executable instructions, which, when executed by the processor, implement the various steps of the control method for enabling flexible avoidance of the chuck by the support frame of a heavy-duty laser tube cutting machine.

[0035] The computer-readable storage medium is characterized in that it stores a computer program that can be executed by a processor to implement the various steps of the control method described above for enabling the support frame to flexibly avoid the chuck in a heavy-duty laser tube cutting machine.

[0036] The present invention employs a control method, device, processor, and computer-readable storage medium for enabling the support frame to flexibly avoid the chuck in heavy-duty laser tube cutting machines. While ensuring overall processing efficiency, the descent-limit range of the support frame can be set to a very small value, effectively improving the utilization rate of the support frame. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of a conventional four-chuck heavy-duty laser tube cutter.

[0038] Figure 2 This is a schematic diagram illustrating the law of chuck idling speed-idling time when the magnification changes in the control method for enabling the support frame to flexibly avoid the chuck in a heavy-duty laser tube cutting machine, as described in this invention.

[0039] Figure 3 This is a flowchart illustrating the control method for enabling the support frame to flexibly avoid the chuck in a heavy-duty laser tube cutting machine, as described in this invention.

[0040] Figure 4 This is a schematic diagram of the speed-position curve of the chuck passing through the descent-limit range of two support frames in the control method of the support frame flexibly avoiding the chuck in the heavy-duty laser tube cutting machine of the present invention.

[0041] Figure label:

[0042] 1. Cutting head

[0043] 2. Chuck

[0044] 3 Support frame Detailed Implementation

[0045] To more clearly describe the technical content of the present invention, the following description is provided in conjunction with specific embodiments.

[0046] The present invention provides a control method for enabling the support frame of a heavy-duty laser tube cutting machine to flexibly avoid the chuck, comprising the following steps:

[0047] (1) Calculate the chuck's speed limit Velocity within the descent-limit range of the support frame;

[0048] (2) Calculate the target multiplier Frp, and adjust the speed by adjusting the multiplier during the air movement process;

[0049] (3) Calculate the rate change time FrpChangeTime;

[0050] (4) Calculate the downscaling position FrpChangePos;

[0051] (5) Detect whether the chuck is in the range of the downshift position FrpChangePos to the limit position LimitPos of the support frame and the support frame has not descended to the correct position by using a multimedia timer. If so, add a speed limiter; otherwise, remove the speed limiter if there is one.

[0052] (6) Detect the presence of a speed limiting source. If present, proceed to step (7); otherwise, proceed to step (8).

[0053] (7) Adjust the drift ratio to the target ratio Frp;

[0054] (8) Restore the space shift multiplier.

[0055] In a preferred embodiment of the present invention, the calculation of the chuck's speed limit Velocity within the descent-limit range of the support frame in step (1) is specifically as follows:

[0056] The Velocity, the speed limit of the chuck within the descent limit range of the support frame, is calculated using the following formula:

[0057]

[0058] Where LimitPos is the extreme position of the support frame, DownPos is the descent position of the support frame, and DownTime is the time required for the support frame to descend to the correct position.

[0059] In a preferred embodiment of the present invention, the calculation of the target multiplier Frp in step (2) is specifically as follows:

[0060] Calculate the target multiplier Frp using the following formula:

[0061]

[0062] Where IniVelocity is the initial speed of the chuck, with a multiplier of 100 at the initial speed, and CurrentFrp is the current idle speed multiplier.

[0063] In a preferred embodiment of the present invention, the calculation of the magnification change time FrpChangeTime in step (3) is specifically as follows:

[0064] Calculate the scaling factor change time FrpChangeTime using the following formula:

[0065]

[0066] Where Frp100To0Time is the time required for the magnification to drop from 100 to 0, and FrpSlideTime is the filtering time, which is the delay time for average filtering to prevent abnormal noise caused by sudden acceleration.

[0067] In a preferred embodiment of the present invention, the calculation of the downscaling position FrpChangePos in step (4) is specifically as follows:

[0068] Calculate the downscale position FrpChangePos using the following formula:

[0069]

[0070] Where DownPos is the lowering position of the support frame, Velocity is the speed limit of the chuck within the lowering limit range of the support frame, and IniVelocity is the initial speed of the chuck.

[0071] In a preferred embodiment of the present invention, the multimedia timer in step (5) scans once at regular intervals.

[0072] The present invention provides a control device for enabling a support frame of a heavy-duty laser tube cutting machine to flexibly avoid the chuck, wherein the device comprises:

[0073] A processor is configured to execute computer-executable instructions;

[0074] The memory stores one or more computer-executable instructions, which, when executed by the processor, implement the steps of the aforementioned control method for enabling the support frame of a heavy-duty laser tube cutting machine to flexibly avoid the chuck.

[0075] The present invention relates to a control processor for enabling flexible avoidance of the chuck by the support frame of a heavy-duty laser tube cutting machine. The processor is configured to execute computer-executable instructions, which, when executed by the processor, implement the various steps of the control method described above for enabling flexible avoidance of the chuck by the support frame of a heavy-duty laser tube cutting machine.

[0076] The computer-readable storage medium of the present invention stores a computer program that can be executed by a processor to implement the various steps of the control method described above for enabling the support frame to flexibly avoid the chuck in a heavy-duty laser tube cutting machine.

[0077] In a specific embodiment of the present invention, by limiting the speed of the chuck within the descent-limit range of the support frame, the support frame is ensured to safely avoid the chuck. Simultaneously, theoretically, the descent-limit range of the support frame can be set to a smaller value, which can improve the utilization rate of the support frame.

[0078] To achieve the above objectives, the present invention provides a control method for enabling flexible obstacle avoidance by the support frame in a laser tube cutting system, comprising:

[0079] S1: Calculate the chuck's descent speed within the limit range of the support frame - Velocity:

[0080]

[0081] Where LimitPos is the limit position of the support frame, DownPos is the descent position of the support frame, and DownTime is the time required for the support frame to descend to its final position. Multiplying this by 90% makes the chuck's speed limit lower than the theoretical value, thus preventing collisions between the chuck and the support frame.

[0082] S2: Calculate the target magnification. Speed ​​adjustment is achieved by adjusting the magnification during the idle movement process. The target magnification Frp is:

[0083]

[0084] Where IniVelocity is the initial speed of the chuck, the multiplier at the initial speed is 100, and CurrentFrp is the current idle multiplier. The target multiplier Frp cannot exceed the current idle multiplier CurrentFrp and the maximum multiplier of 100.

[0085] S3: Calculate the rate change time FrpChangeTime:

[0086]

[0087] Where Frp100To0Time is the time required for the magnification to decrease from 100 to 0; FrpSlideTime is the filtering time, which is the delay time for average filtering to prevent abnormal noise caused by sudden acceleration changes.

[0088] S4: Calculate the downscaling position FrpChangePos:

[0089]

[0090] Considering that the magnification change takes time, the magnification needs to be changed before the support frame is lowered.

[0091] S5: A multimedia timer is used to detect whether the chuck is within the range of the downscale position FrpChangePos to the limit position LimitPos of the support frame and whether the support frame has not descended to its final position. If so, a speed limiter is added; otherwise, a speed limiter is removed. Since the multimedia timer scans at regular intervals, the downscale position FrpChangePos should be smaller than the theoretical value, meaning the downscale change should be initiated earlier.

[0092] S6: Detect the presence of a speed limiting source. If present, proceed to S7; otherwise, proceed to S8.

[0093] S7: Adjust the drift multiplier to the target multiplier Frp.

[0094] S8: Restore the empty shift multiplier.

[0095] The core idea of ​​this invention is to control the idle-distance ratio to limit the speed of the chuck within the descent-limit range of the support frame, so that the support frame can avoid the chuck in a timely manner regardless of the size of the descent-limit range. By controlling the idle-distance ratio, the idle-distance speed-idle-time curve of the chuck follows the pattern shown below. Figure 2 As shown. Since the magnification change takes time, in order to ensure that the chuck moves strictly at the speed limit within the descent-limit range of the support frame, the magnification needs to be changed a certain amount of time in advance.

[0096] In an embodiment of the present invention, the control method for the support frame of the heavy-duty laser tube cutting machine to flexibly avoid obstacles is as follows: Figure 3 As shown, it includes:

[0097] S1: Calculate the chuck's descent speed within the limit range of the support frame - Velocity:

[0098]

[0099] Where LimitPos is the limit position of the support frame, DownPos is the descent position of the support frame, and DownTime is the time required for the support frame to descend to its final position. Multiplying this by 90% makes the chuck's speed limit lower than the theoretical value, thus preventing collisions between the chuck and the support frame.

[0100] S2: Calculate the target magnification. Speed ​​adjustment is achieved by adjusting the magnification during the idle movement process. The target magnification Frp is:

[0101]

[0102] Where IniVelocity is the initial speed of the chuck, the multiplier at the initial speed is 100, and CurrentFrp is the current idle multiplier. The target multiplier Frp cannot exceed the current idle multiplier CurrentFrp and the maximum multiplier of 100.

[0103] S3: Calculate the rate change time FrpChangeTime:

[0104]

[0105] Where Frp100To0Time is the time required for the magnification to decrease from 100 to 0; FrpSlideTime is the filtering time, which is the delay time for average filtering to prevent abnormal noise caused by sudden acceleration changes.

[0106] S4: Calculate the downscaling position FrpChangePos:

[0107]

[0108] Considering that the magnification change takes time, the magnification needs to be changed before the support frame is lowered.

[0109] S5: A multimedia timer is used to detect whether the chuck is within the range of the downscale position FrpChangePos to the limit position LimitPos of the support frame and whether the support frame has not descended to its final position. If so, a speed limiter is added; otherwise, a speed limiter is removed. Since the multimedia timer scans at regular intervals, the downscale position FrpChangePos should be smaller than the theoretical value, meaning the downscale change should be initiated earlier.

[0110] S6: Detect the presence of a speed limiting source. If present, proceed to S7; otherwise, proceed to S8.

[0111] S7: Adjust the drift multiplier to the target multiplier Frp;

[0112] S8: Restore the empty shift multiplier.

[0113] Figure 4 The chuck's idle speed is 80 mm / s, and its maximum idle acceleration is 7000 mm / s^2. The support frame 1 descends to a position of 80 mm with a limit position of 180 mm, while the support frame 2 descends to a position of 240 mm with a limit position of 320 mm. The descent time for both support frames 1 and 2 is 3000 ms. The time for the magnification to decrease from 100 to 0 (Frp100To0Time) is 200 ms, and the filtering time (FrpSlideTime) is 100 ms. The velocity-position curve of the chuck along the Y-axis is obtained using this invention.

[0114] The speed limit of support frame 1 is Velocity1 = (180mm at the extreme position - 80mm at the descent position) / descent time 3000ms × 0.9 = 30mm / s, and the speed limit of support frame 2 is Velocity2 = (320mm at the extreme position - 240mm at the descent position) / descent time 3000ms × 0.9 = 24mm / s.

[0115] When the chuck passes through the descent-limit range of support frame 1, the target magnification Frp1 = 100 × speed limit 30 mm / s / initial speed 80 mm / s = 37.5. Similarly, the target magnification Frp2 = 100 × speed limit 24 mm / s / initial speed 80 mm / s = 30.

[0116] The magnification change time FrpChangeTime1 = the time for the magnification to drop from 100 to 0 Frp100To0Time 200ms × (1 – target magnification Frp1 37.5 / 100) + filtering time FrpSlideTime 100ms = 0.225s. Similarly, the magnification change time FrpChangeTime2 = 200ms × (1 – 30 / 100) + 100ms = 0.24s.

[0117] The reduction ratio position FrpChangePos1 = descent position 80 - (initial speed 80 + target speed 30) / 2 × reduction ratio change time 0.225 = 67.625 mm. Similarly, the reduction ratio position FrpChangePos2 = 240 - (80 + 24) / 2 × 0.24 = 227.52 mm. Because the chuck position is detected by a timer, which checks at regular intervals, there is a certain delay; therefore, the actual reduction ratio position is larger than the theoretical value. Because the speed limit allows for a margin, the chuck's movement speed is smaller than the theoretical value, ensuring the support frame safely avoids the chuck.

[0118] For the specific implementation scheme of this embodiment, please refer to the relevant descriptions in the above embodiments, which will not be repeated here.

[0119] It is understood that the same or similar parts in the above embodiments can be referred to each other, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.

[0120] It should be noted that in the description of this invention, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means at least two.

[0121] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0122] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution device. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0123] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The corresponding program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0124] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0125] The storage media mentioned above can be read-only memory, disk, or optical disk, etc.

[0126] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0127] The present invention employs a control method, device, processor, and computer-readable storage medium for enabling the support frame to flexibly avoid the chuck in heavy-duty laser tube cutting machines. While ensuring overall processing efficiency, the descent-limit range of the support frame can be set to a very small value, effectively improving the utilization rate of the support frame.

[0128] In this specification, the invention has been described with reference to specific embodiments thereof. However, it will be apparent that various modifications and variations can be made without departing from the spirit and scope of the invention. Therefore, the specification and drawings should be considered illustrative rather than restrictive.

Claims

1. A control method for enabling the support frame of a heavy-duty laser tube cutting machine to flexibly avoid the chuck, characterized in that, The method includes the following steps: (1) Calculate the chuck's speed limit (Velocity) within the descent limit range of the support frame; (2) Calculate the target multiplier Frp, and adjust the speed by adjusting the multiplier during the air movement process; (3) Calculate the rate change time FrpChangeTime; (4) Calculate the downscale position FrpChangePos; (5) Detect whether the chuck is in the range of the downshift position FrpChangePos to the limit position LimitPos of the support frame and the support frame has not descended to the correct position by using a multimedia timer. If so, add a speed limiter; otherwise, remove the speed limiter if there is one. (6) Detect the presence of a speed limiting source. If present, proceed to step (7); otherwise, proceed to step (8). (7) Adjust the drift ratio to the target ratio Frp; (8) Restore the space shift ratio; In step (1), the chuck's speed limit (Velocity) within the descent limit range of the support frame is calculated as follows: The Velocity, the speed limit of the chuck within the descent limit range of the support frame, is calculated using the following formula: ； Where LimitPos is the extreme position of the support frame, DownPos is the descent position of the support frame, and DownTime is the time required for the support frame to descend to the correct position. The calculation of the target multiplier Frp in step (2) is as follows: Calculate the target multiplier Frp using the following formula: ； Where IniVelocity is the initial speed of the chuck, the multiplier at the initial speed is 100, and CurrentFrp is the current idle speed multiplier; The calculation of the magnification change time FrpChangeTime in step (3) is as follows: Calculate the scaling factor change time FrpChangeTime using the following formula: ； Where Frp100To0Time is the time required for the magnification to drop from 100 to 0, and FrpSlideTime is the filtering time, which is the delay time for average filtering to prevent abnormal noise caused by sudden acceleration changes. The calculation of the downscaling position FrpChangePos in step (4) is specifically as follows: Calculate the downscale position FrpChangePos using the following formula: ； Where DownPos is the lowering position of the support frame, Velocity is the speed limit of the chuck within the lowering limit range of the support frame, and IniVelocity is the initial speed of the chuck.

2. The control method for enabling the support frame of a heavy-duty laser tube cutting machine to flexibly avoid the chuck, as described in claim 1, is characterized in that... The multimedia timer in step (5) scans once at regular intervals.

3. A control device for enabling a support frame of a heavy-duty laser tube cutting machine to flexibly avoid the chuck, characterized in that, The device includes: A processor is configured to execute computer-executable instructions; The memory stores one or more computer-executable instructions, which, when executed by the processor, implement the steps of the control method for enabling the support frame to flexibly avoid the chuck in any one of claims 1 to 2 for heavy-duty laser tube cutting machines.

4. A control processor for enabling flexible chuck avoidance of a support frame for a heavy-duty laser tube cutting machine, characterized in that, The processor is configured to execute computer-executable instructions, which, when executed by the processor, implement the steps of the control method for the support frame to flexibly avoid the chuck in any one of claims 1 to 2 for heavy-duty laser tube cutting machines.

5. A computer-readable storage medium, characterized in that, It stores a computer program that can be executed by a processor to implement the various steps of the control method for the support frame to flexibly avoid the chuck for a heavy-duty laser tube cutting machine as described in any one of claims 1 to 2.

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