A multi-angle rotation method and system for a sawing machine

Abstract

The present invention belongs to the technical field of multi-angle control of sawing machines, and specifically relates to a multi-angle rotation method and system for sawing machines. The invention, through comprehensive consideration of historical data, cycle compensation, temperature compensation and other factors, greatly improves the accuracy of cutting tool rotation, includes a cyclic correction mechanism, and even if the initial rotation angle is inaccurate, it can achieve precise positioning through multiple corrections. The influence of temperature changes on mechanical properties is considered, so that the method can maintain high cutting accuracy under different temperature environments. By compensating for mechanical wear, aging and other factors, the error caused by long-term use is reduced, the service life of the equipment is extended, the degree of automation is high, human intervention is reduced, and work efficiency and cutting quality are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of multi-angle control of sawing machines, and in particular relates to a multi-angle rotation method and system for a sawing machine. Background Art

[0002] Sawing machines are important equipment in modern industrial processing and are widely used in cutting metals, wood and other materials. With the continuous improvement of the manufacturing industry's requirements for processing accuracy and efficiency, traditional sawing machines can no longer fully meet the needs of complex processing tasks, especially in multi-angle cutting. Traditional sawing machines usually use fixed angles for cutting. Although the operation is simple, traditional sawing machines have certain limitations for workpieces that require precise angle cutting. Especially when cutting workpieces with complex shapes or that require multi-angle cutting, traditional sawing machines are difficult to meet the processing requirements of high precision and high efficiency.

[0003] In the prior art, the multi-angle rotation of a sawing machine usually relies on manual adjustment or simple automatic control. This method is not only time-consuming and labor-intensive, but also easily affected by human errors, resulting in insufficient cutting accuracy. In addition, the performance of traditional sawing machines is inconsistent in different environments, and cutting position deviations are prone to occur, affecting the quality of the processed parts. Summary of the invention

[0004] The purpose of the present invention is to provide a multi-angle rotation method for a sawing machine, which can significantly improve the processing accuracy and efficiency of the sawing machine through precise angle adjustment and compensation mechanism, and is of great significance to improving the quality of processed parts.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A multi-angle rotation method for a sawing machine, wherein the sawing machine is provided with a connected cutting tool and a rotation mechanism, and the rotation mechanism drives the cutting tool to rotate, comprising:

[0007] Acquire multiple historical mechanical rotation amounts and corresponding multiple historical rotation angles of the cutting tool within a preset historical time period;

[0008] Calculating a period compensation coefficient according to a plurality of historical mechanical rotation quantities and a plurality of historical rotation angles;

[0009] Get the temperature compensation value corresponding to the temperature value;

[0010] Calculate a first actual mechanical rotation amount of the cutting tool according to the period compensation coefficient, the temperature compensation value, and the initial mechanical rotation amount;

[0011] Controlling the cutting tool to rotate according to the first actual mechanical rotation amount, and obtaining a third position of the rotating cutting tool;

[0012] Calculating a first angle between the cutting tool and the target cutting position according to the third position and the target cutting position;

[0013] Determine whether the first angle meets the preset requirements, if the first angle does not meet the preset requirements, calculate the second actual mechanical rotation amount according to the first angle, and control the cutting tool to rotate according to the second actual mechanical rotation amount;

[0014] Acquiring a fourth position of the rotating cutting tool;

[0015] Returning the fourth position as the third position to the step of calculating the first angle between the cutting tool and the target cutting position according to the third position and the target cutting position;

[0016] If the first angle meets the preset requirement, the cutting tool is controlled to cut the target cutting position.

[0017] In a preferred embodiment, before the step of obtaining a plurality of historical mechanical rotation amounts and corresponding plurality of historical rotation angles of the cutting tool within a preset historical time period, the method further comprises:

[0018] Obtaining a target cutting position of the workpiece and an initial position of the cutting tool, and obtaining an initial rotation angle of the cutting tool according to the target cutting position and the initial position;

[0019] Obtaining the corresponding initial mechanical rotation amount according to the initial rotation angle;

[0020] Controlling the cutting tool to rotate according to the initial mechanical rotation amount, and obtaining a second position of the rotating cutting tool;

[0021] determining whether the second position matches the target cutting position;

[0022] If the second position does not match the target cutting position, it is determined that the cutting mode of the cutting tool is abnormal.

[0023] In a preferred embodiment, the step of calculating the period compensation coefficient according to a plurality of historical mechanical rotation amounts and a plurality of historical rotation angles comprises:

[0024] Obtain the standard transmission ratio value of the mechanical rotation amount and the rotation angle;

[0025] The period compensation coefficient is calculated according to the standard transmission ratio value, multiple historical rotation angles and multiple historical mechanical rotation quantities, wherein the calculation formula is:

[0026]

[0027] Where, J represents the period compensation coefficient, i represents the number of multiple historical rotation angles and multiple historical mechanical rotation quantities, n represents the total number of multiple historical rotation angles and multiple historical mechanical rotation quantities, and Li Expressed as the i-th historical mechanical rotation, D i It is represented as the i-th historical rotation angle, and Z is represented as the standard transmission ratio of the mechanical rotation amount and the rotation angle.

[0028] In a preferred embodiment, the step of obtaining a temperature compensation value corresponding to the temperature value includes:

[0029] Acquire temperature data of the cutting tool driven by the rotating mechanism to rotate, and acquire a corresponding temperature value according to the temperature data;

[0030] Obtaining a temperature compensation table, wherein the temperature compensation table includes a plurality of temperature interval values ​​and a temperature compensation value corresponding to each temperature interval value;

[0031] Obtain the corresponding target temperature range value according to the temperature value;

[0032] Obtain the corresponding temperature compensation value from the temperature compensation table according to the temperature interval value.

[0033] In a preferred embodiment, the step of calculating the first actual mechanical rotation amount of the cutting tool according to the period compensation coefficient, the temperature compensation value, and the initial mechanical rotation amount comprises:

[0034] The first actual mechanical rotation amount is calculated according to the period compensation coefficient, the temperature compensation value, and the initial mechanical rotation amount, wherein the calculation formula is:

[0035] L y =L c ·J+W;

[0036] Where, L y It is represented as the first actual mechanical rotation, J is represented as the period compensation coefficient, W is represented as the temperature compensation value, L c Expressed as the initial mechanical rotation.

[0037] In a preferred embodiment, the step of calculating the first angle between the cutting tool and the target cutting position according to the third position and the target cutting position comprises:

[0038] Acquiring planar image data of a third position of the rotating cutting tool and a target cutting position of the workpiece;

[0039] Establishing a plane rectangular coordinate system according to the plane image data, wherein the origin of the plane rectangular coordinate system is the intersection between the third position of the sawing machine tool and the target cutting position of the workpiece, and the target cutting position of the workpiece falls on the positive direction of the x-axis;

[0040] Acquire the endpoint coordinate points of the target cutting position of the workpiece according to the plane rectangular coordinate system, and acquire the corresponding vector of the target cutting position of the workpiece according to the endpoint coordinate points of the target cutting position of the workpiece;

[0041] Obtaining the end point coordinate point where the third position of the sawing tool falls on the workpiece according to the plane rectangular coordinate system, and obtaining the vector where the third position of the sawing tool falls on the workpiece and the quadrant compensation value according to the end point coordinate point where the third position of the sawing tool falls on the workpiece;

[0042] The first angle is calculated according to the vector of the target cutting position of the workpiece and the vector of the third position of the sawing tool falling on the workpiece, wherein the calculation formula is:

[0043]

[0044] In the formula, Q y It is represented as the first angle, Represented as the vector of the target cutting position of the workpiece, It is represented as the vector where the third position of the sawing machine tool falls on the workpiece, and h is represented as the quadrant compensation value.

[0045] In a preferred embodiment, the step of determining whether the first angle meets the preset requirements, if the first angle does not meet the preset requirements, calculating the second actual mechanical rotation amount according to the first angle, and controlling the cutting tool to rotate according to the second actual mechanical rotation amount includes:

[0046] Get the standard angle evaluation interval value;

[0047] Determine whether the first angle is within the standard angle evaluation interval value;

[0048] If the first angle is not within the standard angle evaluation interval value, it is determined that the first angle does not meet the preset requirements, and the weight coefficient corresponding to the first angle is obtained. The second actual mechanical rotation amount is calculated according to the first angle, the target indexing angle, the first actual mechanical rotation amount, and the weight coefficient corresponding to the first angle, and the cutting tool is controlled to rotate according to the second actual mechanical rotation amount, wherein the calculation formula is:

[0049]

[0050] Where, L e Expressed as the second actual mechanical rotation, L y Expressed as the first actual mechanical rotation quantity, Q y Expressed as the first angle, Q m It is represented as the target transposition angle, and b is represented as the weight coefficient corresponding to the first angle;

[0051] If the first angle is within the standard angle threshold, it is determined that the first angle meets the preset requirements, and the cutting tool is controlled to cut the target cutting position.

[0052] In a preferred embodiment, after the step of controlling the cutting tool to rotate according to the second actual mechanical rotation amount, the method further comprises:

[0053] Obtaining a load value of the cutting tool driven by the rotating mechanism to rotate;

[0054] Obtaining a load threshold value for the rotating mechanism to drive the cutting tool to rotate;

[0055] Determine whether the load value of the cutting tool driven by the rotating mechanism to rotate exceeds a load threshold;

[0056] If the load value of the rotating mechanism driving the cutting tool to rotate exceeds the load threshold, it is determined that the operation is abnormal and an alarm message is issued;

[0057] If the load value of the rotating mechanism driving the cutting tool to rotate does not exceed the load threshold, it is determined that the operation is normal.

[0058] The present invention also provides a sawing machine multi-angle rotation system, which is used in the above-mentioned sawing machine multi-angle rotation method, comprising:

[0059] A historical data module, used to obtain a plurality of historical mechanical rotation amounts and corresponding plurality of historical rotation angles of the cutting tool within a preset historical time period;

[0060] A period compensation module, used for calculating a period compensation coefficient according to a plurality of historical mechanical rotation quantities and a plurality of historical rotation angles;

[0061] A temperature compensation module is used to obtain a temperature compensation value corresponding to a temperature value;

[0062] A first rotation module, used for calculating a first actual mechanical rotation amount of the cutting tool according to a period compensation coefficient, a temperature compensation value, and an initial mechanical rotation amount;

[0063] A first control module, used for controlling the cutting tool to rotate according to the first actual mechanical rotation amount, and obtaining a third position of the rotating cutting tool;

[0064] An angle module, used for calculating a first angle between the cutting tool and the target cutting position according to the third position and the target cutting position;

[0065] A judgment module, used for judging whether the first angle meets the preset requirements, if the first angle does not meet the preset requirements, calculating the second actual mechanical rotation amount according to the first angle, and controlling the cutting tool to rotate according to the second actual mechanical rotation amount;

[0066] A position module, used for obtaining a fourth position of the rotating cutting tool;

[0067] A feedback module, used for returning the fourth position as the third position to the step of calculating the first angle between the cutting tool and the target cutting position according to the third position and the target cutting position;

[0068] If the first angle meets the preset requirement, the cutting tool is controlled to cut the target cutting position.

[0069] And, a sawing machine multi-angle rotation terminal, comprising:

[0070] one or more processors;

[0071] a storage device having one or more programs stored thereon;

[0072] When the one or more programs are executed by the one or more processors, the one or more processors implement the sawing machine multi-angle rotation method.

[0073] The technical effects achieved by the present invention are:

[0074] The present invention greatly improves the rotation accuracy of the cutting tool by comprehensively considering multiple factors such as historical data, periodic compensation, and temperature compensation. It includes a cyclic correction mechanism, and even if the initial rotation angle is inaccurate, precise positioning can be achieved through multiple corrections. The influence of temperature changes on mechanical properties is taken into consideration, so that the method can maintain high cutting accuracy in different temperature environments. By compensating for factors such as mechanical wear and aging, the error caused by long-term use is reduced, the service life of the equipment is extended, the degree of automation is high, human intervention is reduced, and work efficiency and cutting quality are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] Figure 1 is a flow chart of the method provided by the present invention;

[0076] Figure 2 It is a system module diagram provided by the present invention. DETAILED DESCRIPTION

[0077] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0078] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0079] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The phrase "in a preferred embodiment" that appears in different places in this specification does not refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0080] Secondly, the present invention is described in detail in conjunction with schematic diagrams. When describing the embodiments of the present invention in detail, for the convenience of explanation, the schematic diagrams are only examples and should not limit the scope of protection of the present invention.

[0081] Please see attached Figure 1 As shown, a multi-angle rotation method of a sawing machine is provided, wherein a connected cutting tool and a rotation mechanism are provided on the sawing machine, and the rotation mechanism drives the cutting tool to rotate, comprising:

[0082] S1, obtaining multiple historical mechanical rotation amounts and corresponding multiple historical rotation angles of the cutting tool within a preset historical time period;

[0083] S2. Calculating a period compensation coefficient according to a plurality of historical mechanical rotation amounts and a plurality of historical rotation angles;

[0084] S3, obtaining a temperature compensation value corresponding to the temperature value;

[0085] S4, calculating a first actual mechanical rotation amount of the cutting tool according to the period compensation coefficient, the temperature compensation value, and the initial mechanical rotation amount;

[0086] S5, controlling the cutting tool to rotate according to the first actual mechanical rotation amount, and obtaining a third position of the rotating cutting tool;

[0087] S6, calculating a first angle between the cutting tool and the target cutting position according to the third position and the target cutting position;

[0088] S7, judging whether the first angle meets the preset requirements, if the first angle does not meet the preset requirements, calculating the second actual mechanical rotation amount according to the first angle, and controlling the cutting tool to rotate according to the second actual mechanical rotation amount;

[0089] S8, obtaining a fourth position of the rotating cutting tool;

[0090] S9, returning the fourth position as the third position to the step of calculating the first angle between the cutting tool and the target cutting position according to the third position and the target cutting position;

[0091] If the first angle meets the preset requirement, the cutting tool is controlled to cut the target cutting position.

[0092] As in the above steps S1 to S9, first, multiple historical mechanical rotation amounts and corresponding multiple historical rotation angles of the cutting tool within a preset historical time period are obtained. These data provide a basis for subsequent compensation calculations. A period compensation coefficient is calculated based on the historical mechanical rotation amounts and historical rotation angles. This compensation value is used to correct errors caused by mechanical wear, aging and other factors. According to the current temperature value, a corresponding temperature compensation value is obtained. Temperature changes will affect mechanical properties and accuracy, so temperature compensation is required. The first actual mechanical rotation amount of the cutting tool is calculated based on the period compensation coefficient, the temperature compensation value and the initial mechanical rotation amount. This rotation amount is the rotation amount after comprehensive consideration of mechanical wear, aging, and temperature change factors. The cutting tool is controlled to rotate based on the calculated first actual mechanical rotation amount, and the third position of the rotating cutting tool is obtained. The first angle between the cutting tool and the target cutting position is calculated based on the third position and the target cutting position. If the first angle does not meet the preset requirements, then according to The first angle calculates the second actual mechanical rotation amount, and controls the cutting tool to rotate according to the second actual mechanical rotation amount; if the first angle meets the preset requirements, cutting is performed, and the new position of the rotating cutting tool, i.e., the fourth position, is obtained, and it is returned to the step of calculating the angle as the new third position, and cyclic correction is performed until the preset requirements are met. When the angle meets the preset requirements, the cutting tool is controlled to cut the target cutting position. The accuracy of the cutting tool rotation is greatly improved by comprehensive consideration of various factors such as historical data, cycle compensation, and temperature compensation. A cyclic correction mechanism is included. Even if the initial rotation angle is inaccurate, precise positioning can be achieved through multiple corrections. The influence of temperature changes on mechanical properties is taken into account, so that the method can maintain a high cutting accuracy under different temperature environments. By compensating for factors such as mechanical wear and aging, the error caused by long-term use is reduced, and the service life of the equipment is extended. The high degree of automation reduces human intervention, and improves work efficiency and cutting quality.

[0093] In a preferred embodiment, before the step of obtaining a plurality of historical mechanical rotation amounts and corresponding plurality of historical rotation angles of the cutting tool within a preset historical time period, the method includes:

[0094] Step 101, obtaining a target cutting position of the workpiece and an initial position of the cutting tool, and obtaining an initial rotation angle of the cutting tool according to the target cutting position and the initial position;

[0095] Step 102, obtaining the corresponding initial mechanical rotation amount according to the initial rotation angle;

[0096] Step 103, controlling the cutting tool to rotate according to the initial mechanical rotation amount, and obtaining a second position of the rotating cutting tool;

[0097] Step 104, determining whether the second position matches the target cutting position;

[0098] If the second position does not match the target cutting position, it is determined that the cutting mode of the cutting tool is abnormal.

[0099] As in the above steps Step 101 to Step 104, the target cutting position of the workpiece and the initial position of the cutting tool are obtained, and the initial rotation angle of the cutting tool is calculated based on the relationship between the two, and the angle required to be rotated is determined so that the tool can be aligned with the target cutting position. The corresponding initial mechanical rotation amount is obtained according to the initial rotation angle. The initial mechanical rotation amount is a mechanical rotation amount obtained by the sawing machine rotation mechanism according to the angle. It is the factory set data of the machine tool and the value is obtained without any compensation. The cutting tool is controlled to rotate according to the initial mechanical rotation amount, and the second position of the rotating cutting tool is obtained, thereby realizing the preliminary positioning of the cutting tool, and judging whether the second position matches the target cutting position. If they do not match, it is judged that the cutting mode of the cutting tool is abnormal, and troubleshooting or readjustment may be required. In the course of long-term use, the initial mechanical rotation amount or The required angle may not be reached more or less, so a new mechanical rotation amount needs to be calculated based on the initial mechanical rotation amount. An initial calibration is performed before formal cutting to ensure that the cutting tool is in normal working condition, thereby improving the accuracy and reliability of subsequent operations. By judging whether the cutting tool position after the initial rotation matches the target position, it is possible to quickly detect whether the cutting mode of the cutting tool is abnormal, and take timely measures to avoid error accumulation in subsequent processing. The calibration and detection steps during the initial rotation process ensure that the cutting tool starts working in a normal state, laying the foundation for subsequent precise control. When an abnormal cutting mode is detected, the operation can be interrupted in time to prevent losses and safety hazards caused by misoperation. The initial rotation calibration and error detection provide accurate initial data for subsequent multi-angle rotation and compensation calculations, further optimizing the efficiency and effect of the overall cutting process.

[0100] In a preferred embodiment, the step of calculating the period compensation coefficient according to a plurality of historical mechanical rotation amounts and a plurality of historical rotation angles includes:

[0101] S201, obtaining a standard transmission ratio value of a mechanical rotation amount and a rotation angle;

[0102] S202, calculating a period compensation coefficient according to a standard transmission ratio value, a plurality of historical rotation angles, and a plurality of historical mechanical rotation amounts, wherein the calculation formula is:

[0103]

[0104] Where, J represents the period compensation coefficient, i represents the number of multiple historical rotation angles and multiple historical mechanical rotation quantities, n represents the total number of multiple historical rotation angles and multiple historical mechanical rotation quantities, and L i Expressed as the i-th historical mechanical rotation, D i It is represented as the i-th historical rotation angle, and Z is represented as the standard transmission ratio of the mechanical rotation amount and the rotation angle.

[0105] As in the above steps S201 to S202, the historical rotation angle data and the historical mechanical rotation amount data of the rotating mechanism driving the cutting tool to rotate are obtained, which provide the necessary data basis for calculating the period compensation coefficient. The standard transmission ratio of the mechanical rotation amount and the rotation angle is obtained. This standard transmission ratio is the mechanical rotation amount of the rotating mechanism when the sawing machine rotating mechanism drives the cutting tool to rotate an angle. It is the factory setting of the sawing machine. For example, if the tool rotates 2 degrees, the mechanical rotation amount of the rotating mechanism needs to be 20, and the ratio is 20:2=10:1. When the sawing machine is running for a long time, the machine will wear and age, and this ratio will fluctuate. Therefore, it is necessary to use the initial ratio to calculate the compensation value. This standard transmission ratio is used to ensure the accuracy of the calculated period compensation coefficient. According to the historical rotation angle data, the corresponding multiple historical rotation angles are obtained, and the processing of historical data is further refined. The historical mechanical rotation data is used to obtain the corresponding multiple historical mechanical rotations, and the period compensation coefficient is calculated in combination with the standard transmission ratio, the historical rotation angle and the historical mechanical rotation. By comprehensively considering the data from all aspects, the period compensation coefficient used to correct the error is obtained. Through detailed historical data analysis and the application of the standard transmission ratio, the calculated period compensation coefficient is more accurate, which effectively reduces the error in the angle transfer of the sawing machine. By dynamically obtaining and analyzing historical data, the compensation value can reflect the actual working status and historical performance of the equipment at any time, thereby achieving more accurate adjustment. Through the acquisition and analysis of a large amount of historical data, the calculation of the compensation value is based on data-driven, which reduces the interference of human factors and ensures the objectivity and scientificity of the calculation results. Through accurate compensation value calculation, the cumulative error that may occur in the equipment after long-term work is reduced, and the working stability and cutting accuracy of the sawing machine are improved.

[0106] In a preferred embodiment, the step of obtaining a temperature compensation value corresponding to a temperature value includes:

[0107] S301, obtaining temperature data of the cutting tool driven by the rotating mechanism to rotate, and obtaining a corresponding temperature value according to the temperature data;

[0108] S302, obtaining a temperature compensation table, wherein the temperature compensation table includes a plurality of temperature interval values ​​and a temperature compensation value corresponding to each temperature interval value;

[0109] S303, obtaining a corresponding target temperature interval value according to the temperature value;

[0110] S304 , obtaining a corresponding temperature compensation value from a temperature compensation table according to the temperature interval value.

[0111] As in the above steps S301 to S304, the real-time temperature data of the cutting tool driven by the rotating mechanism is obtained by a temperature sensor or other detection means, and the data is converted into a corresponding temperature value, so that the temperature change can be monitored in real time, and a temperature compensation table is pre-stored, which contains multiple temperature interval values ​​and their corresponding temperature compensation values, and provides a reference basis for subsequent steps to ensure that the calculation of the compensation value has a reliable basis. According to the temperature value obtained in real time, the target temperature interval value corresponding to the temperature value is determined, and the accuracy of the compensation value is ensured by mapping the actual temperature value to the preset temperature interval. According to the determined target temperature interval value, the corresponding temperature interval value is obtained from the temperature compensation table. The temperature compensation value ensures that the influence of temperature change on the saw can be effectively compensated. Through the detailed temperature interval division and the application of temperature compensation table, the calculated temperature compensation value is more accurate, which effectively reduces the influence of temperature change on the angle transfer of the sawing machine. Through the application of temperature compensation table, the mechanical error caused by temperature change is effectively reduced, and the working accuracy of the sawing machine and the quality of the processed parts are improved. Through the application of temperature compensation table, the calculation of temperature compensation value is based on data-driven, which reduces the interference of human factors and ensures the objectivity and scientificity of the calculation results. Through the detailed temperature interval division and the acquisition of real-time temperature data, it can adapt to various environmental temperature changes and has strong adaptability and flexibility.

[0112] In a preferred embodiment, the step of calculating the first actual mechanical rotation amount of the cutting tool according to the period compensation coefficient, the temperature compensation value, and the initial mechanical rotation amount includes:

[0113] S401, calculating a first actual mechanical rotation amount according to a period compensation coefficient, a temperature compensation value, and an initial mechanical rotation amount, wherein the calculation formula is:

[0114] L y =L c ·J+W;

[0115] Where, L y It is represented as the first actual mechanical rotation, J is represented as the period compensation coefficient, W is represented as the temperature compensation value, L c Expressed as the initial mechanical rotation.

[0116] As in the above step S401, the first actual mechanical rotation amount is calculated according to the period compensation coefficient, the temperature compensation value and the initial mechanical rotation amount. Assuming that the initial mechanical rotation amount L cis a known constant, which represents the mechanical rotation amount when no compensation is performed. The period compensation coefficient J is used to adjust the mechanical rotation amount to take into account periodic changes, such as performance changes of mechanical equipment under different periods. The temperature compensation value W is used to adjust the mechanical rotation amount to take into account the influence of temperature on mechanical performance. That is, the temperature compensation value W corresponds to a specific mechanical rotation amount. Therefore, the first actual mechanical rotation amount L y The calculation of L needs to consider two aspects of compensation, the influence of periodic changes: c ·J, so that a mechanical rotation amount after period compensation can be obtained; the influence of temperature change: by adding the temperature compensation value W, combining the above two points, the first actual mechanical rotation amount L can be obtained y The calculation formula of L y =L c ·J+W. Through this formula, the initial state and the influence of mechanical cycle use factors and temperature factors within a certain period of time can be comprehensively considered to obtain the recent mechanical rotation amount of the mechanical equipment. By considering the cycle compensation coefficient and temperature compensation value, the errors caused by abnormal cycle factors and temperature changes of mechanical equipment within a certain period of time can be effectively reduced, and the accuracy of angle adjustment can be significantly improved. The cycle compensation and temperature compensation within a certain period of time are combined, and the influence of multiple factors are comprehensively considered to ensure the comprehensiveness and effectiveness of compensation. It can adapt to different mechanical equipment and working environments. It can adapt to various complex processing requirements by simply adjusting the compensation value. It has strong flexibility and adaptability. Through precise angle adjustment, the quality of processed parts is improved, the scrap rate and rework rate are reduced, and the overall production efficiency and economic benefits are improved.

[0117] In a preferred embodiment, the step of calculating the first angle between the cutting tool and the target cutting position according to the third position and the target cutting position includes:

[0118] S601, acquiring plane image data of a third position of the rotating cutting tool and a target cutting position of the workpiece;

[0119] S602, establishing a plane rectangular coordinate system according to the plane image data, wherein the origin of the plane rectangular coordinate system is the intersection between the third position of the sawing machine tool and the target cutting position of the workpiece, and the target cutting position of the workpiece falls in the positive direction of the x-axis;

[0120] S603, acquiring the endpoint coordinate points of the target cutting position of the workpiece according to the plane rectangular coordinate system, and acquiring the corresponding vector of the target cutting position of the workpiece according to the endpoint coordinate points of the target cutting position of the workpiece;

[0121] S604, obtaining the endpoint coordinate point where the third position of the sawing tool falls on the workpiece according to the plane rectangular coordinate system, and obtaining the vector where the third position of the sawing tool falls on the workpiece and the quadrant compensation value according to the endpoint coordinate point where the third position of the sawing tool falls on the workpiece;

[0122] S605, calculating a first angle according to a vector of a target cutting position of the workpiece and a vector of a third position of the sawing tool falling on the workpiece, wherein the calculation formula is:

[0123]

[0124] In the formula, Q y It is represented as the first angle, Represented as the vector of the target cutting position of the workpiece, It is represented by the vector of the third position of the sawing tool falling on the workpiece, and h is represented by the quadrant compensation value. When the third position of the sawing tool falls on the first quadrant and the third quadrant, h=1, that is, the third position of the sawing tool does not cross the target cutting position during the angle adjustment process; when the third position of the sawing tool falls on the second quadrant and the fourth quadrant, h=-1, that is, the third position of the sawing tool crosses the target cutting position during the angle adjustment process.

[0125] As in the above steps S601 to S605, after adjusting the rotation angle of the sawing tool, the image sensor or camera device is used to obtain the plane image data of the third position of the sawing tool and the target cutting position of the workpiece, that is, the image data of the third position of the sawing tool and the target cutting position of the workpiece obtained from the cutting direction of the tool are plane data, ensuring that the positional relationship between the third position of the current sawing tool and the workpiece can be accurately captured, and a plane rectangular coordinate system is established in the image according to the obtained plane image data, and the origin of the coordinate system is set to the intersection between the third position of the sawing tool and the target cutting position of the workpiece. In the prior art, after cutting, when the multi-angle sawing machine performs the next cutting of the workpiece, the cutting position of the workpiece is conveyed to the rotation center line of the tool multi-angle rotation through the feeding mechanism, and then the tool angle is adjusted according to the cutting position. If it is recognized that the cutting position has not moved to the rotation center line, the feeding mechanism will adjust the position of the workpiece and make the target cutting position of the workpiece fall on the positive direction of the x-axis. In the plane rectangular coordinate system, the end point coordinate point of the target cutting position of the workpiece is obtained, and the vector of the target cutting position of the workpiece is calculated based on the coordinate point. This vector represents the target cutting position of the workpiece. The direction and size of the third position of the sawing tool in the coordinate system are obtained in the plane rectangular coordinate system. The end point coordinate point of the third position of the sawing tool falling on the workpiece is obtained, and the vector of the third position of the sawing tool falling on the workpiece is calculated based on the coordinate point. This vector represents the direction and size of the third position of the sawing tool on the workpiece. Through vector operation, the angle between the vector of the target cutting position of the workpiece and the vector of the third position of the sawing tool falling on the workpiece is calculated, which is called the first angle. By acquiring the plane image data and establishing the coordinate system, the third position of the sawing tool and the target position of the workpiece can be accurately measured. The angle between the marked cutting positions ensures the accuracy of the measurement results. By accurately calculating the first angle, the processing defects caused by angle errors can be reduced, the cutting quality can be ensured, and the automated processing from image data acquisition, coordinate system establishment to angle calculation is realized, which reduces manual intervention and improves production efficiency and consistency. By accurately controlling the positional relationship between the saw tool and the workpiece, the quality of the workpiece can be improved, the scrap rate and rework rate can be reduced, and the overall production efficiency can be improved. It can adapt to workpieces of different shapes and materials, and can be widely used in various cutting tasks by simply adjusting the coordinate system and calculation method.

[0126] In a preferred embodiment, the step of determining whether the first angle meets the preset requirements, if the first angle does not meet the preset requirements, calculating the second actual mechanical rotation amount according to the first angle, and controlling the cutting tool to rotate according to the second actual mechanical rotation amount includes:

[0127] S701, obtaining a standard angle evaluation interval value;

[0128] S702, determining whether the first angle is within a standard angle evaluation interval value;

[0129] If the first angle is not within the standard angle evaluation interval value, it is determined that the first angle does not meet the preset requirements, and the weight coefficient corresponding to the first angle is obtained. The second actual mechanical rotation amount is calculated according to the first angle, the target indexing angle, the first actual mechanical rotation amount, and the weight coefficient corresponding to the first angle, and the cutting tool is controlled to rotate according to the second actual mechanical rotation amount, wherein the calculation formula is:

[0130]

[0131] Where, L e Expressed as the second actual mechanical rotation, L y Expressed as the first actual mechanical rotation quantity, Q y Expressed as the first angle, Q m It is represented as the target transposition angle, and b is represented as the weight coefficient corresponding to the first angle;

[0132] If the first angle is within the standard angle threshold, it is determined that the first angle does not meet the preset requirement, and the cutting tool is controlled to cut the target cutting position.

[0133] As in the above steps S701 to S702, a standard angle evaluation interval value is preset. This evaluation interval is the allowable error value of the mechanical equipment processing and manufacturing itself, which is used to evaluate whether the angle between the sawing machine tool and the target cutting position of the workpiece meets the requirements. If the first angle is within the standard angle evaluation interval value, it is determined that the current rotation angle of the sawing machine meets the requirements and no further adjustment is required. If the first angle is not within the standard angle evaluation interval value, it is determined that after adjusting the rotation angle of the sawing machine tool according to the first actual mechanical rotation amount, it still does not meet the angle rotation requirements. Therefore, it is necessary to further calculate the second actual mechanical rotation amount to ensure that the second actual mechanical rotation amount that needs to be further adjusted is accurately calculated based on the actually measured first angle and the target indexing angle, combined with the first actual mechanical rotation amount adjusted in the early stage, so that after the initial adjustment, the target indexing angle Q m Subtract the first angle Q y The output angle value is based on the first actual mechanical rotation L y The actual angle of the saw blade is rotated by According to the first actual mechanical rotation L y The ratio of the actual angle of the sawing tool represents the amount of mechanical rotation required for each angle. The first angle Q y It is the angle at which the current sawing machine tool rotates to the target cutting position, and then multiply it by the weight coefficient b corresponding to the first angle to get a weight angle value, and then multiply it by the first actual mechanical rotation amount L yThe ratio of the actual angle of the sawing machine tool to the actual angle of the sawing machine tool is obtained to obtain the mechanical motion calculation formula of the sawing machine tool driven by the rotating mechanism to rotate to the target cutting position under the current conditions. According to the calculated second actual mechanical rotation amount, the rotation angle of the sawing tool is adjusted to ensure that the sawing tool can reach the expected cutting angle during the cutting process, thereby ensuring product quality and production efficiency. Through detailed angle evaluation and dynamic calculation of the mechanical rotation amount of the rotating mechanism driving the cutting tool to rotate, it is ensured that the rotation angle of the sawing tool can accurately meet the preset requirements, improve the processing accuracy, and can automatically adjust according to actual conditions, reducing the need for manual intervention, improving the automation level and efficiency of the production line, reducing the number of adjustments and improving cutting accuracy, reducing the scrap rate and rework rate, thereby saving production costs. It is suitable for workpieces of different shapes and sizes, and can flexibly respond to various processing needs and environmental changes by adjusting the weight coefficient and the evaluation interval value.

[0134] In a preferred embodiment, after the step of controlling the cutting tool to rotate according to the second actual mechanical rotation amount, the method further includes:

[0135] S703, obtaining a load value of the cutting tool driven by the rotating mechanism to rotate;

[0136] S704, obtaining a load threshold for the rotating mechanism to drive the cutting tool to rotate;

[0137] S705, determining whether the load value of the cutting tool driven by the rotating mechanism to rotate exceeds a load threshold;

[0138] If the load value of the rotating mechanism driving the cutting tool to rotate exceeds the load threshold, it is determined that the operation is abnormal and an alarm message is issued;

[0139] If the load value of the rotating mechanism driving the cutting tool to rotate does not exceed the load threshold, it is determined that the operation is normal.

[0140] As in the above steps S703 to S705, the current load value of the rotating mechanism driving the cutting tool to rotate is obtained in real time, that is, the resistance encountered by the rotating mechanism driving the cutting tool to rotate in the process of driving the sawing machine tool to rotate at multiple angles. These data can be obtained through sensors or monitoring devices, reflecting the force or pressure borne by the mechanism during operation. A load threshold is preset, and the threshold is used to determine whether the load of the rotating mechanism driving the cutting tool to rotate is normal. If the load value of the rotating mechanism driving the cutting tool to rotate exceeds the load threshold, it is determined that the rotating mechanism driving the cutting tool to rotate is abnormal, and there may be overload or other abnormal conditions. In this case, an alarm message is immediately issued to notify the operator to check and handle it. If the load value of the rotating mechanism driving the cutting tool to rotate does not exceed the load threshold, it is determined that the rotating mechanism driving the cutting tool to rotate is operating normally, and the processing operation continues. By real-time monitoring of the load of the rotating mechanism driving the cutting tool to rotate, it is possible to promptly discover and identify abnormal conditions in the operation of the mechanism, such as overload or failure, so that timely measures can be taken to avoid further equipment damage or safety accidents. Timely alarms and response capabilities help to ensure the safe operation of the rotating mechanism driving the cutting tool to rotate and peripheral equipment, reduce maintenance costs and the risk of production interruptions. The introduction of load monitoring technology makes the production process more intelligent, and can automatically monitor and respond to equipment status, reducing the need for manual intervention and improving the level of production automation.

[0141] Please see attached Figure 2 As shown, the present invention also provides a sawing machine multi-angle rotation system, which is used for the above-mentioned sawing machine multi-angle rotation method, comprising:

[0142] A historical data module, used to obtain a plurality of historical mechanical rotation amounts and corresponding plurality of historical rotation angles of the cutting tool within a preset historical time period;

[0143] A period compensation module, used for calculating a period compensation coefficient according to a plurality of historical mechanical rotation quantities and a plurality of historical rotation angles;

[0144] A temperature compensation module is used to obtain a temperature compensation value corresponding to a temperature value;

[0145] A first rotation module, used for calculating a first actual mechanical rotation amount of the cutting tool according to a period compensation coefficient, a temperature compensation value, and an initial mechanical rotation amount;

[0146] A first control module, used for controlling the cutting tool to rotate according to the first actual mechanical rotation amount, and obtaining a third position of the rotating cutting tool;

[0147] An angle module, used for calculating a first angle between the cutting tool and the target cutting position according to the third position and the target cutting position;

[0148] A judgment module, used for judging whether the first angle meets the preset requirements, if the first angle does not meet the preset requirements, calculating the second actual mechanical rotation amount according to the first angle, and controlling the cutting tool to rotate according to the second actual mechanical rotation amount;

[0149] A position module, used for obtaining a fourth position of the rotating cutting tool;

[0150] A feedback module, used for returning the fourth position as the third position to the step of calculating the first angle between the cutting tool and the target cutting position according to the third position and the target cutting position;

[0151] If the first angle meets the preset requirement, the cutting tool is controlled to cut the target cutting position.

[0152] As mentioned above, the historical data module obtains multiple historical mechanical rotation amounts and corresponding multiple historical rotation angles of the cutting tool within a preset historical time period, and these data provide a basis for compensation calculation. The period compensation module calculates the period compensation coefficient based on the historical mechanical rotation amount and the historical rotation angle, which is used to correct errors caused by mechanical wear, aging and other factors. The temperature compensation module obtains the current temperature value and calculates the temperature compensation value accordingly to correct the impact of temperature changes on mechanical properties. The first rotation module calculates the first actual mechanical rotation amount of the cutting tool based on the period compensation coefficient, the temperature compensation value and the initial mechanical rotation amount. The first control module controls the cutting tool to rotate according to the first actual mechanical rotation amount, and obtains the position of the cutting tool after rotation, that is, the third position. The angle module calculates the first angle between the cutting tool and the target cutting position based on the third position and the target cutting position. The judgment module judges whether the first angle meets the preset requirements. If not, the second actual mechanical rotation amount is calculated and the cutting tool is controlled to rotate again. The position module obtains the new position of the cutting tool after rotation, that is, the fourth position. The feedback module returns the fourth position as the new third position to the angle module for cyclic correction until the first angle meets the preset requirements. When the first angle meets the preset requirements, the system controls the cutting tool to cut the target cutting position. Through comprehensive consideration of multiple factors such as cycle compensation and temperature compensation, the rotation accuracy of the cutting tool is greatly improved. The system includes a cyclic correction mechanism. Even if the initial rotation angle is inaccurate, it can achieve precise positioning through multiple corrections. Real-time compensation is performed using historical data and temperature data, so that the system can maintain high-precision cutting in various environments. The cycle compensation module and the temperature compensation module effectively reduce the errors caused by long-term use and extend the service life of the equipment. The highly automated system reduces human intervention, improves work efficiency and cutting quality, and realizes adaptive correction of the system to ensure that the position after each rotation meets the requirements and improves the reliability of the cutting process.

[0153] And, a sawing machine multi-angle rotation terminal, comprising:

[0154] one or more processors;

[0155] a storage device having one or more programs stored thereon;

[0156] When one or more programs are executed by one or more processors, the one or more processors implement the multi-angle rotation method of the sawing machine.

[0157] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. A multi-angle rotation method for a sawing machine, wherein the sawing machine is provided with a connected cutting tool and a rotating mechanism, and the rotating mechanism drives the cutting tool to rotate, characterized in that: include: Acquire multiple historical mechanical rotation amounts and corresponding multiple historical rotation angles of the cutting tool within a preset historical time period; Calculating a period compensation coefficient according to a plurality of historical mechanical rotation quantities and a plurality of historical rotation angles; Get the temperature compensation value corresponding to the temperature value; Calculate a first actual mechanical rotation amount of the cutting tool according to the period compensation coefficient, the temperature compensation value, and the initial mechanical rotation amount; Controlling the cutting tool to rotate according to the first actual mechanical rotation amount, and obtaining a third position of the rotating cutting tool; Calculating a first angle between the cutting tool and the target cutting position according to the third position and the target cutting position; Determine whether the first angle meets the preset requirements, if the first angle does not meet the preset requirements, calculate the second actual mechanical rotation amount according to the first angle, and control the cutting tool to rotate according to the second actual mechanical rotation amount; Acquiring a fourth position of the rotating cutting tool; Returning the fourth position as the third position to the step of calculating the first angle between the cutting tool and the target cutting position according to the third position and the target cutting position; If the first angle meets the preset requirement, the cutting tool is controlled to cut the target cutting position; The step of calculating the period compensation coefficient according to a plurality of historical mechanical rotation amounts and a plurality of historical rotation angles comprises: Obtain the standard transmission ratio value of the mechanical rotation amount and the rotation angle; The period compensation coefficient is calculated according to the standard transmission ratio value, multiple historical rotation angles and multiple historical mechanical rotation quantities, wherein the calculation formula is: Where, J represents the period compensation coefficient, i represents the number of multiple historical rotation angles and multiple historical mechanical rotation quantities, n represents the total number of multiple historical rotation angles and multiple historical mechanical rotation quantities, and L i Expressed as the i-th historical mechanical rotation, D i It is represented as the i-th historical rotation angle, and Z is represented as the standard transmission ratio of the mechanical rotation amount to the rotation angle; The step of calculating the first actual mechanical rotation amount of the cutting tool according to the period compensation coefficient, the temperature compensation value, and the initial mechanical rotation amount comprises: The first actual mechanical rotation amount is calculated according to the period compensation coefficient, the temperature compensation value, and the initial mechanical rotation amount, wherein the calculation formula is: L y =L c ·J+W; Where, L y It is represented as the first actual mechanical rotation, J is represented as the period compensation coefficient, W is represented as the temperature compensation value, L c Expressed as the initial mechanical rotation.

2. The multi-angle rotation method of a sawing machine according to claim 1, characterized in that: Before the step of obtaining a plurality of historical mechanical rotation amounts and corresponding plurality of historical rotation angles of the cutting tool within a preset historical time period, the method includes: Obtaining a target cutting position of the workpiece and an initial position of the cutting tool, and obtaining an initial rotation angle of the cutting tool according to the target cutting position and the initial position; Obtaining the corresponding initial mechanical rotation amount according to the initial rotation angle; Controlling the cutting tool to rotate according to the initial mechanical rotation amount, and obtaining a second position of the rotating cutting tool; determining whether the second position matches the target cutting position; If the second position does not match the target cutting position, it is determined that the cutting mode of the cutting tool is abnormal.

3. The multi-angle rotation method of a sawing machine according to claim 1, characterized in that: The step of obtaining a temperature compensation value corresponding to the temperature value comprises: Acquire temperature data of the cutting tool driven by the rotating mechanism to rotate, and acquire a corresponding temperature value according to the temperature data; Obtaining a temperature compensation table, wherein the temperature compensation table includes a plurality of temperature interval values ​​and a temperature compensation value corresponding to each temperature interval value; Obtain the corresponding target temperature range value according to the temperature value; Obtain the corresponding temperature compensation value from the temperature compensation table according to the temperature interval value.

4. The multi-angle rotation method of a sawing machine according to claim 1, characterized in that: The step of calculating a first angle between the cutting tool and the target cutting position according to the third position and the target cutting position comprises: Acquiring planar image data of a third position of the rotating cutting tool and a target cutting position of the workpiece; Establishing a plane rectangular coordinate system according to the plane image data, wherein the origin of the plane rectangular coordinate system is the intersection between the third position of the sawing machine tool and the target cutting position of the workpiece, and the target cutting position of the workpiece falls on the positive direction of the x-axis; Acquire the endpoint coordinate points of the target cutting position of the workpiece according to the plane rectangular coordinate system, and acquire the corresponding vector of the target cutting position of the workpiece according to the endpoint coordinate points of the target cutting position of the workpiece; Obtaining the end point coordinate point where the third position of the sawing tool falls on the workpiece according to the plane rectangular coordinate system, and obtaining the vector where the third position of the sawing tool falls on the workpiece and the quadrant compensation value according to the end point coordinate point where the third position of the sawing tool falls on the workpiece; The first angle is calculated according to the vector of the target cutting position of the workpiece and the vector of the third position of the sawing tool falling on the workpiece, wherein the calculation formula is: In the formula, Q y It is represented as the first angle, Represented as the vector of the target cutting position of the workpiece, It is represented as the vector where the third position of the sawing machine tool falls on the workpiece, and h is represented as the quadrant compensation value.

5. The multi-angle rotation method of a sawing machine according to claim 1, characterized in that: The step of judging whether the first angle meets the preset requirements, if the first angle does not meet the preset requirements, calculating the second actual mechanical rotation amount according to the first angle, and controlling the cutting tool to rotate according to the second actual mechanical rotation amount includes: Get the standard angle evaluation interval value; Determine whether the first angle is within the standard angle evaluation interval value; If the first angle is not within the standard angle evaluation interval value, it is determined that the first angle does not meet the preset requirements, and the weight coefficient corresponding to the first angle is obtained. The second actual mechanical rotation amount is calculated according to the first angle, the target indexing angle, the first actual mechanical rotation amount, and the weight coefficient corresponding to the first angle, and the cutting tool is controlled to rotate according to the second actual mechanical rotation amount, wherein the calculation formula is: Where, L e Expressed as the second actual mechanical rotation, L y Expressed as the first actual mechanical rotation quantity, Q y Expressed as the first angle, Q m It is represented as the target transposition angle, and b is represented as the weight coefficient corresponding to the first angle; If the first angle is within the standard angle threshold, it is determined that the first angle meets the preset requirements, and the cutting tool is controlled to cut the target cutting position.

6. The multi-angle rotation method of a sawing machine according to claim 1, characterized in that: After the step of controlling the cutting tool to rotate according to the second actual mechanical rotation amount, the method further includes: Obtaining a load value of the cutting tool driven by the rotating mechanism to rotate; Obtaining a load threshold value for the rotating mechanism to drive the cutting tool to rotate; Determine whether the load value of the cutting tool driven by the rotating mechanism to rotate exceeds a load threshold; If the load value of the rotating mechanism driving the cutting tool to rotate exceeds the load threshold, it is determined that the operation is abnormal and an alarm message is issued; If the load value of the rotating mechanism driving the cutting tool to rotate does not exceed the load threshold, it is determined that the operation is normal.

7. A sawing machine multi-angle rotation system, applied to the sawing machine multi-angle rotation method according to any one of claims 1 to 6, characterized in that: include: A historical data module, used to obtain a plurality of historical mechanical rotation amounts and corresponding plurality of historical rotation angles of the cutting tool within a preset historical time period; A period compensation module, used for calculating a period compensation coefficient according to a plurality of historical mechanical rotation quantities and a plurality of historical rotation angles; A temperature compensation module is used to obtain a temperature compensation value corresponding to a temperature value; A first rotation module, used for calculating a first actual mechanical rotation amount of the cutting tool according to a period compensation coefficient, a temperature compensation value, and an initial mechanical rotation amount; A first control module, used for controlling the cutting tool to rotate according to the first actual mechanical rotation amount, and obtaining a third position of the rotating cutting tool; An angle module, used for calculating a first angle between the cutting tool and the target cutting position according to the third position and the target cutting position; A judgment module, used for judging whether the first angle meets the preset requirements, if the first angle does not meet the preset requirements, calculating the second actual mechanical rotation amount according to the first angle, and controlling the cutting tool to rotate according to the second actual mechanical rotation amount; A position module, used for obtaining a fourth position of the rotating cutting tool; A feedback module, used for returning the fourth position as the third position to the step of calculating the first angle between the cutting tool and the target cutting position according to the third position and the target cutting position; If the first angle meets the preset requirement, the cutting tool is controlled to cut the target cutting position.

8. A multi-angle rotating terminal for a sawing machine, characterized in that: include: one or more processors; a storage device having one or more programs stored thereon; When the one or more programs are executed by the one or more processors, the one or more processors implement the sawing machine multi-angle rotation method according to any one of claims 1 to 6.

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