Intelligent control equipment for four-cutter-holder shearing machine

Abstract

The invention relates to the technical field of intelligent control of shearing machines, and particularly discloses intelligent control equipment for a four-cutter-holder shearing machine, which comprises a processing parameter acquisition module, a data analysis processing module, a control strategy analysis module, a motion control module, a man-machine interaction module and a data storage library. The motion control module executes the control strategy analysis module to generate corresponding control parameters, the shearing machine can achieve dynamic shearing path adjustment and accurate control over the shearing speed, and it is ensured that the size and shape of a sheared material accurately meet preset standards. Meanwhile, the man-machine interaction module provides real-time running state and shearing parameter display, the convenience and intuition of operation are improved, the machining precision, quality and intelligent level of the shearing machine are remarkably improved on the whole, the size error is effectively reduced, the equipment failure rate is reduced, and the production efficiency and the product quality are improved.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent control of shearing machines, in particular to intelligent control equipment for a four-knife seat shearing machine. Background Art

[0002] With the continuous development of industrial technology, the requirements for shearing equipment have also increased, especially the increasing demands for shearing accuracy, processing efficiency and material utilization. Traditional four-knife shears usually rely on manual operation and fixed parameter settings, which are not only inefficient, but also difficult to ensure the consistency of shearing accuracy and processing quality, limiting their application in high-precision and complex shearing environments. Therefore, it is urgent to develop a four-knife shear that can realize intelligent control, improve production efficiency and shearing quality through real-time monitoring and dynamic adjustment of processing parameters.

[0003] Some intelligent shearing equipment currently on the market has the following main shortcomings: 1. Lack of real-time monitoring of key parameters in the processing process such as material size, displacement and shear force, making it impossible to fine-tune the shearing process; 2. The safety control strategy is single and cannot cope with the various uncertain factors in complex processing environments, limiting the adaptability and flexibility of the equipment; 3. Lack of effective human-computer interaction interface and data storage system, unable to provide detailed production data and historical records, affecting the continuous optimization and improvement of the equipment.

[0004] Therefore, we proposed intelligent control equipment for four-blade shearing machine. Summary of the invention

[0005] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides an intelligent control device for a four-knife seat shearing machine to solve the above-mentioned technical defects.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: an intelligent control device for a four-knife seat shearing machine includes a processing parameter acquisition module, a data analysis and processing module, and a control strategy analysis module; A processing parameter acquisition module is used to acquire the processing parameters of the four-knife seat shearing machine at each operating time point in each operating process in real time, and obtain the processing parameters of the four-knife seat shearing machine at each operating time point in each operating process; Among them, the processing parameters of the four-knife seat shearing machine corresponding to each operating time point in each operating process include the size parameters, displacement parameters and shearing parameters of the processed material; A data analysis and processing module is used to analyze and process the processing parameters of the four-knife seat shearing machine at each operating time point in each operating process, and obtain the deviation state of the four-knife seat shearing machine at each operating time point in each operating process; Set the center coordinate of the lower left side of the ideal shape of the processed material to (x理想 ,y 理想 ), the actual coordinates of the corresponding points in the processing process of the processing material are obtained from the dimensional parameters of the processing material at each operating time point of the four-knife shearing machine during each operation process (x i ,y i ), i represents the number of each running time point, i=1,2,...,n, n represents the total number of the running time point numbers; The center coordinate of the lower left side of the ideal shape of the processed material is (x 理想 ,y 理想 ) and the actual coordinates of the corresponding points of the processed material during the processing are (x i ,y i ) calculates the difference between the x-axis and the y-axis to obtain the deviation vector of the corresponding point coordinates of the processed material during the processing , specifically: , , , through the formula Calculate the deviation distance of the corresponding point coordinates of the processed material during the processing process, and use the formula Calculate the deviation direction angle of the corresponding point coordinates of the processed material during the processing; The control strategy analysis module is used to control and analyze the deviation state of the four-knife seat shearing machine at each operating time point in each operating process, and generate control parameters for the four-knife seat shearing machine at each operating time point in each operating process.

[0007] Further, it also includes: a motion control module, a human-computer interaction module and a data storage library; The motion control module is used to adjust and control the operating parameters of each knife seat in the four-knife seat shearing machine corresponding to each operating time point according to the control parameters generated in the control strategy analysis module.

[0008] The human-computer interaction module is used to display the real-time working status, current cutting parameters and sensor data information of the four-blade shearing machine.

[0009] The data repository is used to store the shearing parameters of the four-knife seat shearing machine corresponding to each operating time point and the initial setting shearing parameters of the four-knife seat shearing machine.

[0010] Furthermore, the processing parameters of the four-knife seat shearing machine corresponding to each operating time point in each operating process are obtained as follows: The visual sensor installed above the knife seat of the four-knife seat shearing machine can collect the shape of the material to be processed in real time, and obtain the size parameters of the material processed by the four-knife seat shearing machine at each operating time point during each operation process; Through the encoder connected to the drive motor shaft of the four-knife seat shearing machine, the displacement change data of each knife seat in each direction is collected in real time, and the displacement parameters of the knife seat of the four-knife seat shearing machine corresponding to each operating time point in each operating process are obtained; By installing a pressure sensor on the pressure pipeline in the hydraulic system of the four-knife shearing machine, the shear force of the four-knife shearing machine at each operating time point during the shearing process is collected in real time, and the shearing parameters of the four-knife shearing machine corresponding to the shearing process at each operating time point during each operating process are obtained.

[0011] Furthermore, the analyzing and processing of the processing parameters of the four-knife seat shearing machine at each operating time point during each operating process also includes: Get the ideal rotation speed of the four-seat shearing machine from the data repository, denoted as W 理想 , the actual speed of the knife seat corresponding to each running time point is obtained from the displacement parameters of the knife seat of the four-knife seat shearing machine at each running time point during each running process, recorded as w i , get time point i t to t-1 Time period According to the formula Calculate the theoretical displacement distance of the tool holder, where r represents the tool holder movement radius, according to the formula Calculate the actual displacement distance of the tool holder according to the formula Calculate the speed deviation of the toolholder during the machining process .

[0012] Furthermore, the length measurement value, width measurement value and thickness measurement value of the processed material in the shearing direction are obtained from the dimensional parameters of the processed material at each operating time point in each operating process of the four-knife shearing machine, and are respectively recorded as L 测 , W 测 and T 测 ; At the same time, the length measurement reference value, width measurement reference value and thickness measurement reference value of the processed material in the shear direction are obtained from the data repository, which are recorded as L0, W0 and T0 respectively; Divide the processed material into m equal length sections in the length direction, and the target length of each section is l 目 , l 目 =L 测 / m, and at the same time obtain the effective shear range of the tool holder from the data repository, denoted as d, according to the formula S 行 =l 目 +d Calculate the shearing stroke S of the tool holder each time 行 ; At the same time, the reference speed of the tool holder corresponding to each running time point is obtained from the data repository, which is recorded as v0; According to the formula: , Calculate the shear velocity V of the toolholder during the shearing process 剪 , k L , k W Respectively represent the adjustment coefficients corresponding to the length and width measurements of the processed material.

[0013] Further, the basic shear force initially set for the tool holder is obtained from the data repository, and is recorded as F0; The roughness of the surface texture of the processed material is obtained from the data repository, denoted as R, according to the formula F 阻 =aR+b, where a and b represent weight factors set according to the characteristics of the processed material; The texture direction of the surface image of the processed material is obtained by the visual sensor, which is denoted as β. According to the formula F 有效阻 =F 阻 cosβ, when β=0, the effective resistance is maximum, equal to F 阻 ; When β=90°, the effective resistance is the smallest, which is 0; According to the formula The actual shear force of the four-knife shearing machine after adjustment at each operating time point during each operation process is calculated, and k is represented as the adjustment coefficient.

[0014] Furthermore, the method of controlling and analyzing the deviation state of the four-knife seat shearing machine at each operating time point during each operating process is as follows: Obtain the allowable deviation value of the tool holder corresponding to each operating time point from the data repository, denoted as γ; Get the actual length of the processed material corresponding to each running time point, recorded as l (i)实际 , by corresponding the actual length l of the processed material to each running time point (i)实际 and the target length l of the processed material at each running time point 目 Perform differential calculation to obtain the length deviation of the processed material corresponding to each running time point Similarly, calculate the width deviation of the processed material corresponding to each running time point Thickness deviation of the processed material at each operating time point ; When the length deviation of the processed material corresponds to each running time point When it is less than the allowable deviation value of the tool holder corresponding to each running time point, the position deviation and speed deviation of the tool holder are adjusted respectively. The specific adjustment method is as follows: By obtaining the current position of the tool holder in the shearing direction as x i , the target position of the next cut is x i+1 Specific ,in It is the adjustment factor determined based on the system accuracy and adjustment sensitivity; The shearing speed of the four-knife seat shearing machine at each operating time point during each operation is obtained from the displacement parameters of the knife seat of the shearing machine at each operating time point during each operation process, and is recorded as v i , the shear speed v of the knife seat corresponding to each running time point i and the speed deviation of the toolholder during the machining process After comprehensive calculation, the correction speed of the tool holder during the processing of the processed material is obtained, which is recorded as ; Specifically, if ,but ,like ,but , where n is the weight factor for adjusting the speed, and the speed of the tool holder after correction is .

[0015] Furthermore, when the length deviation ∆L of the processed material corresponding to each operating time point is greater than the allowable deviation value of the tool holder corresponding to each operating time point, the shearing operation is suspended and the motion mechanism of the tool holder is checked.

[0016] Beneficial effects of the present invention: 1. In the present invention, through the application of intelligent control equipment, the four-knife seat shearing machine can obtain the size parameters, displacement parameters and shearing parameters of the processed materials in real time, and accurately calculate the deviation of the processed materials during the processing process through the data analysis and processing module, and then generate corresponding control parameters through the control strategy analysis module to adjust the position and speed of the knife seat to ensure the high accuracy and stability of the shearing process. In addition, by executing these control parameters through the motion control module, the shearing machine can realize dynamic shearing path adjustment and precise control of shearing speed to ensure that the size and shape of the sheared material accurately meet the predetermined standards. At the same time, the human-computer interaction module provides real-time operation status and shearing parameter display, which improves the convenience and intuitiveness of operation, and significantly improves the processing accuracy, quality and intelligence level of the shearing machine as a whole, effectively reduces dimensional errors, reduces equipment failure rate, and improves production efficiency and product quality.

[0017] 2. In the present invention, the processing parameters at each operating time point can be obtained in real time through the processing parameter acquisition module, including size parameters, displacement parameters and shearing parameters. Among them, the shape of the material is collected by a visual sensor installed above the tool holder to obtain the size parameters, which can accurately grasp the original state of the material, provide a basis for subsequent precise shearing, and ensure that the shearing size meets the requirements. The encoder connected to the tool holder drive motor shaft collects the tool holder displacement change data in real time, which enables the control system to accurately understand the movement of the tool holder in all directions, which is beneficial to improve the accuracy and coordination of the tool holder movement and ensure the accuracy of the shearing process. Installing a pressure sensor on the pressure pipeline of the hydraulic system to obtain the shearing parameters can monitor the size of the shearing force in real time. On the one hand, the processing process can be adjusted according to the shearing force to avoid damage to the tool or material due to improper shearing force. On the other hand, it helps to analyze the stability of the shearing process and ensure the shearing quality, which improves the overall intelligence level and processing quality of the four-tool holder shearing machine.

[0018] 3. In the present invention, the deviation state is obtained by analyzing and processing the processing parameters. For the material shape, the deviation vector, distance and direction angle are calculated based on the coordinates of the corresponding points in the ideal shape and the actual processing, so that the material processing position deviation can be accurately grasped, which is conducive to real-time adjustment of the shearing path and ensuring shape accuracy. The speed deviation is calculated from the ideal and actual rotation speed and displacement parameters of the tool holder, and the movement state of the tool holder can be monitored, abnormalities can be discovered in time, the accuracy and stability of the tool holder movement can be guaranteed, and the shearing accuracy can be improved. The shearing stroke and speed are calculated according to the material size parameters, and the length segmentation, effective shearing range and adjustment coefficient are considered to ensure that the shearing size meets the requirements, and at the same time, it can adapt to materials of different sizes and optimize the shearing efficiency and quality. By analyzing the shearing force and the material texture roughness and direction, calculating the effective resistance and shearing force adjustment, the shearing force can be dynamically adjusted according to the material characteristics and shearing quality requirements, avoiding damage to the tool and material, improving the incision quality, adapting to texture changes, and ensuring the stability and high quality of the shearing process. These measures have comprehensively improved the processing accuracy, quality and intelligence level of the four-tool holder shearing machine.

[0019] 4. The present invention flexibly sets the allowable deviation value by comprehensively considering industry standards, customer requirements and material properties, and calculates the length, width and thickness deviations based on the actual length and target length at each operating time point. When the length deviation is less than the allowable deviation value, the tool holder position deviation and speed deviation can be accurately adjusted, and the tool holder position is adjusted by an adjustment factor determined based on system accuracy and sensitivity, and the tool holder speed is corrected based on the speed deviation and weight factor, thereby ensuring the accuracy and stability of the shearing process, reducing dimensional errors, and improving shearing quality. When the length deviation is greater than the allowable deviation value, pausing shearing, checking the tool holder motion mechanism, and recalibrating the visual sensor can timely discover and solve potential problems, avoid a large number of unqualified products due to equipment failure or sensor errors, ensure production continuity and product quality, and improve the processing reliability and intelligent control level of the entire shearing machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below in conjunction with the accompanying drawings.

[0021] Figure 1 This is a principle block diagram of a system module in an intelligent control device for a knife holder shearing machine according to a fourth embodiment of the present invention. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work also fall within the scope of protection of the present invention.

[0023] As shown in the present invention and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular, but also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements.

[0024] Although the present invention has made various references to certain modules in the system according to an embodiment of the present invention, any number of different modules can be used and run on a user terminal and / or server. The modules are only illustrative, and different aspects of the system and method can use different modules.

[0025] The present invention uses a flow chart to illustrate the operations performed by the system according to an embodiment of the present invention. It should be understood that the preceding or following operations are not necessarily performed precisely in order. On the contrary, various steps may be processed in reverse order or simultaneously as required. At the same time, other operations may also be added to these processes, or one or more operations may be removed from these processes.

[0026] Below, the exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described here.

[0027] Embodiment 1: See also Figure 1 As shown, the intelligent control device for the four-knife seat shearing machine includes a processing parameter acquisition module, a data analysis and processing module, a control strategy analysis module, a motion control module, a human-computer interaction module and a data storage library.

[0028] Among them, the motion control module and the processing parameter acquisition module are both connected to the internal communication of the four-tool shearing machine. The processing parameter acquisition module is used to acquire the processing parameters of the four-tool shearing machine during operation. After calculating and analyzing the processing parameters, the motion control module is used to intelligently adjust the processing parameters of the four-tool shearing machine.

[0029] A processing parameter acquisition module is used to acquire the processing parameters of the four-knife seat shearing machine at each operating time point in each operating process in real time, and obtain the processing parameters of the four-knife seat shearing machine at each operating time point in each operating process; Specifically, the processing parameters of the four-knife seat shearing machine corresponding to each operating time point during each operation process include the size parameters, displacement parameters and shearing parameters of the processed material; Among them, the visual sensor installed above the knife seat of the four-knife seat shearing machine is used to collect the shape of the material to be processed in real time, and obtain the size parameters of the material processed by the four-knife seat shearing machine at each operating time point during each operation process; Through the encoder connected to the drive motor shaft of the four-knife seat shearing machine, the displacement change data of each knife seat in each direction is collected in real time, and the displacement parameters of the knife seat of the four-knife seat shearing machine corresponding to each operating time point in each operating process are obtained; By installing a pressure sensor on the pressure pipe in the hydraulic system of the four-knife seat shearing machine, the shear force of the four-knife seat shearing machine at each operating time point during the shearing process is collected in real time, and the shearing parameters of the four-knife seat shearing machine corresponding to the shearing process at each operating time point during each operation process are obtained; In a specific embodiment, the processing parameters of each running time point can be obtained in real time through the processing parameter acquisition module in the present invention, including size parameters, displacement parameters and shearing parameters. Among them, the shape of the material is collected by the visual sensor installed above the knife seat to obtain the size parameters, which can accurately grasp the original state of the material, provide a basis for subsequent precise shearing, and ensure that the shearing size meets the requirements. The encoder connected to the knife seat drive motor shaft collects the displacement change data of the knife seat in real time, so that the control system can accurately understand the movement of the knife seat in all directions, which is conducive to improving the accuracy and coordination of the knife seat movement and ensuring the accuracy of the shearing process. Installing a pressure sensor on the pressure pipeline of the hydraulic system to obtain the shearing parameters can monitor the size of the shearing force in real time. On the one hand, the processing process can be adjusted according to the shearing force to avoid damage to the tool or material due to improper shearing force. On the other hand, it helps to analyze the stability of the shearing process and ensure the shearing quality, which improves the intelligence level and processing quality of the four-knife seat shearing machine as a whole.

[0030] A data analysis and processing module is used to analyze and process the processing parameters of the four-knife seat shearing machine at each operating time point in each operating process, and obtain the deviation state of the four-knife seat shearing machine at each operating time point in each operating process; Set the center coordinate of the lower left side of the ideal shape of the processed material to (x 理想 ,y 理想 ), the actual coordinates of the corresponding points in the processing process of the processing material are obtained from the dimensional parameters of the processing material at each operating time point of the four-knife shearing machine during each operation process (x i ,y i ), i represents the number of each running time point, i=1,2,...,n, n represents the total number of the running time point numbers; The center coordinate of the lower left side of the ideal shape of the processed material is (x 理想 ,y 理想 ) and the actual coordinates of the corresponding points of the processed material during the processing are (x i ,y i ) calculates the difference between the x-axis and the y-axis to obtain the deviation vector of the corresponding point coordinates of the processed material during the processing , specifically: , , , through the formula Calculate the deviation distance of the corresponding point coordinates of the processed material during the processing process, and use the formula Calculate the deviation direction angle of the corresponding point coordinates of the processed material during the processing process.

[0031] Get the ideal rotation speed of the four-seat shearing machine from the data repository, denoted as W 理想, the actual speed of the knife seat corresponding to each running time point is obtained from the displacement parameters of the knife seat of the four-knife seat shearing machine at each running time point during each running process, recorded as w i , get time point i t to t-1 Time period According to the formula Calculate the theoretical displacement distance of the tool holder, where r represents the tool holder movement radius, according to the formula Calculate the actual displacement distance of the tool holder according to the formula Calculate the speed deviation of the toolholder during the machining process .

[0032] The length measurement value, width measurement value and thickness measurement value of the processed material in the shearing direction are obtained from the dimensional parameters of the processed material at each operating time point during each operation of the four-knife shearing machine, and are recorded as L 测 , W 测 and T 测 ; At the same time, the length measurement reference value, width measurement reference value and thickness measurement reference value of the processed material in the shear direction are obtained from the data repository, which are recorded as L0, W0 and T0 respectively; Divide the processed material into m equal length sections in the length direction, and the target length of each section is l 目 , l 目 =L 测 / m, and at the same time obtain the effective shear range of the tool holder from the data repository, denoted as d, according to the formula S 行 =l 目 +d Calculate the shearing stroke S of the tool holder each time 行 ; At the same time, the reference speed of the tool holder corresponding to each running time point is obtained from the data repository, which is recorded as v0; According to the formula: , Calculate the shear velocity V of the toolholder during the shearing process 剪 , k L , k W They represent the adjustment coefficients corresponding to the length measurement value and width measurement value of the processed material, specifically: the adjustment coefficient k of the length measurement value L =0.1, adjustment factor k for width measurement W =0.05.

[0033] Obtain the basic shear force of the initial setting of the tool holder from the data repository, denoted as F0; The roughness of the surface texture of the processed material is obtained from the data repository, denoted as R, according to the formula F 阻=aR+b, where a and b represent weight factors set according to the characteristics of the processed material; The texture direction of the surface image of the processed material is obtained by the visual sensor, which is denoted as β. According to the formula F 有效阻 =F 阻 cosβ, when β=0, the effective resistance is maximum, equal to F 阻 ; When β=90°, the effective resistance is the smallest, which is 0; According to the formula The actual shear force of the four-knife shearing machine after adjustment at each operating time point during each operation process is calculated. k is expressed as the adjustment coefficient, which is determined according to the shearing quality requirements and equipment performance. Specifically, if you want to better adapt to the impact of texture changes on shearing quality, the k value can be appropriately increased.

[0034] The various deviations of the above tool holders corresponding to the various operating time points together constitute the deviation state of the four-tool holder shearing machine corresponding to the various operating time points in each operating process.

[0035] In a specific embodiment, the present invention obtains the deviation state by analyzing and processing the processing parameters. For the material shape, the deviation vector, distance and direction angle are calculated based on the coordinates of the corresponding points in the ideal shape and the actual processing, so that the material processing position deviation can be accurately grasped, which is conducive to real-time adjustment of the shearing path and shape accuracy. The speed deviation is calculated from the ideal and actual rotation speed and displacement parameters of the tool holder, and the movement state of the tool holder can be monitored, abnormalities can be discovered in time, the accuracy and stability of the tool holder movement can be guaranteed, and the shearing accuracy can be improved. The shearing stroke and speed are calculated according to the material size parameters, and the length segmentation, effective shearing range and adjustment coefficient are considered to ensure that the shearing size meets the requirements, and at the same time, it is adapted to materials of different sizes and optimizes the shearing efficiency and quality. By analyzing the shearing force and the material texture roughness and direction, calculating the effective resistance and shearing force adjustment, the shearing force can be dynamically adjusted according to the material characteristics and shearing quality requirements, avoiding damage to the tool and material, improving the incision quality, adapting to texture changes, and ensuring the stability and high quality of the shearing process. These measures comprehensively improve the processing accuracy, quality and intelligence level of the four-tool holder shearing machine.

[0036] A control strategy analysis module is used to control and analyze the deviation state of the four-knife seat shearing machine at each operating time point in each operating process, and generate control parameters for the four-knife seat shearing machine at each operating time point in each operating process; The allowable deviation value of the tool holder corresponding to each operating time point is obtained from the data repository, which is recorded as γ. It should be noted that the allowable deviation value of the tool holder corresponding to each operating time point is artificially set flexibly according to industry standards and specifications and customer requirements, and combined with material characteristics; Get the actual length of the processed material corresponding to each running time point, recorded as l (i)实际, by corresponding the actual length l of the processed material to each running time point (i)实际 and the target length l of the processed material at each running time point 目 Perform differential calculation to obtain the length deviation of the processed material corresponding to each running time point Similarly, calculate the width deviation of the processed material corresponding to each running time point Thickness deviation of the processed material at each operating time point ; When the length deviation of the processed material corresponds to each running time point When it is less than the allowable deviation value of the tool holder corresponding to each running time point, the position deviation and speed deviation of the tool holder are adjusted respectively. The specific adjustment method is as follows: By obtaining the current position of the tool holder in the shearing direction as x i , the target position of the next cut is x i+1 Specific ,in It is the adjustment factor determined based on the system accuracy and adjustment sensitivity; The shearing speed of the four-knife seat shearing machine at each operating time point during each operation is obtained from the displacement parameters of the knife seat of the shearing machine at each operating time point during each operation process, and is recorded as v i , the shear speed v of the knife seat corresponding to each running time point i and the speed deviation of the toolholder during the machining process After comprehensive calculation, the correction speed of the tool holder during the processing of the processed material is obtained, which is recorded as ; Specifically, if ,but ,like ,but , where n is the weight factor for adjusting the speed, and the speed of the tool holder after correction is ; When the length deviation of the processed material corresponds to each running time point When it is greater than the allowable deviation value of the tool holder corresponding to each operating time point, the shearing operation is suspended and the motion mechanism of the tool holder is checked, including checking the parameters of the drive motor, the accuracy of the transmission components, etc. At the same time, the visual sensor is recalibrated to check whether its measurement accuracy is reduced.

[0037] In a specific embodiment, the present invention flexibly sets the allowable deviation value by comprehensively considering industry standards, customer requirements and material properties, and calculates the length, width and thickness deviations according to the actual length and target length at each running time point. When the length deviation is less than the allowable deviation value, the tool holder position deviation and speed deviation can be accurately adjusted, the tool holder position is adjusted by the adjustment factor determined based on the system accuracy and sensitivity, and the tool holder speed is corrected according to the speed deviation and weight factor, so as to ensure the accuracy and stability of the shearing process, reduce dimensional errors, and improve shearing quality. When the length deviation is greater than the allowable deviation value, suspending shearing and checking the tool holder motion mechanism (such as drive motor parameters, transmission component accuracy, etc.) and recalibrating the visual sensor can timely discover and solve potential problems, avoid a large number of unqualified products due to equipment failure or sensor error, ensure production continuity and product quality, and improve the processing reliability and intelligent control level of the entire shearing machine.

[0038] The motion control module is used to adjust and control the operating parameters of each knife seat in the four-knife seat shearing machine corresponding to each operating time point according to the control parameters generated in the control strategy analysis module.

[0039] The human-computer interaction module is used to display the real-time working status, current cutting parameters and sensor data information of the four-blade shearing machine.

[0040] The data repository is used to store the shearing parameters of the four-knife seat shearing machine corresponding to each operating time point and the initial setting shearing parameters of the four-knife seat shearing machine.

[0041] The above formulas are all dimensionless and numerical calculations. The formula is a formula that is obtained by collecting a large amount of data and performing software simulation to obtain the most recent real situation. The size of the coefficient is to quantify each parameter to obtain a specific value. Regarding the size of the coefficient, it is acceptable as long as it does not affect the proportional relationship between the parameter and the quantified value.

[0042] In addition, those skilled in the art will appreciate that various aspects of the present invention may be illustrated and described by a number of patentable categories or situations, including any new and useful process, machine, product or combination of substances, or any new and useful improvements thereto. Accordingly, various aspects of the present invention may be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software may all be referred to as "data blocks", "modules", "engines", "units", "components" or "systems". In addition, various aspects of the present invention may be represented as a computer product located in one or more computer-readable media, which includes computer-readable program code.

[0043] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention belongs. It should also be understood that terms such as those defined in common dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined as such herein.

[0044] The above is an explanation of the present invention and should not be considered as a limitation thereof. Although several exemplary embodiments of the present invention have been described, it will be readily appreciated by those skilled in the art that many modifications may be made to the exemplary embodiments without departing from the novel teachings and advantages of the present invention. Therefore, all such modifications are intended to be included within the scope of the present invention as defined in the claims. It should be understood that the above is an explanation of the present invention and should not be considered as being limited to the specific embodiments disclosed, and modifications to the disclosed embodiments and other embodiments are intended to be included within the scope of the appended claims. The present invention is defined by the claims and their equivalents.

Claims

1. Intelligent control equipment for four-blade shearing machine, characterized in that: It includes processing parameter acquisition module, data analysis and processing module and control strategy analysis module; A processing parameter acquisition module is used to acquire the processing parameters of the four-knife seat shearing machine at each operating time point in each operating process in real time, and obtain the processing parameters of the four-knife seat shearing machine at each operating time point in each operating process; Among them, the processing parameters of the four-knife seat shearing machine corresponding to each operating time point in each operating process include the size parameters, displacement parameters and shearing parameters of the processed material; A data analysis and processing module is used to analyze and process the processing parameters of the four-knife seat shearing machine at each operating time point in each operating process, and obtain the deviation state of the four-knife seat shearing machine at each operating time point in each operating process; Set the center coordinate of the lower left side of the ideal shape of the processed material to (x 理想 ,y 理想 ), the actual coordinates of the corresponding points in the processing process of the processing material are obtained from the dimensional parameters of the processing material at each operating time point of the four-knife shearing machine during each operation process (x i ,y i ), i represents the number of each running time point, i=1,2,...,n, n represents the total number of the running time point numbers; The center coordinate of the lower left side of the ideal shape of the processed material is (x 理想 ,y 理想 ) and the actual coordinates of the corresponding points of the processed material during the processing are (x i ,y i ) calculates the difference between the x-axis and the y-axis to obtain the deviation vector of the corresponding point coordinates of the processed material during the processing , specifically: , , , through the formula Calculate the deviation distance of the corresponding point coordinates of the processed material during the processing process, and use the formula Calculate the deviation direction angle of the corresponding point coordinates of the processed material during the processing; The control strategy analysis module is used to control and analyze the deviation state of the four-knife seat shearing machine at each operating time point in each operating process, and generate control parameters for the four-knife seat shearing machine at each operating time point in each operating process.

2. The intelligent control device for a four-knife shearing machine according to claim 1 is characterized in that: Also includes: Motion control module, human-computer interaction module and data storage library; The motion control module is used to adjust and control the operating parameters of each knife seat in the four-knife seat shearing machine at each operating time point according to the control parameters generated in the control strategy analysis module; Human-computer interaction module, used to display the real-time working status, current cutting parameters and sensor data information of the four-blade shearing machine; The data repository is used to store the shearing parameters of the four-knife seat shearing machine corresponding to each operating time point and the initial setting shearing parameters of the four-knife seat shearing machine.

3. The intelligent control device for a four-knife shearing machine according to claim 1 is characterized in that: The processing parameters of the four-knife shearing machine corresponding to each operating time point in each operating process are obtained as follows: The visual sensor installed above the knife seat of the four-knife seat shearing machine can collect the shape of the material to be processed in real time, and obtain the size parameters of the material processed by the four-knife seat shearing machine at each operating time point during each operation process; Through the encoder connected to the drive motor shaft of the four-knife seat shearing machine, the displacement change data of each knife seat in each direction is collected in real time, and the displacement parameters of the knife seat of the four-knife seat shearing machine corresponding to each operating time point in each operating process are obtained; By installing a pressure sensor on the pressure pipeline in the hydraulic system of the four-knife shearing machine, the shear force of the four-knife shearing machine at each operating time point during the shearing process is collected in real time, and the shearing parameters of the four-knife shearing machine corresponding to the shearing process at each operating time point during each operating process are obtained.

4. The intelligent control device for a four-blade shearing machine according to claim 1 is characterized in that: The analyzing and processing of the processing parameters of the four-knife seat shearing machine at each operating time point during each operating process also includes: Get the ideal rotation speed of the four-seat shearing machine from the data repository, denoted as W 理想 , the actual speed of the knife seat corresponding to each running time point is obtained from the displacement parameters of the knife seat of the four-knife seat shearing machine at each running time point during each running process, recorded as w i , get time point i t to t-1 Time period According to the formula Calculate the theoretical displacement distance of the tool holder, where r represents the tool holder movement radius, according to the formula Calculate the actual displacement distance of the tool holder according to the formula Calculate the speed deviation of the toolholder during the machining process .

5. The intelligent control device for a four-knife shearing machine according to claim 1 is characterized in that: The length measurement value, width measurement value and thickness measurement value of the processed material in the shearing direction are obtained from the dimensional parameters of the processed material at each operating time point in each operating process of the four-knife seat shearing machine, and are respectively recorded as L 测 , W 测 and T 测 ; At the same time, the length measurement reference value, width measurement reference value and thickness measurement reference value of the processed material in the shear direction are obtained from the data repository, which are recorded as L0, W0 and T0 respectively; Divide the processed material into m equal length sections in the length direction, and the target length of each section is l 目 , l 目 =L 测 / m, and at the same time obtain the effective shear range of the tool holder from the data repository, denoted as d, according to the formula S 行 =l 目 +d Calculate the shearing stroke S of the tool holder each time 行 ; At the same time, the reference speed of the tool holder corresponding to each running time point is obtained from the data repository, which is recorded as v0; According to the formula: ， Calculate the shear velocity V of the toolholder during the shearing process 剪 , k L , k W Respectively represent the adjustment coefficients corresponding to the length and width measurements of the processed material.

6. The intelligent control device for a four-knife shearing machine according to claim 1, characterized in that: Obtain the basic shear force of the initial setting of the tool holder from the data repository, denoted as F0; The roughness of the surface texture of the processed material is obtained from the data repository, denoted as R, according to the formula F 阻 =aR+b, where a and b represent weight factors set according to the characteristics of the processed material; The texture direction of the surface image of the processed material is obtained by the visual sensor, which is denoted as β. According to the formula F 有效阻 =F 阻 cosβ, when β=0, the effective resistance is maximum, equal to F 阻 ; When β=90°, the effective resistance is the smallest, which is 0; According to the formula The actual shear force of the four-knife shearing machine after adjustment at each operating time point during each operation process is calculated, and k is represented as the adjustment coefficient.

7. The intelligent control device for a four-blade shearing machine according to claim 1 is characterized in that: The method of controlling and analyzing the deviation state of the four-knife seat shearing machine at each operating time point during each operating process is as follows: Obtain the allowable deviation value of the tool holder corresponding to each operating time point from the data repository, denoted as γ; Get the actual length of the processed material corresponding to each running time point, recorded as l (i)实际 , by corresponding the actual length l of the processed material to each running time point (i)实际 and the target length l of the processed material at each running time point 目 Perform differential calculation to obtain the length deviation of the processed material corresponding to each running time point Similarly, calculate the width deviation of the processed material corresponding to each running time point Thickness deviation of the processed material at each operating time point ; When the length deviation of the processed material corresponds to each running time point When it is less than the allowable deviation value of the tool holder corresponding to each running time point, the position deviation and speed deviation of the tool holder are adjusted respectively. The specific adjustment method is as follows: By obtaining the current position of the tool holder in the shearing direction as x i , the target position of the next cut is x i+1 Specific ,in It is the adjustment factor determined based on the system accuracy and adjustment sensitivity; The shearing speed of the four-knife seat shearing machine at each operating time point during each operation is obtained from the displacement parameters of the knife seat of the shearing machine at each operating time point during each operation process, and is recorded as v i , the shear speed v of the knife seat corresponding to each running time point i and the speed deviation of the toolholder during the machining process After comprehensive calculation, the correction speed of the tool holder during the processing of the processed material is obtained, which is recorded as ; Specifically, if ,but ,like ,but , where n is the weight factor for adjusting the speed, and the speed of the tool holder after correction is .

8. The intelligent control device for a four-knife shearing machine according to claim 7, characterized in that: When the length deviation ∆L of the processed material corresponding to each operating time point is greater than the allowable deviation value of the tool holder corresponding to each operating time point, the shearing operation is suspended and the motion mechanism of the tool holder is checked.

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