Saw cutting control method, controller and control system

Abstract

The invention relates to a saw cutting control method, a controller and a control system. According to a first real-time deflection angle of a saw seam of a workpiece, a first real-time equivalent bending moment of the middle of a band saw blade, a preset angle range and a preset equivalent bending moment range, the flow of lubricating liquid sprayed by a first nozzle and a second nozzle is controlled; according to the device and the method, when a large-size workpiece is sawed, the difference value of friction force between the two sides of the band saw blade and the workpiece can be effectively adjusted and controlled, then the deflection angle of a saw seam of the workpiece can be effectively adjusted and controlled, and the equivalent bending moment of the middle of the band saw blade can be effectively adjusted and controlled; the real-time deflection angle after regulation and control is within the preset angle range, and the real-time equivalent bending moment after regulation and control is within the preset equivalent bending moment range, so that the sawing precision of the workpiece can be effectively improved, and the service life of the saw blade can be effectively prolonged.

Description

Technical Field

[0001] The present application belongs to the technical field of sawing equipment, and in particular, relates to a sawing control method, a controller and a control system. Background Art

[0002] High-efficiency, high-precision, and low-cost processing technology is an inevitable trend in the development of modern mechanical processing. Band saw blade cutting is widely used in the field of metal raw material cutting due to its advantages of high cutting efficiency, material and energy saving, and cost control.

[0003] The existing band saw blade sawing control method generally adjusts the equivalent bending distance of the middle part of the band saw blade during the sawing process by setting a group of hydraulic resistance devices on the saw frame guide arm to control and adjust the tensile stress of the band saw blade in the width direction of the band saw blade during the sawing process. However, the existing band saw blade sawing control method has limited ability to adjust the sawing stress of the band body through the saw frame guide arm over a large span when sawing large-sized workpieces, resulting in a large lateral deviation angle of the band saw blade cutting force, a large deflection angle of the saw seam of the workpiece, and a large equivalent bending distance in the middle part of the band saw blade, thereby greatly reducing the sawing accuracy of the workpiece and shortening the service life of the band saw blade. Summary of the invention

[0004] The purpose of the present application is to provide a sawing control method, a controller and a control system; the sawing control method, the controller and the control system provided in the present application can effectively improve the sawing accuracy of the workpiece and can effectively extend the service life of the saw blade.

[0005] The technical solutions provided by this application are as follows: A sawing control method is applied to a sawing device, the sawing device comprising a saw frame, a band saw blade, a sawing path detection device, a displacement collection device and a spray device, the saw frame comprising a first guide arm and a second guide arm, the first guide arm and the second guide arm respectively clamping two ends of the band saw blade, the spray device comprising a first nozzle and a second nozzle close to two sides of the band saw blade, the method comprising: Acquire a first real-time sawing path image of the band saw blade collected by the sawing path detection device, and process the first real-time sawing path image to obtain a first real-time deflection angle of a saw seam of a workpiece; Acquire a first real-time bending displacement of the middle portion of the band saw blade acquired by the displacement acquisition device, and obtain a first real-time equivalent bending moment of the middle portion of the saw blade during the sawing process according to the arm spacing between the first guide arm and the second guide arm and the first real-time bending displacement; According to the first real-time deflection angle, the first real-time equivalent bending distance, the preset angle range and the preset equivalent bending distance range, the flow rate of the lubricating fluid sprayed by the first nozzle and the second nozzle and the feed speed of the band saw blade in sawing the workpiece are controlled.

[0006] Optionally, controlling the flow rate of the lubricating fluid sprayed from the first nozzle and the second nozzle, and the feed speed of the band saw blade sawing the workpiece according to the first real-time deflection angle, the first real-time equivalent bending distance, the preset angle range, and the preset equivalent bending distance range, comprises: If the first real-time deflection angle is within the preset angle range, and the first real-time equivalent bending distance is within the preset equivalent bending distance range, controlling the first nozzle and the second nozzle to continuously spray lubricating liquid at a first flow rate, and the band saw blade to saw the workpiece at a first feed speed; If the first real-time deflection angle is less than the minimum value of the preset angle range, and the first real-time equivalent bending moment is within the preset equivalent bending moment range, a first control signal is sent to control the first nozzle to continuously spray lubricating liquid at a second flow rate, the second nozzle to intermittently spray lubricating liquid at a first flow rate with a first spraying intermittent ratio, and the band saw blade to saw the workpiece at a first feed speed, wherein the second flow rate is greater than the first flow rate; If the first real-time deflection angle is greater than the maximum value of the preset angle range, and the first real-time equivalent bending moment is within the preset equivalent bending moment range, a second control signal is sent to control the second nozzle to continuously spray lubricating liquid at a second flow rate, the first nozzle to intermittently spray lubricating liquid at a first flow rate with a first spraying intermittent ratio, and the band saw blade to saw the workpiece at a first feed speed; If the first real-time deflection angle is less than the minimum value of the preset angle range, and the absolute value of the first real-time equivalent bending moment is greater than the maximum value of the preset equivalent bending moment range, a third control signal is sent to control the first nozzle to continuously spray lubricating liquid at a third flow rate, the second nozzle to intermittently spray lubricating liquid at the first flow rate with a first spraying intermittent ratio, and the band saw blade to saw the workpiece at a second feed speed, wherein the third flow rate is greater than the second flow rate, and the second feed speed is less than the first feed speed; If the first real-time deflection angle is greater than the maximum value of the preset angle range, and the absolute value of the first real-time equivalent bending moment is greater than the maximum value of the preset equivalent bending moment range, a fourth control signal is sent to control the second nozzle to continuously spray lubricating liquid at a third flow rate, the first nozzle to intermittently spray lubricating liquid at a first flow rate with a first spraying intermittent ratio, and the band saw blade to saw the workpiece at a second feed speed; If the first real-time deflection angle is within the preset angle range, and the absolute value of the first real-time equivalent bending distance is greater than the maximum value of the preset equivalent bending distance range, a fifth control signal is sent to control the first nozzle and the second nozzle to continuously spray lubricating liquid at a first flow rate, and the band saw blade to saw the workpiece at a second feed speed.

[0007] Optionally, the method further comprises: When the time length after sending the first control signal is greater than the first preset time length, a second real-time sawing path image of the band saw blade collected by the sawing path detection device is obtained, and the second real-time sawing path image is processed to obtain a second real-time deflection angle of the sawing seam of the workpiece, where the second real-time deflection angle is the real-time deflection angle of the sawing seam after being controlled by the first control signal; If the second real-time deflection angle is smaller than the minimum value of the preset angle range, a sixth control signal is sent to control the first nozzle to continuously spray lubricating liquid at a second flow rate, the second nozzle to intermittently spray lubricating liquid at a first flow rate with a second spray intermittent ratio, and the band saw blade to saw the workpiece at a first feed speed, wherein the second spray intermittent ratio is smaller than the first spray intermittent ratio.

[0008] Optionally, the method further comprises: When the time length after sending the second control signal is greater than the first preset time length, a third real-time sawing path image of the band saw blade collected by the sawing path detection device is obtained, and the third real-time sawing path image is processed to obtain a third real-time deflection angle of the sawing seam of the workpiece, wherein the third real-time deflection angle is the real-time deflection angle of the sawing seam after being controlled by the second control signal; If the third real-time deflection angle is greater than the maximum value of the preset angle range, the seventh control signal is sent to control the second nozzle to continuously spray lubricating liquid at a second flow rate, the first nozzle to intermittently spray lubricating liquid at a first flow rate with a second spray intermittent ratio, and the band saw blade to saw the workpiece at a first feed speed.

[0009] Optionally, the method further comprises: When the time length after sending the sixth control signal or the seventh control signal is greater than the second preset time length, a fourth real-time sawing path image of the band saw blade collected by the sawing path detection device is obtained, and the fourth real-time sawing path image is processed to obtain a fourth real-time deflection angle of the sawing seam of the workpiece, wherein the fourth real-time deflection angle of the sawing seam is the real-time deflection angle of the sawing seam after being controlled by the sixth control signal or the seventh control signal; If the fourth real-time deflection angle is smaller than the minimum value of the preset angle range or larger than the maximum value of the preset angle range, the band saw blade is controlled to stop sawing.

[0010] Optionally, the method further comprises: When the time length after sending the fifth control signal is greater than the first preset time length, a second real-time bending displacement of the middle portion of the band saw blade collected by the displacement collection device is obtained, and a second real-time equivalent bending distance of the middle portion of the saw blade during the sawing process is obtained according to the arm spacing between the first guide arm and the second guide arm and the second real-time bending displacement, wherein the second real-time equivalent bending distance is the real-time equivalent bending distance of the middle portion of the band saw blade after being controlled by the fifth control signal; If the absolute value of the second real-time equivalent bending moment is greater than the maximum value of the preset equivalent bending moment range, the first nozzle and the second nozzle are controlled to continuously spray lubricating liquid at a first flow rate, and the band saw blade is controlled to saw the workpiece at a third feed speed, until the band saw blade saws the workpiece at the preset feed speed, if the absolute value of the real-time equivalent bending moment of the middle part of the band saw blade is still greater than the maximum value of the preset equivalent bending moment range, the band saw blade is controlled to stop sawing, wherein the third feed speed is less than the second feed speed.

[0011] The present application also provides a sawing controller, which is applied to a sawing device, wherein the sawing device includes a saw frame, a band saw blade, a sawing path detection device, a displacement collection device, and a spray device, wherein the saw frame includes a first guide arm and a second guide arm, wherein the first guide arm and the second guide arm respectively clamp two ends of the band saw blade, and the spray device includes a first nozzle and a second nozzle close to two sides of the band saw blade, and the controller includes: a first processing module, configured to obtain a first real-time sawing path image of the band saw blade collected by the sawing path detection device, and process the first real-time sawing path image to obtain a first real-time deflection angle of a saw seam of a workpiece; a second processing module, configured to obtain a first real-time bending displacement of the middle portion of the band saw blade acquired by the displacement acquisition device, and obtain a first real-time equivalent bending moment of the middle portion of the saw blade during sawing according to the arm spacing between the first guide arm and the second guide arm and the first real-time bending displacement; The first control module is used to control the flow rate of the lubricating fluid sprayed from the first nozzle and the second nozzle, and the feed speed of the band saw blade in sawing the workpiece according to the first real-time deflection angle, the first real-time equivalent bending distance, the preset angle range and the preset equivalent bending distance range.

[0012] Optionally, when the first control module controls the flow rate of the lubricating liquid sprayed from the first nozzle and the second nozzle, and the feed speed of the band saw blade sawing the workpiece according to the first real-time deflection angle, the first real-time equivalent bending distance, the preset angle range and the preset equivalent bending distance range, it is specifically used to: If the first real-time deflection angle is less than the minimum value of the preset angle range, and the first real-time equivalent bending moment is within the preset equivalent bending moment range, a first control signal is sent to control the first nozzle to continuously spray lubricating liquid at a second flow rate, the second nozzle to intermittently spray lubricating liquid at a first flow rate with a first spraying intermittent ratio, and the band saw blade to saw the workpiece at a first feed speed, wherein the second flow rate is greater than the first flow rate; If the first real-time deflection angle is greater than the maximum value of the preset angle range, and the first real-time equivalent bending moment is within the preset equivalent bending moment range, a second control signal is sent to control the second nozzle to continuously spray lubricating liquid at a second flow rate, the first nozzle to intermittently spray lubricating liquid at a first flow rate with a first spraying intermittent ratio, and the band saw blade to saw the workpiece at a first feed speed; If the first real-time deflection angle is less than the minimum value of the preset angle range, and the absolute value of the first real-time equivalent bending moment is greater than the maximum value of the preset equivalent bending moment range, a third control signal is sent to control the first nozzle to continuously spray lubricating liquid at a third flow rate, the second nozzle to intermittently spray lubricating liquid at the first flow rate with a first spraying intermittent ratio, and the band saw blade to saw the workpiece at a second feed speed, wherein the third flow rate is greater than the second flow rate, and the second feed speed is less than the first feed speed; If the first real-time deflection angle is greater than the maximum value of the preset angle range, and the absolute value of the first real-time equivalent bending moment is greater than the maximum value of the preset equivalent bending moment range, a fourth control signal is sent to control the second nozzle to continuously spray lubricating liquid at a third flow rate, the first nozzle to intermittently spray lubricating liquid at a first flow rate with a first spraying intermittent ratio, and the band saw blade to saw the workpiece at a second feed speed; If the first real-time deflection angle is within the preset angle range, and the absolute value of the first real-time equivalent bending distance is greater than the maximum value of the preset equivalent bending distance range, a fifth control signal is sent to control the first nozzle and the second nozzle to continuously spray lubricating liquid at a first flow rate, and the band saw blade to saw the workpiece at a second feed speed.

[0013] Optionally, the controller further includes: a second processing module, configured to obtain a second real-time sawing path image of the band saw blade acquired by the sawing path detection device when the time length after the first control signal is sent is greater than a first preset time length, and process the second real-time sawing path image to obtain a second real-time deflection angle of the sawing seam of the workpiece, wherein the second real-time deflection angle is the real-time deflection angle of the sawing seam after being controlled by the first control signal; The second control module is used for sending a sixth control signal to control the first nozzle to continuously spray lubricating liquid at a second flow rate, the second nozzle to intermittently spray lubricating liquid at a first flow rate with a second spray intermittent ratio, and the band saw blade to saw the workpiece at a first feed speed if the second real-time deflection angle is smaller than the minimum value of the preset angle range, wherein the second spray intermittent ratio is smaller than the first spray intermittent ratio.

[0014] The present application also provides a sawing control system, comprising a sawing controller and a sawing device as described in any one of the above items, wherein the sawing device comprises a saw frame, a band saw blade, a sawing path detection device, a displacement collection device and a spray device, wherein the saw frame comprises a first guide arm and a second guide arm, wherein the first guide arm and the second guide arm respectively clamp two ends of the band saw blade, and the spray device comprises a first nozzle and a second nozzle close to two sides of the band saw blade; The sawing path detection device is used to collect a first real-time sawing path image of the band saw blade; The displacement acquisition device is used to acquire a first real-time bending displacement of the middle portion of the band saw blade.

[0015] Compared with the prior art, the present application provides a sawing control method, a controller and a control system, which obtain a first real-time sawing path image of a band saw blade collected by a sawing path detection device, and process the first real-time sawing path image to obtain a first real-time deflection angle of a saw seam of a workpiece, and then obtain a first real-time bending displacement of the middle part of the band saw blade collected by a displacement acquisition device, and obtain a first real-time equivalent bending distance of the middle part of the saw blade during the sawing process according to the arm spacing between the first guide arm and the second guide arm and the first real-time bending displacement, and then obtain a first real-time equivalent bending distance of the middle part of the saw blade according to the first real-time deflection angle, the first real-time equivalent bending distance, The preset angle range and the preset equivalent bending distance range control the flow rate of the lubricating fluid sprayed from the first nozzle and the second nozzle, as well as the feed speed of the band saw blade in sawing the workpiece. When sawing large-size workpieces, the difference in friction between the two sides of the band saw blade and the workpiece can be effectively regulated, thereby effectively regulating the deflection angle of the saw seam of the workpiece, and effectively regulating the equivalent bending distance of the middle part of the band saw blade, so that the real-time deflection angle after regulation is within the preset angle range, and the real-time equivalent bending distance after regulation is within the preset equivalent bending distance range, thereby effectively improving the sawing accuracy of the workpiece and effectively extending the service life of the saw blade. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A flowchart of a sawing control method provided in an embodiment of the present application; Figure 2 A schematic diagram of the structure of a sawing device provided in an embodiment of the present application; Figure 3 A schematic diagram of the positional relationship between the band saw blade, the spray device, and the workpiece provided in the embodiment of the present application; Figure 4 A schematic diagram of the positional relationship between the band saw blade, the first nozzle, the second nozzle, and the workpiece provided in an embodiment of the present application; Figure 5-1 It is a schematic diagram of a state in which a first real-time deflection angle of a sawing seam of a workpiece provided in an embodiment of the present application is within a preset angle range; Figure 5-2 A schematic diagram of a state in which a first real-time deflection angle of a sawing seam of a workpiece provided in an embodiment of the present application is smaller than a minimum value of a preset angle range; Figure 5-3 A schematic diagram of a state in which a first real-time deflection angle of a sawing seam of a workpiece provided in an embodiment of the present application is greater than a maximum value of a preset angle range; Figure 6 This is a structural block diagram of a sawing controller provided in an embodiment of the present application; Figure 7 A structural block diagram of a sawing control system provided in an embodiment of the present application; Reference numerals: 100 - sawing device; 200 - sawing controller; 110-saw frame; 120-band saw blade; 130-sawing path detection device; 140-displacement acquisition device; 150-spray device; 160-workpiece; 111-first guide arm; 112-second guide arm; 113-connecting piece; 151-first nozzle; 152-second nozzle; 161-saw seam; 210 - first processing module; 220 - second processing module; 230 - first control module. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] It should be noted that when an element is referred to as being "fixed on" or "set on" another element, it can be directly on the other element or indirectly set on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0020] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0021] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "multiple" and "several" mean two or more, unless otherwise clearly and specifically defined.

[0022] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions under which this application can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in this application without affecting the effects and purposes that can be achieved by this application.

[0023] like Figure 1 As shown, the embodiment of the present application provides a sawing control method, which is applied to a sawing device, such as Figures 2 to 4 As shown, the sawing device 100 includes a saw frame 110, a band saw blade 120, a sawing path detection device 130, a displacement collection device 140 and a spray device 150, the saw frame 110 includes a first guide arm 111 and a second guide arm 112, the first guide arm 111 and the second guide arm 112 respectively clamp the two ends of the band saw blade 120, the spray device 150 includes a first nozzle 151 and a second nozzle 152 close to the two sides of the band saw blade 120, and the method includes: S11, acquiring a first real-time sawing path image of the band saw blade collected by a sawing path detection device, and processing the first real-time sawing path image to obtain a first real-time deflection angle of a saw seam of a workpiece; In this embodiment, the sawing device may be a sawing machine, and the sawing path detection device may be an industrial camera, such as Figure 2 As shown, the sawing path detection device 130 can be set on the inner side of the first guide arm 111, facing the back side of the band saw blade 120, and processes the first real-time sawing path image to obtain the first real-time deflection angle of the saw seam of the workpiece. Specifically, the first real-time sawing path image can be converted into a first grayscale image, the image contrast of the first grayscale image is enhanced, and denoising and smoothing are performed on it to obtain a second grayscale image, the second grayscale image is binarized to obtain a binary image that retains the edge information of the saw seam, and the binary image is fitted with a straight line to obtain a contour map, and the angle between the fitted straight line and the corrected horizontal line is extracted, that is, the first real-time deflection angle of the saw seam of the workpiece.

[0024] S12, obtaining a first real-time bending displacement of the middle portion of the band saw blade collected by the displacement collection device, and obtaining a first real-time equivalent bending moment of the middle portion of the saw blade during the sawing process according to the arm spacing between the first guide arm and the second guide arm and the first real-time bending displacement; In this embodiment, Figure 2 As shown, the saw frame 110 also includes a connecting member 113, the first end of the first guide arm 111 and the second end of the second guide arm 112 can be connected through the connecting member 113, the displacement acquisition device 140 can be arranged on the inner side of the middle part of the connecting member 113, facing the middle part of the band saw blade 120, the displacement acquisition device can be a laser displacement sensor, the arm spacing between the first guide arm and the second guide arm can be collected by a distance measuring sensor arranged on the first guide arm or the second guide arm, or can be pre-set in the controller; during the sawing process, the bending deformation of the back side of the band saw blade is called an equivalent bending moment, and the first real-time equivalent bending moment of the middle part of the band saw blade during the sawing process can be calculated according to the arm spacing between the first guide arm and the second guide arm, the first real-time bending displacement and the equivalent bending moment calculation formula, and the equivalent bending moment calculation formula is as follows: , , Among them, r is the equivalent radius of the back edge of the saw blade to be bent, s is the arm spacing between the first guide arm and the second guide arm, h is the first real-time bending displacement, and B is the first real-time equivalent bending distance (i.e., the bending deformation of the back edge of the band saw blade).

[0025] S13, controlling the flow rate of the lubricating liquid sprayed from the first nozzle and the second nozzle, and the feed speed of the band saw blade in sawing the workpiece according to the first real-time deflection angle, the first real-time equivalent bending distance, the preset angle range and the preset equivalent bending distance range.

[0026] In this embodiment, the preset angle range is a preset angle range, and the preset equivalent bending distance range is a preset equivalent bending distance range. The flow rate of the lubricating fluid sprayed from the first nozzle and the second nozzle, and the feed speed of the band saw blade cutting the workpiece can be controlled according to the first real-time deflection angle, the first real-time equivalent bending distance, the preset angle range and the preset equivalent bending distance range. Alternatively, the flow rate of the lubricating fluid sprayed from the first nozzle and the second nozzle can be controlled according to the first real-time deflection angle and the preset angle range, and the feed speed of the band saw blade cutting the workpiece can be controlled according to the first real-time equivalent bending distance and the preset equivalent bending distance range, so that the real-time deflection angle after control is within the preset angle range, and the real-time equivalent bending distance after control is within the preset equivalent bending distance range.

[0027] Specifically, the preset angle range may be [-3°, +3°], and the preset equivalent bending moment range may be [-1.4 mm, 1.4 mm].

[0028] Compared with the prior art, the present application provides a sawing control method, a controller and a control system, which obtain a first real-time sawing path image of a band saw blade collected by a sawing path detection device, and process the first real-time sawing path image to obtain a first real-time deflection angle of a saw seam of a workpiece, and then obtain a first real-time bending displacement of the middle part of the band saw blade collected by a displacement acquisition device, and obtain a first real-time equivalent bending distance of the middle part of the saw blade during the sawing process according to the arm spacing between the first guide arm and the second guide arm and the first real-time bending displacement, and then obtain a first real-time equivalent bending distance of the middle part of the saw blade according to the first real-time deflection angle, the first real-time equivalent bending distance, The preset angle range and the preset equivalent bending distance range control the flow rate of the lubricating fluid sprayed from the first nozzle and the second nozzle, as well as the feed speed of the band saw blade in sawing the workpiece. When sawing large-size workpieces, the difference in friction between the two sides of the band saw blade and the workpiece can be effectively regulated, thereby effectively regulating the deflection angle of the saw seam of the workpiece, and effectively regulating the equivalent bending distance of the middle part of the band saw blade, so that the real-time deflection angle after regulation is within the preset angle range, and the real-time equivalent bending distance after regulation is within the preset equivalent bending distance range, thereby effectively improving the sawing accuracy of the workpiece and effectively extending the service life of the saw blade.

[0029] As an implementation manner, in the embodiment of the present application, step S13 includes: S131, if the first real-time deflection angle is within a preset angle range, and the first real-time equivalent bending distance is within a preset equivalent bending distance range, controlling the first nozzle and the second nozzle to continuously spray lubricating liquid at a first flow rate, and controlling the band saw blade to saw the workpiece at a first feed speed; In this embodiment, Figure 5-1As shown, if the first real-time deflection angle of the saw seam 161 of the workpiece 160 is within the preset angle range, and the first real-time equivalent bending distance is within the preset equivalent bending distance range, it means that the deflection angle and the equivalent bending distance are both within the normal range, and the first nozzle and the second nozzle are controlled to continuously spray the lubricating liquid at the first flow rate, and the band saw blade normally saws the workpiece at the first feed speed.

[0030] Specifically, the first flow rate can be 60mL / min, and the first feed speed can be 60mm / min. If the first real-time deflection angle is within [-3°, +3°] and the first real-time equivalent bending moment is within [-1.4mm, 1.4mm], the first nozzle and the second nozzle are controlled to continuously spray lubricating liquid at a flow rate of 60mL / min, and the band saw blade is controlled to saw the workpiece at a feed speed of 60mm / min.

[0031] S132, if the first real-time deflection angle is less than the minimum value of the preset angle range, and the first real-time equivalent bending moment is within the preset equivalent bending moment range, sending a first control signal to control the first nozzle to continuously spray lubricating liquid at a second flow rate, the second nozzle to intermittently spray lubricating liquid at the first flow rate with a first spraying intermittent ratio, and the band saw blade to saw the workpiece at a first feed speed, wherein the second flow rate is greater than the first flow rate; In this embodiment, the spray-interval ratio is the ratio of the spray duration to the intermittent duration. Figure 5-2 The figure is a schematic diagram of a state in which the first real-time deflection angle of the saw seam 161 of the workpiece 160 is smaller than the minimum value of the preset angle range, wherein -θ represents that the first real-time deflection angle is smaller than the minimum value of the preset angle range. If the first real-time deflection angle of the saw seam of the workpiece is smaller than the minimum value of the preset angle range, and the first real-time equivalent bending distance is within the preset equivalent bending distance range, it means that the cutting force of the band saw blade is deflected to one side at a larger angle, and a first control signal is sent to control the first nozzle and the second nozzle, so as to increase the flow rate of the lubricating liquid sprayed by the first nozzle, so that the first nozzle continuously sprays the lubricating liquid at a second flow rate greater than the first flow rate, and so that the second nozzle intermittently sprays the lubricating liquid at the first flow rate with a first spraying intermittent ratio, so as to increase the difference in friction between the two sides of the band saw blade and the workpiece, so as to reduce the absolute value of the first real-time deflection angle, so that the real-time deflection angle after control is within the preset angle range.

[0032] In this embodiment, specifically, the second flow rate can be 90mL / min, the first spray intermittent ratio can be 1, and the spray can be started for 1s and closed for 1s, and the spray can be periodically intermittently sprayed. If the first real-time deflection angle is less than -3°, and the first real-time equivalent bending moment is within [-1.4mm, 1.4mm], the first control signal is sent to control the first nozzle to continuously spray the lubricating liquid at a flow rate of 90mL / min, the second nozzle is started at a flow rate of 60mL / min, that is, 1mL / s, and the spray is closed for 1s, and the lubricating liquid is periodically intermittently sprayed, and the band saw blade cuts the workpiece at a feed speed of 60mm / min.

[0033] S133, if the first real-time deflection angle is greater than the maximum value of the preset angle range, and the first real-time equivalent bending moment is within the preset equivalent bending moment range, a second control signal is sent to control the second nozzle to continuously spray lubricating liquid at a second flow rate, the first nozzle to intermittently spray lubricating liquid at a first flow rate with a first spraying intermittent ratio, and the band saw blade to saw the workpiece at a first feed speed; In this embodiment, Figure 5-3 The figure is a schematic diagram of a state in which the first real-time deflection angle of the saw seam 161 of the workpiece 160 is greater than the maximum value of the preset angle range, where θ represents that the first real-time deflection angle is greater than the maximum value of the preset angle range. If the first real-time deflection angle of the saw seam of the workpiece is greater than the maximum value of the preset angle range, and the first real-time equivalent bending distance is within the preset equivalent bending distance range, it means that the cutting force of the band saw blade is deviated to the other side at a larger angle, and a second control signal is sent to control the first nozzle and the second nozzle to increase the flow rate of the lubricating liquid sprayed by the second nozzle, so that the second nozzle continuously sprays the lubricating liquid at a second flow rate greater than the first flow rate, and the first nozzle intermittently sprays the lubricating liquid at the first flow rate with a first spraying intermittent ratio, so as to increase the difference in friction between the two sides of the band saw blade and the workpiece, so as to reduce the first real-time deflection angle, so that the real-time deflection angle after control is within the preset angle range.

[0034] In this embodiment, specifically, if the first real-time deflection angle is greater than 3° and the first real-time equivalent bending moment is within [-1.4mm, 1.4mm], a second control signal is sent to control the second nozzle to continuously spray lubricating liquid at a flow rate of 90mL / min, the first nozzle starts spraying at a flow rate of 60mL / min, that is, 1mL / s for 1s and turns off the spraying for 1s to periodically spray lubricating liquid, and the band saw blade cuts the workpiece at a feed speed of 60mm / min.

[0035] S134, if the first real-time deflection angle is less than the minimum value of the preset angle range, and the absolute value of the first real-time equivalent bending moment is greater than the maximum value of the preset equivalent bending moment range, a third control signal is sent to control the first nozzle to continuously spray the lubricating liquid at a third flow rate, the second nozzle to intermittently spray the lubricating liquid at the first flow rate with a first spraying intermittent ratio, and the band saw blade to saw the workpiece at a second feed speed, wherein the third flow rate is greater than the second flow rate, and the second feed speed is less than the first feed speed; In this embodiment, if the first real-time deflection angle is less than the minimum value of the preset angle range, and the absolute value of the first real-time equivalent bending moment is greater than the maximum value of the preset equivalent bending moment range, it means that the cutting force of the band saw blade is deflected to one side at a larger angle, and the absolute value of the current real-time equivalent bending moment is larger, then a third control signal is sent to control the first nozzle and the second nozzle to increase the spray flow rate of the first nozzle, so that the first nozzle continuously sprays lubricating liquid at a third flow rate greater than the second flow rate, and the second nozzle intermittently sprays lubricating liquid at the first flow rate with a first spray intermittent ratio, and the feed speed of the band saw blade is reduced, so that the band saw blade cuts the workpiece at a second feed speed less than the first feed speed, so as to increase the difference in friction between the two sides of the band saw blade and the workpiece, to reduce the absolute value of the first real-time deflection angle, so that the real-time deflection angle after control is within the preset angle range, and by reducing the feed speed of the band saw blade, the absolute value of the real-time equivalent bending moment is reduced, so that the absolute value of the real-time equivalent bending moment after control is within the preset equivalent bending moment range.

[0036] In this embodiment, the third flow rate can be 120mL / min, and the second feed speed can be 57mm / min. Specifically, if the first real-time deflection angle is less than -3° and the absolute value of the first real-time equivalent bending moment is greater than 1.4mm, the third control signal is sent to control the first nozzle to continuously spray lubricating liquid at a flow rate of 120mL / min, and the second nozzle to start the spray for 1s and stop the spray for 1s to periodically spray lubricating liquid at a flow rate of 60mL / min, and the band saw blade cuts the workpiece at a feed speed of 57mm / min.

[0037] S135, if the first real-time deflection angle is greater than the maximum value of the preset angle range, and the absolute value of the first real-time equivalent bending moment is greater than the maximum value of the preset equivalent bending moment range, a fourth control signal is sent to control the second nozzle to continuously spray the lubricating liquid at a third flow rate, the first nozzle to intermittently spray the lubricating liquid at the first flow rate with a first spraying intermittent ratio, and the band saw blade to saw the workpiece at a second feed speed; In this embodiment, if the first real-time deflection angle is greater than the maximum value of the preset angle range, and the absolute value of the first real-time equivalent bending moment is greater than the maximum value of the preset equivalent bending moment range, it means that the cutting force of the band saw blade is deflected to the other side at a larger angle, and the absolute value of the current real-time equivalent bending moment is larger, then a fourth control signal is sent to control the first nozzle and the second nozzle to increase the spray flow rate of the second nozzle, so that the second nozzle continuously sprays lubricating liquid at a third flow rate greater than the second flow rate, so that the first nozzle intermittently sprays lubricating liquid at the first flow rate with a first spray intermittent ratio, and the feed speed of the band saw blade is reduced, so that the band saw blade cuts the workpiece at a second feed speed less than the first feed speed, so as to increase the difference in friction between the two sides of the band body of the band saw blade and the workpiece, to reduce the first real-time deflection angle, so that the real-time deflection angle after control is within the preset angle range, and by reducing the feed speed of the band saw blade, the absolute value of the real-time equivalent bending moment after control is reduced, so that the absolute value of the real-time equivalent bending moment after control is within the preset equivalent bending moment range.

[0038] In this embodiment, specifically, if the first real-time deflection angle is greater than 3° and the absolute value of the first real-time equivalent bending moment is greater than 1.4 mm, the fourth control signal is sent to control the second nozzle to continuously spray lubricating liquid at a flow rate of 120 mL / min, the first nozzle to start the spray for 1 second and stop the spray for 1 second to periodically spray lubricating liquid at a flow rate of 60 mL / min, and the band saw blade to saw the workpiece at a feed speed of 57 mm / min.

[0039] S136. If the first real-time deflection angle is within the preset angle range, and the absolute value of the first real-time equivalent bending moment is greater than the maximum value of the preset equivalent bending moment range, a fifth control signal is sent to control the first nozzle and the second nozzle to continuously spray lubricating liquid at a first flow rate, and the band saw blade to saw the workpiece at a second feed speed.

[0040] In this embodiment, if the first real-time deflection angle is within the preset angle range, and the absolute value of the first real-time equivalent bending moment is greater than the maximum value of the preset equivalent bending moment range, it means that the current real-time deflection angle is within the preset angle range, but the absolute value of the current real-time equivalent bending moment is large, then the fifth control signal is sent to control the first nozzle and the second nozzle to continuously spray lubricating liquid at the first flow rate normally, control the reduction of the feed speed of the band saw blade, so that the band saw blade cuts the workpiece at a second feed speed less than the first feed speed, and reduces the absolute value of the real-time equivalent bending moment by reducing the feed speed of the band saw blade, so that the absolute value of the real-time equivalent bending moment after control is within the preset equivalent bending moment range.

[0041] In this embodiment, specifically, if the first real-time deflection angle is within [-3°, +3°], and the absolute value of the first real-time equivalent bending moment is greater than 1.4 mm, a fifth control signal is sent to control The first nozzle and the second nozzle normally and continuously spray lubricating liquid at a flow rate of 60 mL / min, and the band saw blade cuts the workpiece at a feed speed of 57 mm / min.

[0042] As an implementation manner, in the embodiment of the present application, the method further includes: S21, when the time length after sending the first control signal is greater than the first preset time length, obtaining a second real-time sawing path image of the band saw blade collected by the sawing path detection device, and processing the second real-time sawing path image to obtain a second real-time deflection angle of the sawing seam of the workpiece, the second real-time deflection angle being the real-time deflection angle of the sawing seam after being controlled by the first control signal; In this embodiment, the first preset time length is a pre-set time length, and the specific method for processing the second real-time sawing path image to obtain the second real-time deflection angle of the saw seam of the workpiece is the same as the specific method for processing the first real-time sawing path image in step S11 to obtain the first real-time deflection angle of the saw seam of the workpiece, and will not be repeated here.

[0043] Specifically, the first preset time length may be 1 minute.

[0044] S22. If the second real-time deflection angle is smaller than the minimum value of the preset angle range, a sixth control signal is sent to control the first nozzle to continuously spray lubricating liquid at a second flow rate, the second nozzle to intermittently spray lubricating liquid at the first flow rate with a second spray intermittent ratio, and the band saw blade to saw the workpiece at a first feed speed, wherein the second spray intermittent ratio is smaller than the first spray intermittent ratio.

[0045] In this embodiment, if the second real-time deflection angle is smaller than the minimum value of the preset angle range, it means that after the first preset time period is controlled by the first control signal, the angle of the cutting force of the band saw blade deviating to one side is still large. By sending the sixth control signal to control the first nozzle and the second nozzle, the first nozzle continuously sprays lubricating liquid at the second flow rate, and the spray intermittent ratio of the second nozzle is reduced, so that the second nozzle intermittently sprays lubricating liquid at the first flow rate with a second spray intermittent ratio which is smaller than the first spray intermittent ratio, so as to further increase the difference in friction between the two sides of the band saw blade and the workpiece, and reduce the absolute value of the second real-time deflection angle, so that the real-time deflection angle after control by the sixth control signal is within the preset angle range.

[0046] Specifically, the second spray intermittent ratio can be 0.5, which can be to start the spray for 0.5s, turn off the spray for 1s, and periodically intermittently spray the lubricant. If the second real-time deflection angle is less than -3°, the sixth control signal is sent to control the first nozzle to continuously spray the lubricating liquid at a flow rate of 90mL / min, the second nozzle to start the spray for 0.5s at a flow rate of 60mL / min, that is, 1mL / s, and turn off the spray for 1s, and periodically intermittently spray the lubricating liquid, and the band saw blade cuts the workpiece at 60mm / min.

[0047] As an implementation manner, in the embodiment of the present application, the method further includes: S31, when the time length after sending the second control signal is greater than the first preset time length, obtaining a third real-time sawing path image of the band saw blade collected by the sawing path detection device, and processing the third real-time sawing path image to obtain a third real-time deflection angle of the sawing seam of the workpiece, the third real-time deflection angle being the real-time deflection angle of the sawing seam after being controlled by the second control signal; In this embodiment, the specific method for processing the third real-time sawing path image to obtain the third real-time deflection angle of the saw seam of the workpiece is the same as the specific method for processing the first real-time sawing path image in step S11 to obtain the first real-time deflection angle of the saw seam of the workpiece, and will not be repeated here.

[0048] S32. If the third real-time deflection angle is greater than the maximum value of the preset angle range, a seventh control signal is sent to control the second nozzle to continuously spray lubricating liquid at a second flow rate, the first nozzle to intermittently spray lubricating liquid at a first flow rate with a second spraying intermittent ratio, and the band saw blade to saw the workpiece at a first feed speed.

[0049] In this embodiment, if the third real-time deflection angle is greater than the maximum value of the preset angle range, it means that after the first preset time period is controlled by the second control signal, the angle of the cutting force of the band saw blade deviating to the other side is still large. By sending the seventh control signal to control the first nozzle and the second nozzle, the second nozzle continuously sprays lubricating liquid at the second flow rate, and the spray intermittent ratio of the first nozzle is reduced, so that the first nozzle intermittently sprays lubricating liquid at the first flow rate with a second spray intermittent ratio that is less than the first spray intermittent ratio, so as to further increase the difference in friction between the two sides of the band saw blade and the workpiece, and reduce the absolute value of the third real-time deflection angle, so that the real-time deflection angle after control by the seventh control signal is within the preset angle range.

[0050] Specifically, if the third real-time deflection angle is greater than 3°, the seventh control signal is sent to control the second nozzle to continuously spray lubricating liquid at a flow rate of 90 mL / min, the first nozzle starts spraying at a flow rate of 60 mL / min, that is, 1 mL / s, for 0.5 seconds, and turns off the spraying for 1 second to periodically spray lubricating liquid, and the band saw blade cuts the workpiece at 60 mm / min.

[0051] As an implementation manner, in the embodiment of the present application, the method further includes: S41, when the time length after sending the sixth control signal or the seventh control signal is greater than the second preset time length, obtaining a fourth real-time sawing path image of the band saw blade collected by the sawing path detection device, and processing the fourth real-time sawing path image to obtain a fourth real-time deflection angle of the sawing seam of the workpiece, the fourth real-time deflection angle of the sawing seam being controlled by the sixth control signal or the seventh control signal; In this embodiment, the second preset duration is a pre-set duration, and the specific duration of the second preset duration may be the same as or different from the first preset duration. The specific method of processing the fourth real-time sawing path image to obtain the fourth real-time deflection angle of the saw seam of the workpiece is the same as the specific method of processing the first real-time sawing path image in step S11 to obtain the first real-time deflection angle of the saw seam of the workpiece, and will not be repeated here. Specifically, the second preset duration may be 100s.

[0052] S42: If the fourth real-time deflection angle is smaller than the minimum value of the preset angle range or larger than the maximum value of the preset angle range, control the band saw blade to stop sawing.

[0053] In this embodiment, if the fourth real-time deflection angle is smaller than the minimum value of the preset angle range or larger than the maximum value of the preset angle range, it means that after the first preset time period is controlled by the sixth control signal or the seventh control signal, the side deflection angle of the band saw blade cutting force is still large, and it is determined that an abnormality has occurred in the sawing device, and the band saw blade is controlled to stop sawing.

[0054] As an implementation manner, in the embodiment of the present application, the method further includes: S51, when the time length after sending the fifth control signal is greater than the first preset time length, obtaining a second real-time bending displacement of the middle part of the band saw blade collected by the displacement collection device, and obtaining a second real-time equivalent bending distance of the middle part of the saw blade during the sawing process according to the arm spacing between the first guide arm and the second guide arm and the second real-time bending displacement, the second real-time equivalent bending distance being the real-time equivalent bending distance of the middle part of the band saw blade after being controlled by the fifth control signal; In this embodiment, the specific calculation method for obtaining the second real-time equivalent bending moment of the middle part of the saw blade during the sawing process based on the arm spacing between the first guide arm and the second guide arm and the second real-time bending displacement is the same as the specific calculation method for obtaining the first real-time equivalent bending moment of the middle part of the saw blade during the sawing process based on the arm spacing between the first guide arm and the second guide arm and the first real-time bending displacement in step S12, and will not be repeated here.

[0055] S52. If the absolute value of the second real-time equivalent bending moment is greater than the maximum value of the preset equivalent bending moment range, the first nozzle and the second nozzle are controlled to continuously spray lubricating liquid at the first flow rate, and the band saw blade is controlled to saw the workpiece at the third feed speed, until the band saw blade is sawing the workpiece at the preset feed speed, if the absolute value of the real-time equivalent bending moment of the middle part of the band saw blade is still greater than the maximum value of the preset equivalent bending moment range, the band saw blade is controlled to stop sawing, wherein the third feed speed is less than the second feed speed.

[0056] In this embodiment, the preset feed speed is a pre-set feed speed. If the absolute value of the second real-time equivalent bending distance is greater than the maximum value of the preset equivalent bending distance range, it means that after the first preset time period is controlled by the fifth control signal, the absolute value of the real-time equivalent bending distance of the middle part of the band saw blade is greater than the maximum value of the preset equivalent bending distance range. The control continues to reduce the feed speed of the band saw blade, and continues to judge whether the real-time equivalent bending distance after further reducing the feed speed is still greater than the maximum value of the preset equivalent bending distance range. If the feed speed of the band saw blade is reduced to the preset feed speed, the absolute value of the real-time equivalent bending distance of the middle part of the band saw blade is still greater than the maximum value of the preset equivalent bending distance range, it means that the sawing device is abnormal, and the band saw blade is controlled to stop sawing.

[0057] In this embodiment, specifically, the third feed speed may be 54 mm / min, the preset feed speed may be 48 mm / min, if the absolute value of the second real-time equivalent bending moment is greater than 1.4 mm, the first nozzle and the second nozzle are controlled to continuously spray the lubricating liquid at a flow rate of 60 mL / min, and the band saw blade is controlled to saw the workpiece at a feed speed of 54 mm / min, if the absolute value of the real-time equivalent bending moment of the middle part of the band saw blade obtained under the condition of a feed speed of 54 mm / min is still greater than 1.4 mm, the band saw blade is controlled to saw the workpiece at a feed speed of 51 mm / min, If the absolute value of the real-time equivalent bending moment of the middle part of the band saw blade obtained at a feed speed of 51mm / min is still greater than 1.4mm, the band saw blade will saw the workpiece at a feed speed of 48mm / min. If the absolute value of the real-time equivalent bending moment of the middle part of the band saw blade obtained at a feed speed of 48mm / min is still greater than 1.4mm, it means that there is an abnormality in the sawing device and the band saw blade is controlled to stop sawing.

[0058] like Figure 6 As shown, the present application also provides a sawing controller 200, which is applied to a sawing device, wherein the sawing device includes a saw frame, a band saw blade, a sawing path detection device, a displacement collection device, and a spray device, wherein the saw frame includes a first guide arm and a second guide arm, wherein the first guide arm and the second guide arm respectively clamp two ends of the band saw blade, and the spray device includes a first nozzle and a second nozzle close to two sides of the band saw blade, and the controller 200 includes: The first processing module 210 is used to obtain a first real-time sawing path image of the band saw blade collected by the sawing path detection device, and process the first real-time sawing path image to obtain a first real-time deflection angle of the saw seam of the workpiece; The second processing module 220 is used to obtain a first real-time bending displacement of the middle portion of the band saw blade collected by the displacement collection device, and obtain a first real-time equivalent bending moment of the middle portion of the saw blade during the sawing process according to the arm spacing between the first guide arm and the second guide arm and the first real-time bending displacement; The first control module 230 is used to control the flow rate of the lubricating fluid sprayed from the first nozzle and the second nozzle, and the feed speed of the band saw blade cutting the workpiece according to the first real-time deflection angle, the first real-time equivalent bending distance, the preset angle range and the preset equivalent bending distance range.

[0059] As an implementation mode, in the embodiment of the present application, when the first control module controls the flow rate of the sprayed lubricating liquid of the first nozzle and the second nozzle, and the feed speed of the band saw blade sawing the workpiece according to the first real-time deflection angle, the first real-time equivalent bending distance, the preset angle range and the preset equivalent bending distance range, it is specifically used to: If the first real-time deflection angle is less than the minimum value of the preset angle range, and the first real-time equivalent bending moment is within the preset equivalent bending moment range, a first control signal is sent to control the first nozzle to continuously spray lubricating liquid at a second flow rate, the second nozzle to intermittently spray lubricating liquid at the first flow rate with a first spraying intermittent ratio, and the band saw blade to saw the workpiece at a first feed speed, wherein the second flow rate is greater than the first flow rate; If the first real-time deflection angle is greater than the maximum value of the preset angle range, and the first real-time equivalent bending moment is within the preset equivalent bending moment range, a second control signal is sent to control the second nozzle to continuously spray the lubricating liquid at the second flow rate, the first nozzle to intermittently spray the lubricating liquid at the first flow rate with the first spraying intermittent ratio, and the band saw blade to saw the workpiece at the first feed speed; If the first real-time deflection angle is less than the minimum value of the preset angle range, and the absolute value of the first real-time equivalent bending moment is greater than the maximum value of the preset equivalent bending moment range, a third control signal is sent to control the first nozzle to continuously spray the lubricating liquid at a third flow rate, the second nozzle to intermittently spray the lubricating liquid at the first flow rate with a first spraying intermittent ratio, and the band saw blade to saw the workpiece at a second feed speed, wherein the third flow rate is greater than the second flow rate, and the second feed speed is less than the first feed speed; If the first real-time deflection angle is greater than the maximum value of the preset angle range, and the absolute value of the first real-time equivalent bending moment is greater than the maximum value of the preset equivalent bending moment range, a fourth control signal is sent to control the second nozzle to continuously spray the lubricating liquid at a third flow rate, the first nozzle to intermittently spray the lubricating liquid at the first flow rate with a first spraying intermittent ratio, and the band saw blade to saw the workpiece at a second feed speed; If the first real-time deflection angle is within the preset angle range, and the absolute value of the first real-time equivalent bending distance is greater than the maximum value of the preset equivalent bending distance range, a fifth control signal is sent to control the first nozzle and the second nozzle to continuously spray lubricating liquid at the first flow rate, and the band saw blade to saw the workpiece at the second feed speed.

[0060] As an implementation manner, in the embodiment of the present application, the controller further includes: a second processing module, for obtaining a second real-time sawing path image of the band saw blade collected by the sawing path detection device when the time length after the first control signal is sent is greater than the first preset time length, and processing the second real-time sawing path image to obtain a second real-time deflection angle of the sawing seam of the workpiece, the second real-time deflection angle being the real-time deflection angle of the sawing seam after being controlled by the first control signal; The second control module is used to send a sixth control signal to control the first nozzle to continuously spray lubricating liquid at a second flow rate, the second nozzle to intermittently spray lubricating liquid at a second spray intermittent ratio at the first flow rate, and the band saw blade to saw the workpiece at a first feed speed if the second real-time deflection angle is smaller than the minimum value of the preset angle range, wherein the second spray intermittent ratio is smaller than the first spray intermittent ratio.

[0061] like Figure 7 As shown, the present application also provides a sawing control system, including a sawing controller 200 and a sawing device 100 as any of the above items, the sawing device 100 including a saw frame 110, a band saw blade 120, a sawing path detection device 130, a displacement acquisition device 140 and a spray device 150, the saw frame 110 includes a first guide arm 111 and a second guide arm 112, the first guide arm 111 and the second guide arm 112 respectively clamp the two ends of the band saw blade 120, the spray device 150 includes a first nozzle and a second nozzle close to the two sides of the band saw blade 120; the sawing path detection device 130 is used to collect a first real-time sawing path image of the band saw blade 120; the displacement acquisition device 140 is used to collect a first real-time bending displacement of the middle part of the band saw blade 120.

[0062] It should be understood that the use of "system", "device", "unit" and / or "module" in this application is only a method for distinguishing different components, elements, parts, parts or assemblies at different levels. However, if other words can achieve the same purpose, the word can be replaced by other expressions.

[0063] The embodiments in this specification are described in a progressive manner, and each embodiment focuses on the For the differences between other embodiments, the same or similar parts between the embodiments may be referred to each other.

[0064] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A sawing control method, characterized in that: Applied to a sawing device, the sawing device includes a saw frame, a band saw blade, a sawing path detection device, a displacement collection device and a spray device, the saw frame includes a first guide arm and a second guide arm, the first guide arm and the second guide arm respectively clamp the two ends of the band saw blade, the spray device includes a first nozzle and a second nozzle close to the two sides of the band saw blade, and the method includes: Acquire a first real-time sawing path image of the band saw blade collected by the sawing path detection device, and process the first real-time sawing path image to obtain a first real-time deflection angle of a saw seam of a workpiece; Acquire a first real-time bending displacement of the middle portion of the band saw blade acquired by the displacement acquisition device, and obtain a first real-time equivalent bending moment of the middle portion of the saw blade during the sawing process according to the arm spacing between the first guide arm and the second guide arm and the first real-time bending displacement; According to the first real-time deflection angle, the first real-time equivalent bending distance, the preset angle range and the preset equivalent bending distance range, the flow rate of the lubricating fluid sprayed by the first nozzle and the second nozzle and the feed speed of the band saw blade in sawing the workpiece are controlled.

2. The method according to claim 1, characterized in that The method of controlling the flow rate of the lubricating fluid sprayed from the first nozzle and the second nozzle, and the feed speed of the band saw blade sawing the workpiece according to the first real-time deflection angle, the first real-time equivalent bending distance, the preset angle range, and the preset equivalent bending distance range, comprises: If the first real-time deflection angle is within the preset angle range, and the first real-time equivalent bending distance is within the preset equivalent bending distance range, controlling the first nozzle and the second nozzle to continuously spray lubricating liquid at a first flow rate, and the band saw blade to saw the workpiece at a first feed speed; If the first real-time deflection angle is less than the minimum value of the preset angle range, and the first real-time equivalent bending moment is within the preset equivalent bending moment range, a first control signal is sent to control the first nozzle to continuously spray lubricating liquid at a second flow rate, the second nozzle to intermittently spray lubricating liquid at a first flow rate with a first spraying intermittent ratio, and the band saw blade to saw the workpiece at a first feed speed, wherein the second flow rate is greater than the first flow rate; If the first real-time deflection angle is greater than the maximum value of the preset angle range, and the first real-time equivalent bending moment is within the preset equivalent bending moment range, a second control signal is sent to control the second nozzle to continuously spray lubricating liquid at a second flow rate, the first nozzle to intermittently spray lubricating liquid at a first flow rate with a first spraying intermittent ratio, and the band saw blade to saw the workpiece at a first feed speed; If the first real-time deflection angle is less than the minimum value of the preset angle range, and the absolute value of the first real-time equivalent bending moment is greater than the maximum value of the preset equivalent bending moment range, a third control signal is sent to control the first nozzle to continuously spray lubricating liquid at a third flow rate, the second nozzle to intermittently spray lubricating liquid at the first flow rate with a first spraying intermittent ratio, and the band saw blade to saw the workpiece at a second feed speed, wherein the third flow rate is greater than the second flow rate, and the second feed speed is less than the first feed speed; If the first real-time deflection angle is greater than the maximum value of the preset angle range, and the absolute value of the first real-time equivalent bending moment is greater than the maximum value of the preset equivalent bending moment range, a fourth control signal is sent to control the second nozzle to continuously spray lubricating liquid at a third flow rate, the first nozzle to intermittently spray lubricating liquid at a first flow rate with a first spraying intermittent ratio, and the band saw blade to saw the workpiece at a second feed speed; If the first real-time deflection angle is within the preset angle range, and the absolute value of the first real-time equivalent bending distance is greater than the maximum value of the preset equivalent bending distance range, a fifth control signal is sent to control the first nozzle and the second nozzle to continuously spray lubricating liquid at a first flow rate, and the band saw blade to saw the workpiece at a second feed speed.

3. The method according to claim 2, characterized in that The method further comprises: When the time length after sending the first control signal is greater than the first preset time length, a second real-time sawing path image of the band saw blade collected by the sawing path detection device is obtained, and the second real-time sawing path image is processed to obtain a second real-time deflection angle of the sawing seam of the workpiece, where the second real-time deflection angle is the real-time deflection angle of the sawing seam after being controlled by the first control signal; If the second real-time deflection angle is smaller than the minimum value of the preset angle range, a sixth control signal is sent to control the first nozzle to continuously spray lubricating liquid at a second flow rate, the second nozzle to intermittently spray lubricating liquid at a first flow rate with a second spray intermittent ratio, and the band saw blade to saw the workpiece at a first feed speed, wherein the second spray intermittent ratio is smaller than the first spray intermittent ratio.

4. The method according to claim 3, characterized in that The method further comprises: When the time length after sending the second control signal is greater than the first preset time length, a third real-time sawing path image of the band saw blade collected by the sawing path detection device is obtained, and the third real-time sawing path image is processed to obtain a third real-time deflection angle of the sawing seam of the workpiece, wherein the third real-time deflection angle is the real-time deflection angle of the sawing seam after being controlled by the second control signal; If the third real-time deflection angle is greater than the maximum value of the preset angle range, the seventh control signal is sent to control the second nozzle to continuously spray lubricating liquid at a second flow rate, the first nozzle to intermittently spray lubricating liquid at a first flow rate with a second spray intermittent ratio, and the band saw blade to saw the workpiece at a first feed speed.

5. The method according to claim 4, characterized in that The method further comprises: When the time length after sending the sixth control signal or the seventh control signal is greater than the second preset time length, a fourth real-time sawing path image of the band saw blade collected by the sawing path detection device is obtained, and the fourth real-time sawing path image is processed to obtain a fourth real-time deflection angle of the sawing seam of the workpiece, wherein the fourth real-time deflection angle of the sawing seam is the real-time deflection angle of the sawing seam after being controlled by the sixth control signal or the seventh control signal; If the fourth real-time deflection angle is smaller than the minimum value of the preset angle range or larger than the maximum value of the preset angle range, the band saw blade is controlled to stop sawing.

6. The method according to claim 2, characterized in that The method further comprises: When the time length after sending the fifth control signal is greater than the first preset time length, a second real-time bending displacement of the middle portion of the band saw blade collected by the displacement collection device is obtained, and a second real-time equivalent bending distance of the middle portion of the saw blade during the sawing process is obtained according to the arm spacing between the first guide arm and the second guide arm and the second real-time bending displacement, wherein the second real-time equivalent bending distance is the real-time equivalent bending distance of the middle portion of the band saw blade after being controlled by the fifth control signal; If the absolute value of the second real-time equivalent bending moment is greater than the maximum value of the preset equivalent bending moment range, the first nozzle and the second nozzle are controlled to continuously spray lubricating liquid at a first flow rate, and the band saw blade is controlled to saw the workpiece at a third feed speed, until the band saw blade saws the workpiece at the preset feed speed, if the absolute value of the real-time equivalent bending moment of the middle part of the band saw blade is still greater than the maximum value of the preset equivalent bending moment range, the band saw blade is controlled to stop sawing, wherein the third feed speed is less than the second feed speed.

7. A sawing controller, characterized in that: Applied to a sawing device, the sawing device includes a saw frame, a band saw blade, a sawing path detection device, a displacement collection device and a spray device, the saw frame includes a first guide arm and a second guide arm, the first guide arm and the second guide arm respectively clamp the two ends of the band saw blade, the spray device includes a first nozzle and a second nozzle close to the two sides of the band saw blade, and the controller includes: a first processing module, configured to obtain a first real-time sawing path image of the band saw blade collected by the sawing path detection device, and process the first real-time sawing path image to obtain a first real-time deflection angle of a saw seam of a workpiece; a second processing module, configured to obtain a first real-time bending displacement of the middle portion of the band saw blade acquired by the displacement acquisition device, and obtain a first real-time equivalent bending moment of the middle portion of the saw blade during sawing according to the arm spacing between the first guide arm and the second guide arm and the first real-time bending displacement; The first control module is used to control the flow rate of the lubricating fluid sprayed from the first nozzle and the second nozzle, and the feed speed of the band saw blade in sawing the workpiece according to the first real-time deflection angle, the first real-time equivalent bending distance, the preset angle range and the preset equivalent bending distance range.

8. The controller according to claim 7, characterized in that: When the first control module controls the flow rate of the lubricating liquid sprayed from the first nozzle and the second nozzle, and the feed speed of the band saw blade sawing the workpiece according to the first real-time deflection angle, the first real-time equivalent bending distance, the preset angle range, and the preset equivalent bending distance range, it is specifically used to: If the first real-time deflection angle is less than the minimum value of the preset angle range, and the first real-time equivalent bending moment is within the preset equivalent bending moment range, a first control signal is sent to control the first nozzle to continuously spray lubricating liquid at a second flow rate, the second nozzle to intermittently spray lubricating liquid at a first flow rate with a first spraying intermittent ratio, and the band saw blade to saw the workpiece at a first feed speed, wherein the second flow rate is greater than the first flow rate; If the first real-time deflection angle is greater than the maximum value of the preset angle range, and the first real-time equivalent bending moment is within the preset equivalent bending moment range, a second control signal is sent to control the second nozzle to continuously spray lubricating liquid at a second flow rate, the first nozzle to intermittently spray lubricating liquid at a first flow rate with a first spraying intermittent ratio, and the band saw blade to saw the workpiece at a first feed speed; If the first real-time deflection angle is less than the minimum value of the preset angle range, and the absolute value of the first real-time equivalent bending moment is greater than the maximum value of the preset equivalent bending moment range, a third control signal is sent to control the first nozzle to continuously spray lubricating liquid at a third flow rate, the second nozzle to intermittently spray lubricating liquid at the first flow rate with a first spraying intermittent ratio, and the band saw blade to saw the workpiece at a second feed speed, wherein the third flow rate is greater than the second flow rate, and the second feed speed is less than the first feed speed; If the first real-time deflection angle is greater than the maximum value of the preset angle range, and the absolute value of the first real-time equivalent bending moment is greater than the maximum value of the preset equivalent bending moment range, a fourth control signal is sent to control the second nozzle to continuously spray lubricating liquid at a third flow rate, the first nozzle to intermittently spray lubricating liquid at a first flow rate with a first spraying intermittent ratio, and the band saw blade to saw the workpiece at a second feed speed; If the first real-time deflection angle is within the preset angle range, and the absolute value of the first real-time equivalent bending distance is greater than the maximum value of the preset equivalent bending distance range, a fifth control signal is sent to control the first nozzle and the second nozzle to continuously spray lubricating liquid at a first flow rate, and the band saw blade to saw the workpiece at a second feed speed.

9. The controller according to claim 8, characterized in that: The controller further comprises: a second processing module, configured to obtain a second real-time sawing path image of the band saw blade acquired by the sawing path detection device when the time length after the first control signal is sent is greater than a first preset time length, and process the second real-time sawing path image to obtain a second real-time deflection angle of the sawing seam of the workpiece, wherein the second real-time deflection angle is the real-time deflection angle of the sawing seam after being controlled by the first control signal; The second control module is used for sending a sixth control signal to control the first nozzle to continuously spray lubricating liquid at a second flow rate, the second nozzle to intermittently spray lubricating liquid at a first flow rate with a second spray intermittent ratio, and the band saw blade to saw the workpiece at a first feed speed if the second real-time deflection angle is smaller than the minimum value of the preset angle range, wherein the second spray intermittent ratio is smaller than the first spray intermittent ratio.

10. A sawing control system, characterized in that: The invention comprises a sawing controller and a sawing device as claimed in any one of claims 7 to 9, wherein the sawing device comprises a saw frame, a band saw blade, a sawing path detection device, a displacement collection device and a spray device, wherein the saw frame comprises a first guide arm and a second guide arm, wherein the first guide arm and the second guide arm respectively clamp two ends of the band saw blade, and the spray device comprises a first nozzle and a second nozzle close to two sides of the band saw blade; The sawing path detection device is used to collect a first real-time sawing path image of the band saw blade; The displacement acquisition device is used to acquire a first real-time bending displacement of the middle portion of the band saw blade.

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