A ductile iron continuous cutting device

Abstract

The present invention relates to the field of ductile iron cutting, and specifically to a ductile iron continuous cutting device. The device is equipped with an industrial camera and a temperature sensor on the upper end of a mobile frame, a vibration sensor on a support arm, and a damping device on an inclined plate. The industrial camera is used to obtain video data of the cutting device during movement between two adjacent cuttings, the temperature sensor is used to obtain temperature data of the ductile iron during the cutting process in real time, and the vibration sensor is used to obtain vibration data within a preset time period before the next knife cutting. The continuous cutting of the ductile iron is controlled according to the video data, the temperature data, and the vibration data. The present invention effectively improves the accuracy and effect of the continuous cutting of the ductile iron by adjusting the cutting point, controlling the cutting depth, and suppressing the vibration.

Description

Technical Field

[0001] The invention relates to the field of ductile iron cutting, and in particular to a ductile iron continuous cutting device. Background Art

[0002] As an important industrial material, ductile iron has better toughness, ductility and casting performance. In the process of processing long ductile iron, it is usually necessary to use cutting equipment to continuously cut the ductile iron according to a fixed length. At the same time, it is also necessary to strictly control the cutting depth to facilitate the next breaking process.

[0003] In the related art, movable automated cutting equipment is usually used to achieve continuous cutting of ductile iron. However, during the continuous cutting process, certain mechanical errors will occur, which will lead to inaccurate control of the ductile iron cutting, and thus lead to poor continuous cutting effect of the ductile iron. Summary of the invention

[0004] In order to solve the technical problem that certain mechanical errors will occur during the continuous cutting process, resulting in poor continuous cutting effect of ductile iron, the purpose of the present invention is to provide a ductile iron continuous cutting device, and the technical solution adopted is as follows:

[0005] The present invention proposes a ductile iron continuous cutting device, wherein an industrial camera and a temperature sensor are installed on the upper end of a moving frame of the cutting device, a vibration sensor is installed on a support arm of the cutting device, and a damping device is installed on an inclined plate of the cutting device, wherein the industrial camera is used to obtain video data of the cutting device during movement between two adjacent cuttings, the temperature sensor is used to obtain temperature data of the ductile iron during the cutting process in real time, and the vibration sensor is used to obtain vibration data within a preset time period before the next cutting, and the continuous cutting of the ductile iron is controlled according to the video data, the temperature data and the vibration data, wherein the method for controlling the continuous cutting of the ductile iron comprises:

[0006] Before executing the next cutting task, the mobile frame is moved in the direction of the next cutting point, and the encoder of the cutting device is used to obtain the feedback moving distance of the cutting device and the initial landing point of the saw blade; feature detection is performed on the video data during the movement to obtain the actual moving distance of the cutting device; according to the difference between the feedback moving distance and the actual moving distance of the cutting device, the initial landing point is adjusted to obtain the final landing point;

[0007] The damping frequency of the cutting equipment is obtained based on the vibration data within a preset time period; the ductile iron is cut using a saw blade located at the final landing point, and the real-time dimensional change error of the ductile iron during the cutting process is obtained based on the difference between the temperature data of the ductile iron obtained in real time during the cutting process and the preset normal temperature, as well as the preset thermal expansion coefficient of the ductile iron; the cutting process is controlled based on the dimensional change error and the damping frequency.

[0008] Further, obtaining the feedback moving distance of the cutting device includes:

[0009] During the movement of the mobile frame, the encoder of the cutting equipment is used to detect the moving distance. When the moving distance detected by the encoder reaches the preset cutting interval distance, the movement of the mobile frame is stopped, and the position of the saw blade after the mobile frame stops is used as the initial landing point of the saw blade, and the moving distance detected by the encoder is used as the feedback moving distance of the cutting equipment.

[0010] Further, obtaining the actual moving distance of the cutting device includes:

[0011] Based on the visual odometer technology, feature detection is performed on the video data during the movement to obtain the actual movement distance of the cutting equipment.

[0012] Further, obtaining the final landing point includes:

[0013] The absolute value of the difference between the feedback moving distance of the cutting device and the actual moving distance is used as the moving error of the cutting device;

[0014] The movement error is input into a PID controller, and based on the feedback result of the PID controller, the initial landing point of the saw blade of the moving frame is adjusted to determine the final landing point of the saw blade of the cutting device.

[0015] Further, obtaining the damping frequency of the cutting device includes:

[0016] Based on the second-order difference discrimination method, the vibration data within the preset time period is processed to obtain multiple peaks within the preset time period;

[0017] According to the amplitude of the first wave peak and the amplitude of the last wave peak within a preset time period, a damping ratio of the cutting device is obtained, wherein the damping ratio is positively correlated with the amplitude of the first wave peak, and the damping ratio is negatively correlated with the amplitude of the last wave peak;

[0018] Based on the calculation method of natural frequency, the natural frequency of the cutting device is obtained, and according to the natural frequency of the cutting device and the damping ratio, the damping frequency of the cutting device is obtained;

[0019] The damping frequency of the cutting device is obtained according to the natural frequency and the damping frequency of the cutting device, and both the natural frequency and the damping frequency are positively correlated with the damping frequency.

[0020] Further, obtaining the damping ratio of the cutting device includes:

[0021] ;in, Indicates the damping ratio of the cutting equipment; Indicates the amplitude of the first peak within the preset time period; Indicates the amplitude of the last peak within the preset time period; Expressed as a natural constant The logarithmic function with base .

[0022] Further, obtaining the damping frequency of the cutting device includes:

[0023] ;in, Indicates the damping frequency of the cutting equipment; Indicates the damping ratio of the cutting equipment; represents the natural frequency of the cutting device.

[0024] Furthermore, the real-time dimensional change error of the ductile iron during the cutting process is obtained, including:

[0025] The difference between the temperature data of the ductile iron obtained in real time during the cutting process and the preset normal temperature is used as the real-time temperature change value of the ductile iron;

[0026] The product value of the real-time temperature change value of the ductile iron and the preset thermal expansion coefficient is used as the real-time dimensional change error of the ductile iron during the cutting process.

[0027] Further, the controlling the cutting process based on the size change error and the damping frequency includes:

[0028] Using the damping frequency, adjusting the parameters of a damping device installed on an inclined plate of a cutting device, and using the adjusted damping device to suppress the vibration of a saw blade during the cutting process;

[0029] During the cutting process, the real-time dimensional change error of the ductile iron is input into the PID controller, and the cutting depth is controlled in real time based on the feedback result of the PID controller.

[0030] Furthermore, the value range of the preset normal temperature is , the unit is Celsius.

[0031] The present invention has the following beneficial effects:

[0032] The present invention takes into account that certain mechanical errors may occur during the continuous cutting process, resulting in poor continuous cutting effect of ductile iron. Therefore, the present invention installs an industrial camera and a temperature sensor on the upper end of the moving frame of the cutting equipment, and installs a vibration sensor on the support arm of the cutting equipment. First, the encoder of the cutting equipment is used to detect the distance moved by the moving frame during each cutting, and the moving distance fed back by the encoder is obtained, that is, the feedback moving distance. At the same time, the video data collected during the movement is used to obtain the actual moving distance of the cutting equipment. Since the moving distance and the specific stopping position of the cutting equipment are controlled by the encoder, and the cutting equipment is encoder-controlled during multiple moving cutting processes. The device will have a large error in detecting the moving distance, resulting in a large deviation in the cutting point of the saw blade. Therefore, the present invention adjusts the initial landing point of the saw blade of the cutting device so that the final landing point of the saw blade is closer to the cutting point, eliminating the mechanical error caused by the movement of the moving frame. Taking into account the vibration caused by the high-speed rotation of the saw blade and the frictional heat generated between the saw blade and the ductile iron, the size of the ductile iron changes, which will cause mechanical errors in the cutting process. Therefore, the present invention uses the obtained damping frequency and size change error to accurately control the cutting process, eliminate the mechanical error in the cutting process, and thus improve the effect of continuous cutting of ductile iron. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 A schematic diagram of the overall structure of a ductile iron continuous cutting device provided by one embodiment of the present invention;

[0035] Figure 2 A schematic diagram of a first axial side view of a moving frame of a ductile iron continuous cutting device provided by one embodiment of the present invention;

[0036] Figure 3 A schematic diagram of a second axial side of a moving frame of a ductile iron continuous cutting device provided by one embodiment of the present invention;

[0037] Figure 4 A flow chart of a method for controlling continuous cutting of ductile iron provided by one embodiment of the present invention.

[0038] Figure markings: 1-workbench, 2-slide rail, 3-moving frame, 4-chain drive structure, 5-material transfer support frame, 6-first motor, 7-screw, 8-support rod, 9-moving plate, 10-pressure plate cylinder, 11-tilt plate, 12-second motor, 13-belt drive structure, 14-support arm, 15-mounting shaft, 16-saw blade, 17-damping device, 18-industrial camera, 19-temperature sensor, 20-vibration sensor. DETAILED DESCRIPTION

[0039] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of the specific implementation, structure, features and effects of a ductile iron continuous cutting device proposed by the present invention in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0040] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0041] The specific scheme of the ductile iron continuous cutting equipment provided by the present invention is described in detail below with reference to the accompanying drawings.

[0042] See also Figures 1 to 3 , which respectively show a schematic diagram of the overall structure of a ductile iron continuous cutting device provided by an embodiment of the present invention, a schematic diagram of the first axis side of the mobile frame, and a schematic diagram of the second axis side of the mobile frame. Since the mobile cutting device may have a large deviation in judging the moving distance during multiple cuttings of the ductile iron by the mobile cutting device, an industrial camera 18 is installed at the upper end of the mobile frame 3 in the embodiment of the present invention to analyze the actual moving distance of the cutting device and adjust the cutting point. Since the saw blade 16 of the cutting device rotates at a high degree, the support arm 14 may vibrate more severely, reducing the cutting accuracy. Therefore, an industrial camera 18 is installed at the upper end of the mobile frame 3 in the embodiment of the present invention to analyze the actual moving distance of the cutting device and adjust the cutting point. A vibration sensor 20 is installed on the movable frame 3 to analyze the vibration of the support arm 14, and the vibration is suppressed by the damping device 17 installed on the inclined plate 11. At the same time, during the cutting process, the saw blade 16 generates heat due to friction with the ductile iron, which causes the size of the ductile iron to change, resulting in insufficient control accuracy of the cutting depth. Therefore, a temperature sensor 19 is installed on the upper end of the movable frame 3, and the real-time change of the size of the ductile iron is analyzed to accurately control the cutting depth of the ductile iron, thereby improving the accuracy of the cutting point and depth control during multiple consecutive cutting processes, thereby improving the effect of continuous cutting of the ductile iron.

[0043] See also Figure 4, which shows a flow chart of a method for controlling continuous cutting of ductile iron provided by an embodiment of the present invention, comprising:

[0044] Step S1: Before executing the next cutting task, move the mobile frame in the direction of the next cutting point, and use the encoder of the cutting device to obtain the feedback moving distance of the cutting device and the initial landing point of the saw blade; perform feature detection on the video data during the movement to obtain the actual moving distance of the cutting device; adjust the initial landing point according to the difference between the feedback moving distance and the actual moving distance of the cutting device to obtain the final landing point.

[0045] It should be noted that before the embodiment of the present invention uses the cutting equipment for continuous cutting, the ductile iron needs to be placed on the material transfer support frame, and the mobile frame of the cutting equipment needs to be moved to a specified initial zero position, and the ductile iron needs to be continuously cut from the initial zero position.

[0046] Since it is necessary to ensure that the ductile iron is cut once every fixed distance when the ductile iron is cut continuously for many times, so that after the next pressing process, the ductile iron of the same length can be obtained, it is necessary to set a fixed preset cutting interval distance for the cutting device. In one embodiment of the present invention, the preset cutting interval distance is set to 2 meters. The preset cutting interval distance can also be set by the implementer according to the specific implementation scenario, which is not limited here. Then, starting from the initial zero position, a split point is set every preset cutting interval distance. Ideally, when the cutting device performs the next cutting task, the moving frame of the cutting device will move to the next split point, so that the saw blade of the cutting device reaches the next cutting point. However, the distance that the cutting device moves each time and the specific position after it stops moving are controlled by an encoder. During the multiple moving and cutting processes of the cutting device, the encoder's detection accuracy of the moving distance will be reduced, resulting in a large deviation between the saw blade position after it stops moving and the cutting point. Therefore, before executing the next cutting task, the embodiment of the present invention moves the mobile frame in the direction of the next cutting point, and uses the encoder of the cutting device to obtain the feedback moving distance of the cutting device. The feedback moving distance is the distance of this moving process detected by the encoder. The difference between the feedback moving distance and the actual moving distance can be analyzed later, and the cutting point of the saw blade can be adjusted to make the actual cutting point closer to the cutting point, thereby reducing the cutting error.

[0047] Preferably, in one embodiment of the present invention, the method for obtaining the feedback moving distance of the cutting device and the initial landing point of the saw blade specifically includes:

[0048] During the movement of the mobile frame, the encoder of the cutting equipment is used to detect the moving distance. When the moving distance detected by the encoder reaches the preset cutting interval distance, the movement of the mobile frame is stopped, and the position of the saw blade after the mobile frame stops is used as the initial landing point of the saw blade, and the moving distance detected by the encoder is used as the feedback moving distance of the cutting equipment.

[0049] After multiple cutting processes, the accuracy of the encoder's detection of the moving distance will decrease, resulting in a large deviation between the moving distance fed back by the encoder, that is, the feedback moving distance, and the actual moving distance of the moving frame, which in turn causes the saw blade position after stopping to deviate greatly from the cutting point. Therefore, the embodiment of the present invention uses an industrial camera to collect video data during each movement of the moving frame, and performs feature detection on the video data during the movement to obtain the true moving distance of the cutting equipment. The true moving distance represents the actual moving distance of the moving frame of the cutting equipment during the movement. The difference between the true moving distance and the feedback moving distance obtained above can be analyzed subsequently to adjust the final position of the moving frame, so that the actual cutting point of the saw blade is closer to the cutting point, thereby reducing the cutting error.

[0050] Preferably, in one embodiment of the present invention, the method for obtaining the actual moving distance of the cutting device specifically includes:

[0051] Since visual odometry is a technology that estimates the change in the camera's posture between consecutive frames through an image sequence and then calculates the camera's motion trajectory in three-dimensional space, the technology analyzes consecutive images and uses feature points such as corners and edges to estimate the camera's motion trajectory by matching these feature points, and then obtains the camera's movement distance. Therefore, based on the visual odometry technology, feature detection can be performed on the video data during the movement process to obtain the actual movement distance of the cutting equipment. The actual movement distance indicates the actual movement distance of the cutting equipment's mobile frame in the process of moving to the next cutting point and stopping. Among them, the visual odometry technology is a technical means well known to those skilled in the art and will not be elaborated here.

[0052] After obtaining the feedback moving distance detected by the encoder of the cutting device and the actual moving distance of the cutting device, the final position of the moving frame and the initial landing point of the saw blade can be adjusted according to the difference between the feedback moving distance and the actual moving distance, thereby determining the final landing point of the saw blade of the cutting device, making the final landing point of the saw blade closer to the cutting point, improving the cutting accuracy, and reducing the distance error caused by movement.

[0053] Preferably, in one embodiment of the present invention, a method for obtaining the final landing point of a saw blade of a cutting device specifically includes:

[0054] The absolute value of the difference between the feedback moving distance and the actual moving distance of the cutting device is taken as the moving error of the cutting device, and the moving error is input into the PID controller. Based on the feedback result of the PID controller, the position of the moving frame of the cutting device is adjusted to determine the final landing point of the saw blade of the cutting device. Among them, the PID controller is a technical means well known to technicians in this field and will not be elaborated here.

[0055] Thus, the precise control of the landing point of the saw blade at each cutting is achieved during the continuous cutting process.

[0056] Step S2: Obtain the damping frequency of the cutting equipment based on the vibration data within a preset time period; use the saw blade located at the final landing point to cut the ductile iron, and obtain the real-time dimensional change error of the ductile iron during the cutting process based on the difference between the temperature data of the ductile iron obtained in real time during the cutting process and the preset normal temperature, as well as the preset thermal expansion coefficient of the ductile iron; control the cutting process based on the dimensional change error and the damping frequency.

[0057] Since the high-speed rotation of the saw blade will cause the support arm connected to the saw blade to vibrate more severely, resulting in more severe shaking of the saw blade during the cutting process, which is not conducive to the control of the cutting depth and the final cutting effect. Therefore, after the final landing point of the saw blade is determined, it is also necessary to suppress the vibration of the cutting equipment before the saw blade is cut, so as to avoid severe shaking of the saw blade during the cutting process. Therefore, the embodiment of the present invention first collects the vibration data within a preset time period before the saw blade is cut through the vibration sensor installed on the support arm, wherein the preset time period is set to 20 seconds, and the specific value of the preset time period can also be set by the implementer according to the specific implementation scenario, which is not limited here, and multiple peaks of the vibration data within the preset time period are obtained, and the amplitude of the peak can be subsequently analyzed to obtain the damping frequency of the cutting equipment, thereby achieving the suppression effect on the vibration phenomenon.

[0058] Preferably, in one embodiment of the present invention, the vibration data within a preset time period can be processed based on a second-order difference discrimination method to obtain multiple peaks within the preset time period. The second-order difference discrimination method is a technical means well known to those skilled in the art and will not be elaborated here. In other embodiments of the present invention, other existing methods can also be used to extract peaks, which are not limited here.

[0059] Then, the difference in amplitude between the first peak and the last peak can be analyzed, and the damping frequency of the cutting equipment can be calculated and analyzed. Subsequently, based on the damping frequency, a damping device can be used to suppress the vibration of the cutting equipment, reduce the jitter of the saw blade during subsequent cutting, and improve cutting accuracy.

[0060] Preferably, in one embodiment of the present invention, the method for obtaining the damping frequency of the cutting device specifically includes:

[0061] First, the damping ratio of the cutting device is obtained according to the difference in amplitude between the first peak and the last peak in the preset time period. The amplitude is an existing concept and will not be elaborated here. The expression of the damping ratio is:

[0062]

[0063] in, Indicates the damping ratio of the cutting equipment; Indicates the amplitude of the first peak within the preset time period; Indicates the amplitude of the last peak within the preset time period; Indicated by natural constant The logarithmic function with base .

[0064] It should be noted that the above formula for calculating the damping ratio is an existing formula and will not be described in detail here. The damping frequency can be further calculated based on the damping ratio to adjust the parameters of the damping device.

[0065] Then, based on the calculation method of natural frequency, the natural frequency of the cutting device is obtained, and according to the natural frequency and damping ratio of the cutting device, the damping frequency of the cutting device is obtained. Among them, the calculation method of natural frequency is a technical means well known to technical personnel in this field and will not be elaborated here.

[0066] The expression of damping frequency is:

[0067]

[0068] in, Indicates the damping frequency of the cutting equipment; Indicates the damping ratio of the cutting equipment; Represents the natural frequency of the cutting device.

[0069] It should be noted that the above formula for calculating the damping frequency is an existing formula and will not be elaborated here. Subsequently, based on the damping frequency, the vibration can be suppressed by using a damping device installed on the inclined plate.

[0070] Taking into account that during the cutting process, the friction between the saw blade and the ductile iron causes the temperature of the ductile iron to rise, thereby causing its size to change. If the cutting depth is not controlled, the final cutting effect will be reduced. Therefore, the embodiment of the present invention uses a temperature sensor installed on the upper end of the mobile frame to obtain the temperature data of the ductile iron during the cutting process in real time, and based on the difference between the temperature data of the ductile iron obtained in real time during the cutting process and the preset normal temperature, as well as the preset thermal expansion coefficient of the ductile iron, the dimensional change of the ductile iron during the cutting process is analyzed in real time, thereby obtaining the real-time dimensional change error of the ductile iron during the cutting process. Subsequently, the cutting depth can be controlled in real time based on the dimensional change error, thereby improving the accuracy of the cutting depth control, and thus improving the final cutting effect.

[0071] Among them, the value range of the preset normal temperature is , in degrees Celsius. In one embodiment of the present invention, the preset normal temperature is set to 25 degrees Celsius. The specific value of the preset normal temperature can also be set by the implementer according to the specific implementation scenario, which is not limited here.

[0072] Among them, the thermal expansion coefficient of ductile iron is an existing concept, which indicates the relative amount of dimensional change of ductile iron per unit temperature change. The value range of the thermal expansion coefficient of ductile iron is In one embodiment of the present invention, the preset thermal expansion coefficient is set to The specific value of the preset thermal expansion coefficient can also be set by the implementer according to the specific implementation scenario and is not limited here.

[0073] Preferably, in one embodiment of the present invention, the method for obtaining the real-time dimensional change error of ductile iron during cutting specifically includes:

[0074] The difference between the temperature data of the ductile iron obtained in real time during the cutting process and the preset normal temperature is used as the real-time temperature change value of the ductile iron, and the product value of the real-time temperature change value of the ductile iron and the preset thermal expansion coefficient is used as the real-time dimensional change error of the ductile iron during the cutting process.

[0075] As an example, in one embodiment of the present invention, the expression of the real-time dimensional change error of ductile iron can be specifically, for example, as follows:

[0076]

[0077] in, Indicates the real-time dimensional change error of ductile iron during cutting; Indicates the preset coefficient of thermal expansion of ductile iron; Indicates the real-time temperature data of ductile iron during cutting; Indicates the preset normal temperature.

[0078] After obtaining the real-time dimensional change error of ductile iron during the cutting process and the damping frequency of the cutting equipment, the cutting process can be controlled based on the dimensional change error and the damping frequency, thereby suppressing the vibration phenomenon during the cutting process and avoiding the problem of insufficient control of the cutting depth due to the dimensional change of ductile iron, thereby improving the precise control of the cutting process and the final cutting effect.

[0079] Preferably, in one embodiment of the present invention, the method for controlling the cutting process specifically includes:

[0080] The damping frequency is used to adjust the parameters of the damping device installed on the inclined plate of the cutting equipment, and the adjusted damping device is used to suppress the vibration of the saw blade during the cutting process, thereby reducing the degree of vibration of the saw blade during the cutting process.

[0081] During the cutting process, the real-time dimensional change error of the ductile iron is input into the PID controller, and based on the feedback result of the PID controller, the cutting depth is controlled in real time, thereby achieving precise control of the cutting depth, thereby avoiding the problem of too small or too large cutting depth.

[0082] At this point, the precise control of the cutting depth has been completed. Through the above process, each cutting task can be effectively controlled, thereby improving the final effect of continuous cutting of ductile iron.

[0083] The embodiment of the present invention installs an industrial camera and a temperature sensor on the upper end of a moving frame of a cutting device, installs a vibration sensor on a support arm of the cutting device, and installs a damping device on an inclined plate of the cutting device. Before executing the next cutting task, the moving frame is moved in the direction of the next cutting point, and an encoder of the cutting device is used to obtain a feedback moving distance of the cutting device; feature detection is performed on video data during the movement to obtain a real moving distance of the cutting device; the landing point of the saw blade of the cutting device is adjusted according to the difference between the feedback moving distance and the real moving distance of the cutting device; the damping frequency of the cutting device is obtained according to the vibration data within a preset time period; the real-time dimensional change error of the ductile iron during the cutting process is obtained according to the difference between the temperature data of the ductile iron obtained in real time during the cutting process and the preset normal temperature, as well as the preset thermal expansion coefficient of the ductile iron; and the cutting process is controlled based on the dimensional change error and the damping frequency.

[0084] It should be noted that the sequence of the above embodiments of the present invention is only for description and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0085] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. A ductile iron continuous cutting device, characterized in that: An industrial camera and a temperature sensor are installed on the upper end of a moving frame of a cutting device, a vibration sensor is installed on a support arm of the cutting device, and a damping device is installed on an inclined plate of the cutting device. The industrial camera is used to obtain video data of the cutting device during movement between two adjacent cuttings. The temperature sensor is used to obtain temperature data of ductile iron during cutting in real time. The vibration sensor is used to obtain vibration data within a preset time period before the next cutting. The continuous cutting of ductile iron is controlled according to the video data, the temperature data and the vibration data. The method for controlling the continuous cutting of ductile iron includes: Before executing the next cutting task, the mobile frame is moved in the direction of the next cutting point, and the encoder of the cutting device is used to obtain the feedback moving distance of the cutting device and the initial landing point of the saw blade; feature detection is performed on the video data during the movement to obtain the actual moving distance of the cutting device; according to the difference between the feedback moving distance and the actual moving distance of the cutting device, the initial landing point is adjusted to obtain the final landing point; The damping frequency of the cutting equipment is obtained based on the vibration data within a preset time period; the ductile iron is cut using a saw blade located at the final landing point, and the real-time dimensional change error of the ductile iron during the cutting process is obtained based on the difference between the temperature data of the ductile iron obtained in real time during the cutting process and the preset normal temperature, as well as the preset thermal expansion coefficient of the ductile iron; the cutting process is controlled based on the dimensional change error and the damping frequency.

2. The ductile iron continuous cutting equipment according to claim 1, characterized in that: The obtaining of the feedback moving distance of the cutting device comprises: During the movement of the mobile frame, the encoder of the cutting equipment is used to detect the moving distance. When the moving distance detected by the encoder reaches the preset cutting interval distance, the movement of the mobile frame is stopped, and the position of the saw blade after the mobile frame stops is used as the initial landing point of the saw blade, and the moving distance detected by the encoder is used as the feedback moving distance of the cutting equipment.

3. The ductile iron continuous cutting equipment according to claim 1, characterized in that: The obtaining of the actual moving distance of the cutting device comprises: Based on the visual odometer technology, feature detection is performed on the video data during the movement to obtain the actual movement distance of the cutting equipment.

4. The ductile iron continuous cutting equipment according to claim 1, characterized in that: Obtaining the final landing point includes: The absolute value of the difference between the feedback moving distance of the cutting device and the actual moving distance is used as the moving error of the cutting device; The movement error is input into a PID controller, and based on the feedback result of the PID controller, the initial landing point of the saw blade of the moving frame is adjusted to determine the final landing point of the saw blade of the cutting device.

5. The ductile iron continuous cutting equipment according to claim 1, characterized in that: The obtaining of the damping frequency of the cutting device comprises: Based on the second-order difference discrimination method, the vibration data within the preset time period is processed to obtain multiple peaks within the preset time period; According to the amplitude of the first wave peak and the amplitude of the last wave peak within a preset time period, a damping ratio of the cutting device is obtained, wherein the damping ratio is positively correlated with the amplitude of the first wave peak, and the damping ratio is negatively correlated with the amplitude of the last wave peak; Based on the calculation method of natural frequency, the natural frequency of the cutting device is obtained, and according to the natural frequency and the damping ratio of the cutting device, the damping frequency of the cutting device is obtained, and both the natural frequency and the damping ratio are positively correlated with the damping frequency.

6. The ductile iron continuous cutting equipment according to claim 5, characterized in that: The obtaining of the damping ratio of the cutting device comprises: ;in, Indicates the damping ratio of the cutting equipment; Indicates the amplitude of the first peak within the preset time period; Indicates the amplitude of the last peak within the preset time period; Indicated by natural constant The logarithmic function with base .

7. The ductile iron continuous cutting equipment according to claim 5, characterized in that: The obtaining of the damping frequency of the cutting device comprises: ;in, Indicates the damping frequency of the cutting equipment; Indicates the damping ratio of the cutting equipment; represents the natural frequency of the cutting device.

8. The ductile iron continuous cutting equipment according to claim 1, characterized in that: The real-time dimensional change error of ductile iron during cutting is obtained as follows: The difference between the temperature data of the ductile iron obtained in real time during the cutting process and the preset normal temperature is used as the real-time temperature change value of the ductile iron; The product value of the real-time temperature change value of the ductile iron and the preset thermal expansion coefficient is used as the real-time dimensional change error of the ductile iron during the cutting process.

9. The ductile iron continuous cutting equipment according to claim 1, characterized in that: The controlling of the cutting process based on the size variation error and the damping frequency comprises: Using the damping frequency, adjusting the parameters of a damping device installed on an inclined plate of a cutting device, and using the adjusted damping device to suppress the vibration of a saw blade during the cutting process; During the cutting process, the real-time dimensional change error of the ductile iron is input into the PID controller, and the cutting depth is controlled in real time based on the feedback result of the PID controller.

10. The ductile iron continuous cutting equipment according to claim 1, characterized in that: The value range of the preset normal temperature is , the unit is Celsius.

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