A sawing control method, controller and control system

Abstract

The application relates to a sawing control method, a controller and a control system. According to a first real-time deflection angle of a sawing seam of a workpiece, a first real-time equivalent bending distance of a middle part of a band saw blade, a preset angle range and a preset equivalent bending distance range, the flow of the lubricating liquid sprayed by a first nozzle and a second nozzle and the feeding speed of the band saw blade sawing the workpiece are controlled. When a large-size workpiece is sawed, the difference between the friction between the two sides of the band saw blade and the workpiece can be effectively regulated, the deflection angle of the sawing seam of the workpiece can be effectively regulated, the equivalent bending distance of the middle part of the band saw blade can be effectively regulated, the real-time deflection angle after regulation is in the preset angle range, the real-time equivalent bending distance after regulation is in the preset equivalent bending distance range, 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] This application belongs to the field of sawing equipment technology, and in particular relates to a sawing control method, controller and control system. Background Technology

[0002] High-efficiency, high-precision, and low-cost machining technology is an inevitable trend in the development of modern machining. Band saw blades are widely used in the field of metal raw material cutting due to their advantages such as high cutting efficiency, material and energy saving, and controllable cost.

[0003] Existing band saw blade cutting control methods generally involve setting up a group of hydraulic resistance devices on the saw frame guide arm to control and adjust the magnitude of the tensile stress in the width direction of the band saw blade during the sawing process, thereby adjusting the equivalent bending moment in the middle of the band saw blade. However, when sawing large-sized workpieces, the existing band saw blade cutting control methods have limited ability to adjust the sawing stress of the band saw body through the saw frame guide arm over a large span. This results in a large lateral angle of the band saw blade cutting force, leading to a large skew angle of the workpiece's saw kerf and a large equivalent bending moment in the middle of the band saw blade. Consequently, the sawing accuracy of the workpiece is greatly reduced, and the service life of the band saw blade is shortened. Summary of the Invention

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

[0005] The technical solution provided in this application is as follows: A sawing control method is applied to a sawing device, the sawing device including a saw frame, a band saw blade, a sawing path detection device, a displacement acquisition device, and a spraying device. The saw frame includes a first guide arm and a second guide arm, the first guide arm and the second guide arm respectively clamping both ends of the band saw blade. The spraying device includes a first nozzle and a second nozzle near both sides of the band saw blade. The method includes: The first real-time sawing path image of the band saw blade collected by the sawing path detection device is acquired, and the first real-time sawing path image is processed to obtain the first real-time skew angle of the workpiece's saw kerf. The first real-time bending displacement of the middle part of the band saw blade is acquired by the displacement acquisition device, and the first real-time equivalent bending moment of the middle part of the saw blade during the sawing process is obtained based on the arm spacing between the first guide arm and the second guide arm and the first real-time bending displacement. Based on the first real-time skew angle, the first real-time equivalent bending moment, the preset angle range, and the preset equivalent bending moment range, 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 cutting 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 cutting the workpiece, based on the first real-time skew angle, the first real-time equivalent bending moment, a preset angle range, and a preset equivalent bending moment range, includes: If the first real-time skew angle is within the preset angle range and the first real-time equivalent bending moment is within the preset equivalent bending moment range, then the first nozzle and the second nozzle are controlled to continuously spray lubricating fluid at the first flow rate, and the band saw blade is controlled to saw the workpiece at the first feed speed. If the first real-time skew 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, then a first control signal is sent to control the first nozzle to continuously spray lubricant at a second flow rate, the second nozzle to intermittently spray lubricant at a first flow rate and a first spray interval 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 skew 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, then a second control signal is sent to control the second nozzle to continuously spray lubricating fluid at a second flow rate, the first nozzle to intermittently spray lubricating fluid at a first flow rate and a first spraying interval ratio, and the band saw blade to saw the workpiece at a first feed speed. If the first real-time skew 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, then a third control signal is sent to control the first nozzle to continuously spray lubricant at a third flow rate, the second nozzle to intermittently spray lubricant at a first flow rate and a first spraying interval 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 skew 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, then a fourth control signal is sent to control the second nozzle to continuously spray lubricant at a third flow rate, the first nozzle to intermittently spray lubricant at a first flow rate and a first spraying interval ratio, and the band saw blade to saw the workpiece at a second feed speed. If the first real-time skew 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, then a fifth control signal is sent to control the first nozzle and the second nozzle to continuously spray lubricating fluid at the first flow rate, and the band saw blade to saw the workpiece at the second feed speed.

[0007] Optionally, the method further includes: When the duration after sending the first control signal is greater than the first preset duration, the second real-time sawing path image of the band saw blade collected by the sawing path detection device is acquired, and the second real-time sawing path image is processed to obtain the second real-time deviation angle of the saw kerf of the workpiece. The second real-time deviation angle is the real-time deviation angle of the saw kerf after being controlled by the first control signal. If the second real-time skew angle is less than the minimum value of the preset angle range, a sixth control signal is sent to control the first nozzle to continuously spray lubricant at the second flow rate, the second nozzle to intermittently spray lubricant at the first flow rate and the second spray interval ratio, and the band saw blade to saw the workpiece at the first feed speed, wherein the second spray interval ratio is less than the first spray interval ratio.

[0008] Optionally, the method further includes: When the duration after sending the second control signal is longer than the first preset duration, the third real-time sawing path image of the band saw blade collected by the sawing path detection device is acquired, and the third real-time sawing path image is processed to obtain the third real-time deviation angle of the saw kerf of the workpiece. The third real-time deviation angle is the real-time deviation angle of the saw kerf after being controlled by the second control signal. If the third real-time skew 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 lubricant at a second flow rate, the first nozzle to intermittently spray lubricant at a first flow rate and a second spray interval ratio, and the band saw blade to saw the workpiece at a first feed speed.

[0009] Optionally, the method further includes: When the duration after sending the sixth control signal or the seventh control signal is greater than the second preset duration, the fourth real-time sawing path image of the band saw blade collected by the sawing path detection device is acquired, and the fourth real-time sawing path image is processed to obtain the fourth real-time skew angle of the workpiece saw kerf. The fourth real-time skew angle is the real-time skew angle of the saw kerf after being controlled by the sixth control signal or the seventh control signal. If the fourth real-time skew angle is less than the minimum value of the preset angle range or greater than the maximum value of the preset angle range, then the band saw blade is controlled to stop sawing.

[0010] Optionally, the method further includes: When the duration after sending the fifth control signal is greater than the first preset duration, the second real-time bending displacement of the middle part of the band saw blade collected by the displacement acquisition device is obtained, and the second real-time equivalent bending moment of the middle part of the band saw blade during the sawing process is obtained based on 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 moment is the real-time equivalent bending moment of the middle part 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, then the first nozzle and the second nozzle are controlled to continuously spray lubricant at the first flow rate, and the band saw blade is controlled to cut the workpiece at the third feed speed. When the band saw blade is cutting the workpiece at the preset feed speed, if the absolute value of the real-time equivalent bending moment in the middle of the band saw blade is still greater than the maximum value of the preset equivalent bending moment range, then the band saw blade is controlled to stop cutting, wherein the third feed speed is less than the second feed speed.

[0011] This application also provides a sawing controller applied to a sawing device, the sawing device including a saw frame, a band saw blade, a sawing path detection device, a displacement acquisition device, and a spraying device. The saw frame includes a first guide arm and a second guide arm, the first guide arm and the second guide arm respectively clamping both ends of the band saw blade. The spraying device includes a first nozzle and a second nozzle near both sides of the band saw blade. The controller includes: The first processing module is used to acquire the 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 the first real-time skew angle of the workpiece's saw kerf. The second processing module is used to acquire the first real-time bending displacement of the middle part of the band saw blade acquired by the displacement acquisition device, and to obtain 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. The first control module is used to 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 cutting the workpiece, based on the first real-time skew angle, the first real-time equivalent bending moment, the preset angle range, and the preset equivalent bending moment range.

[0012] Optionally, when the first control module executes the step 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 cutting the workpiece, based on the first real-time skew angle, the first real-time equivalent bending moment, the preset angle range, and the preset equivalent bending moment range, it is specifically used for: If the first real-time skew 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, then a first control signal is sent to control the first nozzle to continuously spray lubricant at a second flow rate, the second nozzle to intermittently spray lubricant at a first flow rate and a first spray interval 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 skew 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, then a second control signal is sent to control the second nozzle to continuously spray lubricating fluid at a second flow rate, the first nozzle to intermittently spray lubricating fluid at a first flow rate and a first spraying interval ratio, and the band saw blade to saw the workpiece at a first feed speed. If the first real-time skew 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, then a third control signal is sent to control the first nozzle to continuously spray lubricant at a third flow rate, the second nozzle to intermittently spray lubricant at a first flow rate and a first spraying interval 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 skew 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, then a fourth control signal is sent to control the second nozzle to continuously spray lubricant at a third flow rate, the first nozzle to intermittently spray lubricant at a first flow rate and a first spraying interval ratio, and the band saw blade to saw the workpiece at a second feed speed. If the first real-time skew 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, then a fifth control signal is sent to control the first nozzle and the second nozzle to continuously spray lubricating fluid at the first flow rate, and the band saw blade to saw the workpiece at the second feed speed.

[0013] Optionally, the controller further includes: The second processing module is used to acquire the second real-time sawing path image of the band saw blade collected by the sawing path detection device when the duration after sending the first control signal is greater than the first preset duration, and to process the second real-time sawing path image to obtain the second real-time deviation angle of the saw kerf of the workpiece. The second real-time deviation angle is the real-time deviation angle of the saw kerf after being controlled by the first control signal. The second control module is configured to send a sixth control signal to control the first nozzle to continuously spray lubricant at a second flow rate, the second nozzle to intermittently spray lubricant at a first flow rate and a second spray interval ratio, and the band saw blade to saw the workpiece at a first feed speed if the second real-time skew angle is less than the minimum value of the preset angle range.

[0014] This application also provides a sawing control system, including a sawing controller and a sawing device as described in any of the above claims. The sawing device includes a saw frame, a band saw blade, a sawing path detection device, a displacement acquisition device, and a spraying device. The saw frame includes a first guide arm and a second guide arm, which respectively clamp the two ends of the band saw blade. The spraying device includes a first nozzle and a second nozzle near both sides of the band saw blade. The sawing path detection device is used to acquire the first real-time sawing path image of the band saw blade; The displacement acquisition device is used to acquire the first real-time bending displacement of the middle part of the band saw blade.

[0015] Compared with existing technologies, the sawing control method, controller, and control system provided in this application acquire a first real-time sawing path image of the band saw blade collected by a sawing path detection device, process the first real-time sawing path image to obtain a first real-time skew angle of the workpiece's saw kerf, acquire 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 moment of the middle part of the saw blade during the sawing process based on the arm distance between the first guide arm and the second guide arm and the first real-time bending displacement. Then, based on the first real-time skew angle, the first real-time equivalent bending moment, and the first real-time skew angle, the control system further calculates the first real-time bending displacement of the middle part of the band saw blade during the sawing process. The preset angle range and preset equivalent bending distance range control the flow rate of lubricating fluid sprayed from the first and second nozzles, as well as the feed speed of the band saw blade when cutting the workpiece. When sawing large-sized workpieces, it can effectively regulate the difference in friction between the two sides of the band saw blade and the workpiece, thereby effectively regulating the kerf angle of the workpiece and the equivalent bending distance in the middle of the band saw blade. This ensures that the real-time kerf angle and the real-time equivalent bending distance after regulation are within the preset angle range and preset equivalent bending distance range, thus effectively improving the sawing accuracy of the workpiece and effectively extending the service life of the saw blade. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart of a sawing control method provided in the embodiments of this application; Figure 2 This is a schematic diagram of the structure of a sawing device provided in the embodiments of this application; Figure 3 This is a schematic diagram showing the positional relationship between the band saw blade, the spraying device, and the workpiece provided in the embodiments of this application; Figure 4 This is a schematic diagram showing the positional relationship between the band saw blade, the first nozzle, the second nozzle, and the workpiece provided in the embodiments of this application; Figure 5-1 This is a schematic diagram showing the state of the first real-time skew angle of the workpiece within a preset angle range in the embodiments of this application; Figure 5-2 This is a schematic diagram showing the state where the first real-time skew angle of the workpiece's saw kerf is less than the minimum value of a preset angle range, as provided in the embodiments of this application. Figure 5-3 This is a schematic diagram showing the state where the first real-time skew angle of the workpiece provided in this embodiment of the application is greater than the maximum value of the preset angle range; Figure 6 This is a structural block diagram of a sawing controller provided in an embodiment of this application; Figure 7 This is a structural block diagram of a sawing control system provided in the embodiments of this 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-Spraying device; 160-Workpiece; 111-First guide arm; 112-Second guide arm; 113-Connector; 151-First nozzle; 152-Second nozzle; 161-Kerf; 210 - First processing module; 220 - Second processing module; 230 - First control module. Detailed Implementation

[0018] 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 a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

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

[0020] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "a plurality of" or "several" means two or more, unless otherwise explicitly specified.

[0022] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which this application can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size should still fall within the scope of the technical content disclosed in this application, provided that they do not affect the effects and purposes that this application can produce.

[0023] like Figure 1 As shown, this application provides a sawing control method 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 acquisition device 140, and a spraying device 150. The saw frame 110 includes a first guide arm 111 and a second guide arm 112, which respectively clamp the two ends of the band saw blade 120. The spraying device 150 includes a first nozzle 151 and a second nozzle 152 near both sides of the band saw blade 120. The method includes: S11. Obtain the 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 the first real-time deviation angle of the saw kerf of the workpiece. In this embodiment, the sawing device can be a sawing machine, and the sawing path detection device can be an industrial camera, such as... Figure 2 As shown, the sawing path detection device 130 can be set inside the first guide arm 111, facing the back edge of the band saw blade 120, to process the first real-time sawing path image and obtain the first real-time skew angle of the workpiece's saw kerf. Specifically, the first real-time sawing path image can be converted into a first grayscale image, the image contrast of the first grayscale image can be enhanced and it can be denoised and smoothed to obtain a second grayscale image. The second grayscale image can be binarized to obtain a binary image that retains the edge information of the saw kerf. The binary image can be fitted with a straight line to obtain a contour map. The angle between the fitted straight line and the corrected horizontal line can be extracted, which is the first real-time skew angle of the workpiece's saw kerf.

[0024] S12. Obtain the first real-time bending displacement of the middle part of the band saw blade collected by the displacement acquisition device, and obtain 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 this embodiment, as Figure 2 As shown, the saw frame 110 also includes a connector 113. The first end of the first guide arm 111 and the second end of the second guide arm 112 can be connected by the connector 113. The displacement acquisition device 140 can be set on the inner side of the middle of the connector 113, facing the middle of the band saw blade 120. The displacement acquisition device can be a laser displacement sensor. The arm distance between the first guide arm and the second guide arm can be acquired by a distance sensor set on the first guide arm or the second guide arm, or it can be pre-set in the controller. During the sawing process, the bending deformation of the back edge of the band saw blade is called the equivalent bending moment. The first real-time equivalent bending moment at the middle of the band saw blade during the sawing process can be calculated based on the arm distance between the first guide arm and the second guide arm, the first real-time bending displacement, and the equivalent bending moment calculation formula. The specific equivalent bending moment calculation formula is as follows: , , Where r is the equivalent radius of the bending of the back edge of the band saw blade, 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 moment (i.e., the bending deformation of the back edge of the band saw blade).

[0025] S13. Based on the first real-time skew angle, the first real-time equivalent bending moment, the preset angle range, and the preset equivalent bending moment 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 cutting the workpiece.

[0026] In this embodiment, the preset angle range is a pre-set angle range, and the preset equivalent bending distance range is a pre-set equivalent bending distance range. This can be achieved by controlling the flow rate of the lubricating fluid from the first and second nozzles, as well as the feed speed of the band saw blade cutting the workpiece, based on 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, it can be achieved by controlling the flow rate of the lubricating fluid from the first and second nozzles based on the first real-time deflection angle and the preset angle range, and controlling the feed speed of the band saw blade cutting the workpiece based on the first real-time equivalent bending distance and the preset equivalent bending distance range, so that the controlled real-time deflection angle is within the preset angle range, and the controlled real-time equivalent bending distance is within the preset equivalent bending distance range.

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

[0028] Compared with existing technologies, the sawing control method, controller, and control system provided in this application acquire a first real-time sawing path image of the band saw blade collected by a sawing path detection device, process the first real-time sawing path image to obtain a first real-time skew angle of the workpiece's saw kerf, acquire 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 moment of the middle part of the saw blade during the sawing process based on the arm distance between the first guide arm and the second guide arm and the first real-time bending displacement. Then, based on the first real-time skew angle, the first real-time equivalent bending moment, and the first real-time skew angle, the control system further calculates the first real-time bending displacement of the middle part of the band saw blade during the sawing process. The preset angle range and preset equivalent bending distance range control the flow rate of lubricating fluid sprayed from the first and second nozzles, as well as the feed speed of the band saw blade when cutting the workpiece. When sawing large-sized workpieces, it can effectively regulate the difference in friction between the two sides of the band saw blade and the workpiece, thereby effectively regulating the kerf angle of the workpiece and the equivalent bending distance in the middle of the band saw blade. This ensures that the real-time kerf angle and the real-time equivalent bending distance after regulation are within the preset angle range and preset equivalent bending distance range, thus effectively improving the sawing accuracy of the workpiece and effectively extending the service life of the saw blade.

[0029] As one implementation method, in this embodiment of the application, step S13 includes: S131. If the first real-time skew angle is within the preset angle range and the first real-time equivalent bending moment is within the preset equivalent bending moment range, then control the first nozzle and the second nozzle to continuously spray lubricating fluid at the first flow rate, and control the band saw blade to saw the workpiece at the first feed speed. In this embodiment, as Figure 5-1As shown, if the first real-time skew angle of the saw kerf 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 both the skew angle and the equivalent bending distance are within the normal range. Then, the first nozzle and the second nozzle are controlled to spray lubricating fluid normally and continuously at the first flow rate, and the band saw blade is normally sawing the workpiece at the first feed speed.

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

[0031] S132. If the first real-time skew 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, then a first control signal is sent to control the first nozzle to continuously spray lubricating fluid at the second flow rate, the second nozzle to intermittently spray lubricating fluid at the first flow rate and the first spraying interval ratio, and the band saw blade to saw the workpiece at the 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 interval duration. Figure 5-2 This diagram illustrates the state where the first real-time skew angle of the saw kerf 161 of workpiece 160 is less than the minimum value of the preset angle range. In the diagram, -θ represents the first real-time skew angle being less than the minimum value of the preset angle range. If the first real-time skew angle of the saw kerf 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, it indicates that the cutting force of the band saw blade is deflected to one side at a large angle. In this case, a first control signal is sent to control the first nozzle and the second nozzle, increasing the flow rate of the lubricating fluid sprayed by the first nozzle, so that the first nozzle continuously sprays lubricating fluid at a second flow rate greater than the first flow rate, and the second nozzle intermittently sprays lubricating fluid at the first flow rate with a first spray interval ratio, thereby increasing the difference in friction between the two sides of the band saw blade and the workpiece, thereby reducing the absolute value of the first real-time skew angle, so that the controlled real-time skew angle is within the preset angle range.

[0032] In this embodiment, specifically, the second flow rate can be 90 mL / min, the first spray interval ratio can be 1, which can be a periodic intermittent spraying with spraying started for 1 second and spraying stopped for 1 second. If the first real-time deflection angle is less than -3° and the first real-time equivalent bending moment is within [-1.4 mm, 1.4 mm], then a first control signal is sent to control the first nozzle to continuously spray lubricating fluid at a flow rate of 90 mL / min, the second nozzle to periodically spray lubricating fluid at a flow rate of 60 mL / min, i.e., 1 mL / s, with spraying started for 1 second and spraying stopped for 1 second, and the band saw blade to saw the workpiece at a feed speed of 60 mm / min.

[0033] S133. If the first real-time skew 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, then send a second control signal to control the second nozzle to continuously spray lubricating fluid at the second flow rate, the first nozzle to intermittently spray lubricating fluid at the first flow rate and the first spraying interval ratio, and the band saw blade to saw the workpiece at the first feed speed. In this embodiment, Figure 5-3 This diagram illustrates the state where the first real-time skew angle of the saw kerf 161 of workpiece 160 is greater than the maximum value of a preset angle range. In the diagram, θ represents the maximum value of the first real-time skew angle being greater than the maximum value of the preset angle range. If the first real-time skew angle of the saw kerf 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, it indicates that the cutting force of the band saw blade is deflected to the other side at a large angle. In this case, a second control signal is sent to control the first and second nozzles, increasing the flow rate of the lubricating fluid sprayed by the second nozzle, so that the second nozzle continuously sprays lubricating fluid at a second flow rate greater than the first flow rate, and the first nozzle intermittently sprays lubricating fluid at the first flow rate with a first spray interval ratio, thereby increasing the difference in friction between the two sides of the band saw blade and the workpiece, thereby reducing the first real-time skew angle, so that the controlled real-time skew angle is within the preset angle range.

[0034] In this embodiment, specifically, if the first real-time skew angle is greater than 3° and the first real-time equivalent bending moment is within [-1.4mm, 1.4mm], then a second control signal is sent to control the second nozzle to continuously spray lubricant at a flow rate of 90mL / min, the first nozzle to periodically spray lubricant at a flow rate of 60mL / min (i.e., 1mL / s) for 1s and then to stop spraying for 1s, and the band saw blade to saw the workpiece at a feed speed of 60mm / min.

[0035] S134. If the first real-time skew 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, then a third control signal is sent to control the first nozzle to continuously spray lubricating fluid at a third flow rate, the second nozzle to intermittently spray lubricating fluid at a first flow rate and a first spraying interval 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 skew 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 indicates that the band saw blade cutting force is deflected to one side at a large angle, and the current absolute value of the real-time equivalent bending moment is large. Therefore, a third control signal is sent to control the first and second nozzles to increase the spray flow rate of the first nozzle, causing it to continuously spray lubricant at a third flow rate greater than the second flow rate, and causing the second nozzle to intermittently spray lubricant at a first flow rate with a first spray interval ratio. Additionally, the feed speed of the band saw blade is reduced, causing it to cut the workpiece at a second feed speed less than the first feed speed. This increases the difference in friction between the two sides of the band saw blade and the workpiece, thereby reducing the absolute value of the first real-time skew angle, ensuring the controlled real-time skew angle is within the preset angle range. Furthermore, by reducing the feed speed of the band saw blade, the absolute value of the real-time equivalent bending moment is reduced, ensuring the controlled absolute value of the real-time equivalent bending moment is within the preset equivalent bending moment range.

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

[0037] S135. If the first real-time skew 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, then a fourth control signal is sent to control the second nozzle to continuously spray lubricating fluid at the third flow rate, the first nozzle to intermittently spray lubricating fluid at the first flow rate and the first spraying interval ratio, and the band saw blade to saw the workpiece at the second feed speed. In this embodiment, if the first real-time skew 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 indicates that the band saw blade cutting force is deflected to the other side at a large angle, and the absolute value of the current real-time equivalent bending moment is large. Therefore, a fourth control signal is sent to control the first and second nozzles to increase the spray flow rate of the second nozzle, causing the second nozzle to continuously spray lubricant at a third flow rate greater than the second flow rate, causing the first nozzle to intermittently spray lubricant at a first flow rate and a first spray interval ratio, and reducing the band saw blade feed speed to cut the workpiece at a second feed speed less than the first feed speed. This increases the difference in friction between the two sides of the band saw blade and the workpiece, thereby reducing the first real-time skew angle, ensuring the controlled real-time skew angle is within the preset angle range. Furthermore, by reducing the band saw blade feed speed, the absolute value of the real-time equivalent bending moment is reduced, ensuring the controlled absolute value of the real-time equivalent bending moment is within the preset equivalent bending moment range.

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

[0039] S136. If the first real-time skew 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, then a fifth control signal is sent to control the first nozzle and the second nozzle to continuously spray lubricating fluid at the first flow rate, and the band saw blade to saw the workpiece at the second feed speed.

[0040] In this embodiment, if the first real-time skew 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 indicates that the current real-time skew angle is within the preset angle range. However, the absolute value of the current real-time equivalent bending moment is relatively large. Therefore, a fifth control signal is sent to control the first nozzle and the second nozzle to continuously spray lubricating fluid at the first flow rate, thereby controlling the reduction of the band saw blade's feed speed. This causes the band saw blade to cut the workpiece at a second feed speed that is less than the first feed speed. By reducing the band saw blade's feed speed, the absolute value of the real-time equivalent bending moment is reduced, ensuring that the absolute value of the controlled real-time equivalent bending moment is within the preset equivalent bending moment range.

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

[0042] As one implementation method, in this embodiment of the application, the method further includes: S21. When the duration after sending the first control signal is longer than the first preset duration, the second real-time sawing path image of the band saw blade collected by the sawing path detection device is acquired, and the second real-time sawing path image is processed to obtain the second real-time deviation angle of the saw kerf of the workpiece. The second real-time deviation angle is the real-time deviation angle of the saw kerf after being controlled by the first control signal. In this embodiment, the first preset duration is a pre-set duration. The specific method for processing the second real-time sawing path image to obtain the second real-time deviation angle of the workpiece's saw kerf is the same as the specific method for processing the first real-time sawing path image to obtain the first real-time deviation angle of the workpiece's saw kerf in step S11, and will not be repeated here.

[0043] Specifically, the first preset duration can be 1 minute.

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

[0045] In this embodiment, if the second real-time deflection angle is less than the minimum value of the preset angle range, it indicates that the angle at which the band saw blade cutting force deflects to one side is still large after the first preset time is controlled by the first control signal. The first nozzle and the second nozzle are controlled by sending a sixth control signal, so that the first nozzle continuously sprays lubricating fluid at a second flow rate, and the spraying interval ratio of the second nozzle is reduced, so that the second nozzle sprays lubricating fluid intermittently at a second spraying interval ratio less than the first spraying interval ratio at a first flow rate, thereby further increasing the difference in friction between the two sides of the band saw blade and the workpiece, thereby reducing the absolute value of the second real-time deflection angle, so that the real-time deflection angle after being controlled by the sixth control signal is within the preset angle range.

[0046] Specifically, the second spray interval ratio can be 0.5, which can be a periodic intermittent spraying with spraying starting for 0.5s and stopping for 1s. If the second real-time deflection angle is less than -3°, a sixth control signal is sent to control the first nozzle to continuously spray lubricant at a flow rate of 90mL / min, and the second nozzle to periodically spray lubricant at a flow rate of 60mL / min (i.e., 1mL / s) with spraying starting for 0.5s and stopping for 1s. The band saw blade cuts the workpiece at a speed of 60mm / min.

[0047] As one implementation method, in this embodiment of the application, the method further includes: S31. When the duration after sending the second control signal is longer than the first preset duration, the third real-time sawing path image of the band saw blade collected by the sawing path detection device is acquired, and the third real-time sawing path image is processed to obtain the third real-time deviation angle of the saw kerf of the workpiece. The third real-time deviation angle is the real-time deviation angle of the saw kerf 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 skew angle of the workpiece is the same as the specific method for processing the first real-time sawing path image to obtain the first real-time skew angle of the workpiece in step S11, and will not be repeated here.

[0048] S32. If the third real-time skew angle is greater than the maximum value of the preset angle range, then send a seventh control signal to control the second nozzle to continuously spray lubricant at the second flow rate, the first nozzle to intermittently spray lubricant at the first flow rate and the second spray interval ratio, and the band saw blade to saw the workpiece at the 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 indicates that the angle at which the band saw blade cutting force deflects to the other side is still large after the first preset time is controlled by the second control signal. The first nozzle and the second nozzle are controlled by sending the seventh control signal, so that the second nozzle continuously sprays lubricating fluid at the second flow rate, reducing the spray interval ratio of the first nozzle, so that the first nozzle sprays lubricating fluid intermittently at the first flow rate with a second spray interval ratio that is less than the first spray interval ratio, thereby further increasing the difference in friction between the two sides of the band saw blade and the workpiece, thereby reducing the absolute value of the third real-time deflection angle, so that the real-time deflection angle after being controlled by the seventh control signal is within the preset angle range.

[0050] Specifically, if the third real-time skew angle is greater than 3°, a seventh control signal is sent to control the second nozzle to continuously spray lubricant at a flow rate of 90 mL / min, the first nozzle to periodically spray lubricant at a flow rate of 60 mL / min (i.e., 1 mL / s) for 0.5s and then to periodically spray lubricant at a flow rate of 1s, and the band saw blade to saw the workpiece at a flow rate of 60 mm / min.

[0051] As one implementation method, in this embodiment of the application, the method further includes: S41. When the duration after sending the sixth or seventh control signal is longer than the second preset duration, the fourth real-time sawing path image of the band saw blade collected by the sawing path detection device is acquired, and the fourth real-time sawing path image is processed to obtain the fourth real-time deviation angle of the saw kerf of the workpiece. The fourth real-time saw kerf deviation angle is the real-time deviation angle of the saw kerf after being controlled by the sixth or seventh control signal. In this embodiment, the second preset duration is a pre-set duration. The specific duration of the second preset duration can be the same as or different from the first preset duration. The specific method for processing the fourth real-time sawing path image to obtain the fourth real-time skew angle of the workpiece is the same as the specific method for processing the first real-time sawing path image to obtain the first real-time skew angle of the workpiece in step S11, and will not be repeated here. Specifically, the second preset duration can be 100s.

[0052] S42. If the fourth real-time skew angle is less than the minimum value of the preset angle range or greater than the maximum value of the preset angle range, then control the band saw blade to stop sawing.

[0053] In this embodiment, if the fourth real-time skew angle is less than the minimum value of the preset angle range or greater than the maximum value of the preset angle range, it indicates that the angle of the band saw blade cutting force lateral deviation is still large after the first preset time is controlled by the sixth control signal or the seventh control signal. It is determined that the sawing device is abnormal and the band saw blade is controlled to stop sawing.

[0054] As one implementation method, in this embodiment of the application, the method further includes: S51. When the duration after sending the fifth control signal is greater than the first preset duration, the second real-time bending displacement of the middle part of the band saw blade collected by the displacement acquisition device is obtained, and the second real-time equivalent bending moment of the middle part of the saw blade during the sawing process is obtained based on 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 moment is the real-time equivalent bending moment 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 saw blade in the middle 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 saw blade in the middle 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, then control the first nozzle and the second nozzle to continuously spray lubricating fluid at the first flow rate, and control the band saw blade to cut the workpiece at the third feed speed until the band saw blade cuts the workpiece at the preset feed speed. If the absolute value of the real-time equivalent bending moment in the middle of the band saw blade is still greater than the maximum value of the preset equivalent bending moment range, then control the band saw blade to stop cutting. 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 moment is greater than the maximum value of the preset equivalent bending moment range, it means that after the fifth control signal controls the first preset time, the absolute value of the real-time equivalent bending moment in the middle of the band saw blade is greater than the maximum value of the preset equivalent bending moment range. The feed speed of the band saw blade is then controlled to continue to decrease. It is then determined whether the real-time equivalent bending moment after further reducing the feed speed is still greater than the maximum value of the preset equivalent bending moment range. If the absolute value of the real-time equivalent bending moment in the middle of the band saw blade is still greater than the maximum value of the preset equivalent bending moment range when the feed speed of the band saw blade is reduced to the preset feed speed, it means that the sawing device is malfunctioning, and the band saw blade is controlled to stop sawing.

[0057] In this embodiment, specifically, the third feed speed can be 54 mm / min, and the preset feed speed can be 48 mm / min. If the absolute value of the second real-time equivalent bending moment is greater than 1.4 mm, then the first and second nozzles are controlled to continuously spray lubricant at a flow rate of 60 mL / min, and the band saw blade cuts the workpiece at a feed speed of 54 mm / min. If the absolute value of the real-time equivalent bending moment at the middle of the band saw blade obtained under the condition of a feed speed of 54 mm / min is still greater than 1.4 mm, then the band saw blade cuts the workpiece at a feed speed of 51 mm / min. If the absolute value of the real-time equivalent bending moment at the center of the band saw blade obtained at a feed speed of 51 mm / min is still greater than 1.4 mm, then the band saw blade should be cut at a feed speed of 48 mm / min. If the absolute value of the real-time equivalent bending moment at the center of the band saw blade obtained at a feed speed of 48 mm / min is still greater than 1.4 mm, it indicates that the sawing device is malfunctioning, and the band saw blade should be stopped from cutting.

[0058] like Figure 6 As shown, this application also provides a sawing controller 200, applied to a sawing device. The sawing device includes a saw frame, a band saw blade, a sawing path detection device, a displacement acquisition device, and a spraying device. The saw frame includes a first guide arm and a second guide arm, which respectively clamp the two ends of the band saw blade. The spraying device includes a first nozzle and a second nozzle near both sides of the band saw blade. The controller 200 includes: The first processing module 210 is used to acquire the 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 the first real-time skew angle of the workpiece's saw kerf. The second processing module 220 is used to acquire the first real-time bending displacement of the middle part of the band saw blade acquired by the displacement acquisition device, and to obtain 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. 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, as well as the feed speed of the band saw blade cutting the workpiece, based on the first real-time skew angle, the first real-time equivalent bending moment, the preset angle range, and the preset equivalent bending moment range.

[0059] As one implementation method, in this embodiment of the application, when the first control module controls 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, based on the first real-time skew angle, the first real-time equivalent bending moment, the preset angle range, and the preset equivalent bending moment range, it is specifically used for: If the first real-time skew 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, then a first control signal is sent to control the first nozzle to continuously spray lubricant at the second flow rate, the second nozzle to intermittently spray lubricant at the first flow rate and the first spraying interval ratio, and the band saw blade to saw the workpiece at the first feed speed, wherein the second flow rate is greater than the first flow rate; If the first real-time skew 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, then a second control signal is sent to control the second nozzle to continuously spray lubricant at the second flow rate, the first nozzle to intermittently spray lubricant at the first flow rate and the first spraying interval ratio, and the band saw blade to saw the workpiece at the first feed speed. If the first real-time skew 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, then a third control signal is sent to control the first nozzle to continuously spray lubricant at a third flow rate, the second nozzle to intermittently spray lubricant at a first flow rate and a first spraying interval 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 skew 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, then a fourth control signal is sent to control the second nozzle to continuously spray lubricant at the third flow rate, the first nozzle to intermittently spray lubricant at the first flow rate and the first spraying interval ratio, and the band saw blade to saw the workpiece at the second feed speed. If the first real-time skew 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, then a fifth control signal is sent to control the first nozzle and the second nozzle to continuously spray lubricating fluid at the first flow rate, and the band saw blade to saw the workpiece at the second feed speed.

[0060] As one implementation method, in this embodiment of the application, the controller further includes: The second processing module is used to acquire the second real-time sawing path image of the band saw blade collected by the sawing path detection device when the duration after sending the first control signal is greater than the first preset duration, and to process the second real-time sawing path image to obtain the second real-time deviation angle of the saw kerf of the workpiece. The second real-time deviation angle is the real-time deviation angle of the saw kerf 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 lubricant at the second flow rate, the second nozzle to intermittently spray lubricant at the first flow rate and the second spray interval ratio, and the band saw blade to saw the workpiece at the first feed speed if the second real-time skew angle is less than the minimum value of the preset angle range.

[0061] like Figure 7 As shown, this application also provides a sawing control system, including a sawing controller 200 as described in any of the above claims and a sawing device 100. The sawing device 100 includes a saw frame 110, a band saw blade 120, a sawing path detection device 130, a displacement acquisition device 140, and a spraying device 150. The saw frame 110 includes a first guide arm 111 and a second guide arm 112, which clamp the two ends of the band saw blade 120 respectively. The spraying device 150 includes a first nozzle and a second nozzle near both sides of the band saw blade 120. The sawing path detection device 130 is used to acquire a first real-time sawing path image of the band saw blade 120. The displacement acquisition device 140 is used to acquire 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 terms such as "system," "device," "unit," and / or "module" in this application is merely one method of distinguishing different components, elements, parts, sections, or assemblies at different levels. However, if other terms can achieve the same purpose, they may be replaced by other expressions.

[0063] The embodiments in this specification are described in a progressive manner, with each embodiment focusing on the related aspects. For any differences between the embodiments, or for the same or similar parts between the embodiments, please refer to each other.

[0064] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily 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 this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A sawing control method, characterized in that, The method is applied to a sawing device, which includes a saw frame, a band saw blade, a sawing path detection device, a displacement acquisition device, and a spraying device. The saw frame includes a first guide arm and a second guide arm, which respectively clamp the two ends of the band saw blade. The spraying device includes a first nozzle and a second nozzle near both sides of the band saw blade. The first real-time sawing path image of the band saw blade collected by the sawing path detection device is acquired, and the first real-time sawing path image is processed to obtain the first real-time skew angle of the workpiece's saw kerf. The first real-time bending displacement of the middle part of the band saw blade is acquired by the displacement acquisition device, and the first real-time equivalent bending moment of the middle part of the saw blade during the sawing process is obtained based on the arm spacing between the first guide arm and the second guide arm and the first real-time bending displacement. Based on the first real-time skew angle, the first real-time equivalent bending moment, the preset angle range, and the preset equivalent bending moment range, 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 cutting the workpiece, are controlled.

2. The method according to claim 1, characterized in that, The step 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 cutting the workpiece, based on the first real-time skew angle, the first real-time equivalent bending moment, a preset angle range, and a preset equivalent bending moment range, includes: If the first real-time skew angle is within the preset angle range and the first real-time equivalent bending moment is within the preset equivalent bending moment range, then the first nozzle and the second nozzle are controlled to continuously spray lubricating fluid at the first flow rate, and the band saw blade is controlled to saw the workpiece at the first feed speed. If the first real-time skew 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, then a first control signal is sent to control the first nozzle to continuously spray lubricant at a second flow rate, the second nozzle to intermittently spray lubricant at a first flow rate and a first spray interval 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 skew 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, then a second control signal is sent to control the second nozzle to continuously spray lubricating fluid at a second flow rate, the first nozzle to intermittently spray lubricating fluid at a first flow rate and a first spraying interval ratio, and the band saw blade to saw the workpiece at a first feed speed. If the first real-time skew 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, then a third control signal is sent to control the first nozzle to continuously spray lubricant at a third flow rate, the second nozzle to intermittently spray lubricant at a first flow rate and a first spraying interval 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 skew 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, then a fourth control signal is sent to control the second nozzle to continuously spray lubricant at a third flow rate, the first nozzle to intermittently spray lubricant at a first flow rate and a first spraying interval ratio, and the band saw blade to saw the workpiece at a second feed speed. If the first real-time skew 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, then a fifth control signal is sent to control the first nozzle and the second nozzle to continuously spray lubricating fluid at the first flow rate, and the band saw blade to saw the workpiece at the second feed speed.

3. The method according to claim 2, characterized in that, The method further includes: When the duration after sending the first control signal is greater than the first preset duration, the second real-time sawing path image of the band saw blade collected by the sawing path detection device is acquired, and the second real-time sawing path image is processed to obtain the second real-time deviation angle of the saw kerf of the workpiece. The second real-time deviation angle is the real-time deviation angle of the saw kerf after being controlled by the first control signal. If the second real-time skew angle is less than the minimum value of the preset angle range, a sixth control signal is sent to control the first nozzle to continuously spray lubricant at the second flow rate, the second nozzle to intermittently spray lubricant at the first flow rate and the second spray interval ratio, and the band saw blade to saw the workpiece at the first feed speed, wherein the second spray interval ratio is less than the first spray interval ratio.

4. The method according to claim 3, characterized in that, The method further includes: When the duration after sending the second control signal is longer than the first preset duration, the third real-time sawing path image of the band saw blade collected by the sawing path detection device is acquired, and the third real-time sawing path image is processed to obtain the third real-time deviation angle of the saw kerf of the workpiece. The third real-time deviation angle is the real-time deviation angle of the saw kerf after being controlled by the second control signal. If the third real-time skew 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 lubricant at the second flow rate, the first nozzle to intermittently spray lubricant at the first flow rate and the second spray interval ratio, and the band saw blade to saw the workpiece at the first feed speed.

5. The method according to claim 4, characterized in that, The method further includes: When the duration after sending the sixth control signal or the seventh control signal is greater than the second preset duration, the fourth real-time sawing path image of the band saw blade collected by the sawing path detection device is acquired, and the fourth real-time sawing path image is processed to obtain the fourth real-time skew angle of the workpiece saw kerf. The fourth real-time skew angle is the real-time skew angle of the saw kerf after being controlled by the sixth control signal or the seventh control signal. If the fourth real-time skew angle is less than the minimum value of the preset angle range or greater than the maximum value of the preset angle range, then the band saw blade is controlled to stop sawing.

6. The method according to claim 2, characterized in that, The method further includes: When the duration after sending the fifth control signal is greater than the first preset duration, the second real-time bending displacement of the middle part of the band saw blade collected by the displacement acquisition device is obtained, and the second real-time equivalent bending moment of the middle part of the band saw blade during the sawing process is obtained based on 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 moment is the real-time equivalent bending moment of the middle part 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, then the first nozzle and the second nozzle are controlled to continuously spray lubricant at the first flow rate, and the band saw blade is controlled to cut the workpiece at the third feed speed. When the band saw blade is cutting the workpiece at the preset feed speed, if the absolute value of the real-time equivalent bending moment in the middle of the band saw blade is still greater than the maximum value of the preset equivalent bending moment range, then the band saw blade is controlled to stop cutting, wherein the third feed speed is less than the second feed speed.

7. A sawing controller, characterized in that, This invention relates to a sawing device, which includes a saw frame, a band saw blade, a sawing path detection device, a displacement acquisition device, and a spraying device. The saw frame includes a first guide arm and a second guide arm, which respectively clamp the two ends of the band saw blade. The spraying device includes a first nozzle and a second nozzle near both sides of the band saw blade. The controller includes: The first processing module is used to acquire the 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 the first real-time skew angle of the workpiece's saw kerf. The second processing module is used to acquire the first real-time bending displacement of the middle part of the band saw blade acquired by the displacement acquisition device, and to obtain 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. The first control module is used to 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 cutting the workpiece, based on the first real-time skew angle, the first real-time equivalent bending moment, the preset angle range, and the preset equivalent bending moment range.

8. The controller according to claim 7, characterized in that, When the first control module executes the step 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 cutting the workpiece, based on the first real-time skew angle, the first real-time equivalent bending moment, the preset angle range, and the preset equivalent bending moment range, it is specifically used for: If the first real-time skew 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, then a first control signal is sent to control the first nozzle to continuously spray lubricant at a second flow rate, the second nozzle to intermittently spray lubricant at a first flow rate and a first spray interval 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 skew 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, then a second control signal is sent to control the second nozzle to continuously spray lubricating fluid at a second flow rate, the first nozzle to intermittently spray lubricating fluid at a first flow rate and a first spraying interval ratio, and the band saw blade to saw the workpiece at a first feed speed. If the first real-time skew 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, then a third control signal is sent to control the first nozzle to continuously spray lubricant at a third flow rate, the second nozzle to intermittently spray lubricant at a first flow rate and a first spraying interval 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 skew 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, then a fourth control signal is sent to control the second nozzle to continuously spray lubricant at a third flow rate, the first nozzle to intermittently spray lubricant at a first flow rate and a first spraying interval ratio, and the band saw blade to saw the workpiece at a second feed speed. If the first real-time skew 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, then a fifth control signal is sent to control the first nozzle and the second nozzle to continuously spray lubricating fluid at the first flow rate, and the band saw blade to saw the workpiece at the second feed speed.

9. The controller according to claim 8, characterized in that, The controller also includes: The second processing module is used to acquire the second real-time sawing path image of the band saw blade collected by the sawing path detection device when the duration after sending the first control signal is greater than the first preset duration, and to process the second real-time sawing path image to obtain the second real-time deviation angle of the saw kerf of the workpiece. The second real-time deviation angle is the real-time deviation angle of the saw kerf after being controlled by the first control signal. The second control module is configured to send a sixth control signal to control the first nozzle to continuously spray lubricant at a second flow rate, the second nozzle to intermittently spray lubricant at a first flow rate and a second spray interval ratio, and the band saw blade to saw the workpiece at a first feed speed if the second real-time skew angle is less than the minimum value of the preset angle range.

10. A sawing control system, characterized in that, The device includes a sawing controller and sawing apparatus as described in any one of claims 7 to 9, wherein the sawing apparatus includes a saw frame, a band saw blade, a sawing path detection device, a displacement acquisition device, and a spraying device, the saw frame includes a first guide arm and a second guide arm, the first guide arm and the second guide arm respectively clamping the two ends of the band saw blade, and the spraying device includes a first nozzle and a second nozzle near both sides of the band saw blade. The sawing path detection device is used to acquire the first real-time sawing path image of the band saw blade; The displacement acquisition device is used to acquire the first real-time bending displacement of the middle part of the band saw blade.

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