Control method of cut-off machine and cut-off machine

Abstract

The invention discloses a cut-off machine control method and a cut-off machine, the cut-off machine comprises a following motor, a cutter motor and a cutter, and the method comprises the steps that preset parameters are obtained; a first electronic cam curve of the following motor is generated according to the preset parameters, the first electronic cam curve comprises a synchronization area, and the synchronization area is used for guiding the following motor to drive the cutter to follow the to-be-cut piece to synchronously move; a second electronic cam curve of the cutter motor is generated according to preset parameters, the second electronic cam curve comprises a cut-off area, and the cut-off area is used for guiding the cutter motor to drive the cutter to cut off the part to be cut off; judging a coupling relationship between a synchronization region of the first electronic cam curve and a cut-off region of the second electronic cam curve, and generating a cam table; and an instruction for controlling the following motor and the cutter motor is sent out according to the cam table.

Description

Technical Field

[0001] The invention belongs to the technical field of battery manufacturing, and in particular relates to a control method of a cutter and a cutter. Background Art

[0002] At present, when manufacturing battery aluminum shells, a cutting machine is usually used to cut the profile. The cutting machine mainly includes a following drive mechanism, a cutter drive structure and a cutter, wherein the following drive mechanism is used to drive the cutter to follow the synchronous movement of the profile, and the cutter drive structure is used to control the cutter to cut the profile. In the related art, the method of controlling the following drive mechanism and the cutter drive structure is to directly generate control instructions for the two drive mechanisms through preset parameters, without subsequent calibration, which is prone to mechanical failures such as "the profile collides with the cutter in the conveying direction". Summary of the invention

[0003] The first object of the present invention is to provide a new technical solution for a control method of a cutting machine, which can at least solve the technical problem that mechanical failures are prone to occur in existing cutting machines.

[0004] A second object of the present invention is to provide a cutting machine for implementing the control method of the cutting machine.

[0005] According to a first aspect of the present invention, a control method for a cutting machine is provided, the cutting machine comprising a following motor, a cutter motor and a cutter, the method comprising: obtaining preset parameters; generating a first electronic cam curve of the following motor according to the preset parameters, the first electronic cam curve comprising a synchronization area, the synchronization area being used to guide the following motor to drive the cutter to follow the synchronous movement of a piece to be cut; generating a second electronic cam curve of the cutter motor according to the preset parameters, the second electronic cam curve comprising a cutting area, the cutting area being used to guide the cutter motor to drive the cutter to cut the piece to be cut; determining the coupling relationship between the synchronization area of ​​the first electronic cam curve and the cutting area of ​​the second electronic cam curve, and generating a cam table; issuing instructions for controlling the following motor and the cutter motor according to the cam table.

[0006] Optionally, the main axis of the first electronic cam curve is the displacement L of the piece to be cut, the displacement L of the piece to be cut is obtained by the main shaft encoder, and the slave axis of the first electronic cam curve is the rotation angle of the follower motor; the main axis of the second electronic cam curve is the displacement L of the piece to be cut, and the slave axis of the second electronic cam curve is the rotation angle of the cutter motor.

[0007] Optionally, the preset parameters include: the cutting length l of the piece to be cut, the feeding speed v of the piece to be cut, the angle θ1 when the following motor enters the synchronization zone, the angle θ2 when the following motor leaves the synchronization zone, the cutting speed ω 切断, the angle θ3 when the cutter motor enters the cutting area, and the angle θ4 when the cutter motor leaves the cutting area.

[0008] Optionally, the method for generating the first electronic cam curve of the following motor according to the preset parameters includes: calculating the angular velocity ω1 of the following motor entering the synchronization zone and the angular velocity ω2 of the following motor leaving the synchronization zone according to the preset parameters; setting the first basic speed command curve of the following motor in a cutting cycle according to ω1 and ω2; obtaining the critical cutting length L according to the first basic speed command curve 临界 ; Judge l and L 临界 and generate a first actual speed command curve according to the judgment result; and generate a first electronic cam curve according to the first actual speed command curve and the preset parameters.

[0009] Optionally, the follower motor is used to drive a crank slider structure.

[0010] Optionally, the step of calculating the angular velocity ω1 of the following motor entering the synchronization zone and the angular velocity ω2 of leaving the synchronization zone according to the preset parameters includes: solving the slider synchronization formula according to the slider motion equation; substituting the preset parameters into the slider synchronization formula to obtain the angular velocity ω1 of the following motor entering the synchronization zone and the angular velocity ω2 of the following motor leaving the synchronization zone.

[0011] Optionally, the step of generating the first actual speed command curve according to the judgment result includes: if l>L 临界 , combined with the first basic speed command curve to add a static zone to generate a first actual speed command curve; if l<L 临界 , combined with the first basic speed command curve to add the basic speed to generate the first actual speed command curve; if l = L 临界 , taking the first basic speed command curve as the first actual speed command curve.

[0012] Optionally, the step of generating a second electronic cam curve of the cutter motor according to preset parameters includes: setting a second initial speed command curve of the cutter motor in a cutting cycle according to the preset parameters; judging whether l and L 临界 and generate a second actual speed command curve according to the judgment result; and generate a second electronic cam curve according to the second actual speed command curve and the preset parameters.

[0013] Optionally, the step of generating a second actual speed command curve according to the judgment result includes: if l>L 临界 , combined with the second basic speed command curve to add a static zone to generate a second actual speed command curve; if l<L 临界 , combined with the second basic speed command curve to add the basic speed to generate the second actual speed command curve; if l = L临界 , taking the second basic speed as the second actual speed command curve.

[0014] Optionally, the steps of determining the coupling relationship between the first cam curve in the synchronization zone and the second cam curve in the cut-off zone and generating a cam table include: determining whether the synchronization zone of the following motor is larger than the cut-off zone of the cutter motor; if the synchronization zone of the following motor is larger than the cut-off zone of the cutter motor, determining whether the cut-off zone of the cutter motor falls into the synchronization zone of the following motor; if the cut-off zone of the cutter motor falls into the synchronization zone of the following motor, generating a cam table according to the first cam curve and the second cam curve.

[0015] According to a second aspect of the present invention, a cutting machine is provided, wherein the cutting machine is used to implement the above control method.

[0016] According to the control method of the cutting machine of the present invention, by judging the coupling relationship between the synchronization area of ​​the first electronic cam curve and the second electronic cam curve in the cutting area, the subsequently generated cam table can be made more accurate, the correlation between the following motor and the cutter motor during operation can be guaranteed, and the coordinated work of the following motor and the cutter motor is facilitated, so that the cutter can cut the piece to be cut when it moves synchronously with the piece to be cut, effectively avoiding the occurrence of mechanical failures, and making the cut product size more accurate, which can effectively improve the yield of product production; and the user can generate different first electronic cam curves and second electronic cam curves by changing the preset parameters, so that different cam tables can be generated according to needs, which is convenient for the cutting machine to quickly change production, so that the cutting machine can achieve production change without stopping.

[0017] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0019] Figure 1 is a flow chart of a control method of a cutting machine according to an embodiment of the present invention;

[0020] Figure 2 is a three-dimensional diagram of a partial structure of a cutting machine according to an embodiment of the present invention;

[0021] Figure 3 is a top view of a partial structure of a cutting machine according to an embodiment of the present invention;

[0022] Figure 4is a simplified diagram of a crank slider structure of a cutting machine according to an embodiment of the present invention;

[0023] Figure 5 is a first actual command speed curve according to an embodiment of the present invention;

[0024] Figure 6 is a first actual command speed curve according to another embodiment of the present invention;

[0025] Figure 7 is a first actual command speed curve according to another embodiment of the present invention;

[0026] Figure 8 is a first electronic cam curve according to an embodiment of the present invention;

[0027] Fig. 9 is a first electronic cam curve according to another embodiment of the present invention;

[0028] Fig.10 is a second actual speed command curve according to an embodiment of the present invention;

[0029] Fig.11 is a second actual speed command curve according to another embodiment of the present invention;

[0030] Fig.12 is a second actual speed command curve according to another embodiment of the present invention;

[0031] Fig.13 is a second electronic cam curve according to an embodiment of the present invention;

[0032] Fig.14 is a second electronic cam curve according to another embodiment of the present invention.

[0033] Reference numerals:

[0034] Follower motor 10; cutter motor 20; cutter 30; crank 40; slider 50; spindle encoder 60; threading mechanism 70. DETAILED DESCRIPTION

[0035] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0036] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0037] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0038] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0039] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0040] The cutting machine according to the embodiment of the present invention is suitable for cutting the piece to be cut, which may be an aluminum shell, and the cut aluminum shell may be assembled into a shell required for a battery. The cutting machine mainly comprises a following motor, a cutter motor and a cutter, wherein the following motor is used to drive the cutter to follow the synchronous movement of the piece to be cut, and the cutter motor is used to drive the cutter to cut the piece to be cut under set conditions.

[0041] The control method of the cutting machine according to the embodiment of the present invention is first described in detail below with reference to the accompanying drawings.

[0042] like Figures 1 to 14 As shown, the control method of the cutting machine according to the embodiment of the present invention includes steps 100 to 500.

[0043] Step 100: Obtain preset parameters;

[0044] Specifically, the cutting machine is provided with a following motor 10, a cutter motor 20, a cutter 30 and an HMI (human-machine interface), wherein the following motor 10 is used to drive the cutter 30 to follow the synchronous movement of the piece to be cut, the cutter motor 20 is used to drive the cutter 30 to cut the piece to be cut under set conditions, and the HMI is suitable for the user to input preset parameters. When in use, the user can input the preset parameters through the HMI, thereby enabling the controller of the cutting machine to obtain the preset parameters, and it is convenient for the user to change the preset parameters through the HMI.

[0045] Step 200, generating a first electronic cam curve of the following motor 10 according to preset parameters, wherein the first electronic cam curve includes a synchronization area, and the synchronization area is used to guide the following motor 10 to drive the cutter 30 to follow the synchronous movement of the piece to be cut;

[0046] In detail, a first electronic cam curve algorithm is stored in the controller. The first electronic cam curve algorithm of the controller can generate a first motor cam curve of the following motor 10 according to the corresponding numerical values ​​in the preset parameters. The first motor cam curve includes an acceleration zone, a synchronization zone and a deceleration zone. The acceleration zone is used to guide the following motor 10 to accelerate to a first set speed, the synchronization zone is used to guide the following motor 10 to drive the cutter 30 to follow the synchronous movement of the workpiece to be cut, and the deceleration zone is used to guide the following motor 10 to decelerate to a second set speed so that the following motor 10 transitions to the next cutting cycle.

[0047] Step 300, generating a second electronic cam curve of the cutter motor 20 according to preset parameters, wherein the second electronic cam curve includes a cutting area, and the cutting area is used to guide the cutter motor 20 to drive the cutter 30 to cut the workpiece to be cut;

[0048] Specifically, a second electronic cam curve algorithm is stored in the controller. The second electronic cam curve algorithm of the controller can generate a second motor cam curve of the cutter motor 20 according to the corresponding numerical values ​​in the preset parameters. The second motor cam curve includes an acceleration zone, a cutting zone and a deceleration zone. The acceleration zone is used to guide the cutter motor 20 to accelerate to a third set speed, the cutting zone is used to guide the cutter motor 20 to drive the cutter 30 to cut the piece to be cut, and the deceleration zone is used to guide the cutter motor 20 to decelerate to a fourth set speed so that the cutter motor 20 transitions to the next cutting cycle.

[0049] Step 400, determining the coupling relationship between the synchronization area of ​​the first electronic cam curve and the cut-off area of ​​the second electronic cam curve, and generating a cam table;

[0050] That is to say, after the first electronic cam curve and the second electronic cam curve are generated, the coupling relationship between the synchronization area of ​​the first electronic cam curve and the second electronic cam curve in the cut-off area is determined. If there is no coupling relationship between the synchronization area of ​​the first electronic cam curve and the second electronic cam curve in the cut-off area, steps 100 to 400 are repeated. If there is a corresponding coupling relationship between the synchronization area of ​​the first electronic cam curve and the second electronic cam curve in the cut-off area, several points are taken on the first electronic cam curve and the second electronic cam curve to obtain a cam table.

[0051] Step 500: issuing instructions for controlling the follower motor 10 and the cutter motor 20 according to the CAM table.

[0052] Specifically, the controller may issue corresponding instructions according to the data corresponding to the following motor 10 and the cutter motor 20 in the cam table, and the following motor 10 and the cutter motor 20 may perform corresponding operations according to the instructions issued by the controller.

[0053] Therefore, according to the control method of the cutting machine of the embodiment of the present invention, by judging the coupling relationship between the synchronization area of ​​the first electronic cam curve and the second electronic cam curve in the cutting area, the subsequently generated cam table can be made more accurate, and the correlation between the following motor 10 and the cutter motor 20 during operation can be ensured, which is convenient for the coordinated work of the following motor 10 and the cutter motor 20, so as to ensure that the cutter 30 cuts the workpiece to be cut when it moves synchronously with the workpiece to be cut, effectively avoiding the occurrence of mechanical failures, and making the cut product size more accurate, which can effectively improve the yield of product production; and the user can generate different first electronic cam curves and second electronic cam curves by changing the preset parameters, so that different cam tables can be generated according to needs, which is convenient for the cutting machine to quickly change production, so that the cutting machine can achieve production change without stopping.

[0054] In some specific embodiments of the present invention, the main axis of the first electronic cam curve is the displacement L of the workpiece to be cut, the displacement L of the workpiece to be cut is obtained by the main shaft encoder 60, and the slave axis of the first electronic cam curve is the rotation angle of the follower motor 10; the main axis of the second electronic cam curve is the displacement L of the workpiece to be cut, and the slave axis of the second electronic cam curve is the rotation angle of the cutter motor 20.

[0055] Specifically, the cutting machine can be provided with a spindle encoder 60, through which the displacement L of the workpiece to be cut can be detected. The spindle encoder 60 can also be connected to a pressure roller structure. When in use, the pressure roller structure can be in close contact with the surface of the workpiece to be cut, thereby avoiding the occurrence of slipping and ensuring the accuracy of the measurement value of the spindle encoder 60.

[0056] In this embodiment, the main axis of the first electronic cam curve can be the displacement L of the workpiece to be cut, and the slave axis of the first electronic cam curve is the rotation angle of the follower motor 10; the main axis of the second electronic cam curve can also be the displacement L of the workpiece to be cut, and the slave axis of the second electronic cam curve is the rotation angle of the cutter motor 20. Therefore, the displacement L of the workpiece to be cut that can be detected in real time by the main axis encoder 60 can be used to provide feedback to the cutter, so that the size of the product cut by the cutter can be more accurate, which can effectively improve the yield of product production.

[0057] According to one embodiment of the present invention, the preset parameters include: the cutting length l of the piece to be cut, the feeding speed v of the piece to be cut, the angle θ1 when the following motor 10 enters the synchronization zone, the angle θ2 when the following motor 10 leaves the synchronization zone, the cutting speed ω 切断 , the angle θ3 when the cutter motor 20 enters the cutting area, and the angle θ4 when the cutter motor 20 leaves the cutting area.

[0058] In this embodiment, the control parameters of the first electronic cam curve are mainly the angle θ1 when the follower motor 10 enters the synchronization zone and the angle θ2 when the follower motor 10 leaves the synchronization zone. The slave axis of the first electronic cam curve is also in the form of an angle, thereby reducing the amount of calculation when generating the first electronic cam curve; the control parameters of the second electronic cam curve are mainly the angle θ3 when the cutter motor 20 enters the cutting zone and the angle θ4 when the cutter motor 20 leaves the cutting zone. The slave axis of the second electronic cam curve is also in the form of an angle, thereby reducing the amount of calculation when generating the second electronic cam curve, thereby simplifying the control algorithm of the cutting machine, reducing the calculation error, and making the product size cut by the cutting machine more accurate.

[0059] In some specific embodiments of the present invention, the method for generating a first electronic cam curve for following the motor 10 according to preset parameters includes: steps 210 to 250 .

[0060] Step 210, calculating the angular velocity ω1 of the follower motor 10 entering the synchronization zone and the angular velocity ω2 of the follower motor 10 leaving the synchronization zone according to preset parameters;

[0061] Specifically, the controller stores an algorithm of the relationship between preset parameters and the angular velocity of the following motor 10 , and the controller can calculate the angular velocity ω1 of the following motor 10 entering the synchronization zone and the angular velocity ω2 of the following motor 10 leaving the synchronization zone according to the preset parameters.

[0062] Step 220, setting a first basic speed command curve for following the motor 10 in a cut-off cycle according to ω1 and ω2;

[0063] In detail, the controller can set a first basic speed command curve of the following motor 10 within a cut-off cycle according to ω1 and ω2. The first basic speed command curve includes an acceleration zone, a synchronization zone and a deceleration zone. For example, the controller can set the acceleration zone of the first basic speed command curve to the curvature of a linear increasing equation according to a built-in algorithm, that is, the following motor 10 is uniformly accelerated in the acceleration zone, and set the synchronization zone of the first basic speed command curve to the curvature of a certain equation, which can be specifically determined according to the following structure connected to the following motor 10, and set the deceleration zone of the first basic speed command curve to the curvature of a linear decreasing equation, that is, the following motor 10 is uniformly accelerated in the acceleration zone.

[0064] It should be noted that the equations of the acceleration zone, synchronization zone and deceleration zone of the first basic speed command curve can be determined according to actual needs, and the algorithm can be preset according to the needs, which will not be repeated in this embodiment.

[0065] Step 230: Obtain the critical cutting length L according to the first basic speed command curve 临界 ;

[0066] Specifically, after the first basic speed command curve is generated, the controller can calculate the critical cutting length L according to the first basic speed command curve. 临界 =v·t E , v is the set feeding speed of the piece to be cut, and point E is the end point of a cutting cycle.

[0067] Step 240: Determine l and L 临界 and generating a first actual speed command curve according to the judgment result;

[0068] Step 250: Generate a first electronic cam curve according to the first actual speed command curve and preset parameters.

[0069] That is to say, the equation of the first electronic cam curve can be obtained by integrating the equation of the first actual speed command curve, thereby converting the first actual speed command curve into a first electronic cam curve in which the main axis is the displacement L of the workpiece to be cut and the slave axis is the rotation angle of the following motor 10.

[0070] Therefore, according to the control method of the cutting machine in the embodiment of the present invention, by feeding back the first electronic cam curve and the first actual speed command curve in real time on the HMI, it is convenient for the user to intuitively obtain various data, thereby facilitating the user to change the preset parameters to generate different cam tables, thereby enabling the cutting machine to achieve rapid changeover production.

[0071] According to one embodiment of the present invention, the follower motor 10 is used to drive the crank 40 slider 50 structure.

[0072] Specifically, the cutting machine is provided with a crank 40 and a slider 50 structure, which can be used as a following structure. In the present embodiment, the crank 40 and the slider 50 are driven by a following motor 10, which can drive the slider 50 to reciprocate in one direction. The cutter 30 is provided on the slider 50, and the cutter 30 can move synchronously with the slider 50, thereby making the following motor 10 only need to run one circle in one cutting cycle, which is convenient for control through angle parameters.

[0073] In some specific embodiments of the present invention, the step of calculating the angular velocity ω1 of the follower motor 10 entering the synchronization zone and the angular velocity ω2 of the follower motor 10 leaving the synchronization zone according to preset parameters includes: step 221 and step 222 .

[0074] Step 221, solving the synchronization formula of the slider 50 according to the motion equation of the slider 50;

[0075] In this embodiment, θ 追随is the angle between the crank 40 and the slider 50 in the direction of motion, S is the distance from the slider 50 to the center of the crank 40 mechanism, that is, the distance from the axis of the motor 10. Combining the radius of the crank 40 and the length of the connecting rod, the slider 50 motion formula S=S(θ 追随 ), through the slider 50 motion formula S = S (θ 追随 ) Take the first-order derivative of time t to get the slider 50 synchronization formula v = v (ω, θ 追随 ), the formula indicates that when the crank 40 is at an angle θ and the angular velocity of the crank 40 motor is ω, the slider 50 line will obtain a linear velocity v.

[0076] Step 222, the preset parameters are substituted into the synchronization formula of the slider 50 to obtain the angular velocity ω1 of the following motor 10 entering the synchronization zone and the angular velocity ω2 of leaving the synchronization zone.

[0077] Specifically, the preset parameters θ1 and θ2 are substituted into the slider 50 synchronization formula v=v(ω,θ 追随 ), the angular velocity ω1 of the following motor 10 entering the synchronous zone and the angular velocity ω2 of leaving the synchronous zone can be obtained by calculation.

[0078] According to an embodiment of the present invention, the step of generating the first actual speed command curve according to the judgment result includes: step 251 to step 253.

[0079] Step 251: If l>L 临界 , adding a static zone in combination with the first basic speed command curve to generate a first actual speed command curve;

[0080] That is, when l>L 临界 In this case, the first actual speed command curve includes an acceleration zone, a synchronization zone, a deceleration zone and a stationary zone. The initial speed and the terminal speed of the following motor 10 are both zero. The following motor 10 stops rotating when it is stationary, thereby compensating for the cutting length value.

[0081] like Figure 6 As shown, the straight line OA is the acceleration zone of the following motor 10, and the following motor 10 performs uniform acceleration motion from rest to ω A .

[0082] Curve AB: follows the synchronous zone of the motor 10, point A is the starting point of the synchronous zone, and point B is the end point of the synchronous zone.

[0083] Straight line BE: follows the deceleration zone of the motor 10, following the motor 10 to make uniform deceleration motion from ω B Slow down to a standstill.

[0084] Straight line EF: the static area of ​​the following motor 10. The angular velocity of the following motor 10 in the static area is 0. Point F is the end point of a cut-off cycle. At this time, l=v·t is satisfied. F.

[0085] Area OAC : Numerically equal to the angle θ1 of the starting point of the synchronization area.

[0086] Area ABDC : Numerically equal to the angle of the end point of the synchronization area minus the angle of the starting point of the synchronization area, that is, θ2-θ1.

[0087] Area BDE : It is numerically equal to 360 minus the angle of the end point of the synchronization area, that is, 360-θ2.

[0088] Area OABE =360.

[0089] Step 252: If l<L 临界 , the basic speed is added in combination with the first basic speed command curve to generate a first actual speed command curve.

[0090] Specifically, when l<L 临界 In this case, the first actual speed command curve includes an acceleration zone, a synchronization zone and a deceleration zone. At this time, the initial speed and the terminal speed of the following motor 10 are both set values, that is, the additional basic speed, so as to ensure that the following motor 10 is suitable for a shorter cutting cycle.

[0091] like Figure 7 As shown, the straight line AB is the acceleration zone of the following motor 10, and the following motor 10 performs uniform acceleration motion from ω i Accelerate to ω B ;

[0092] Curve BC is the synchronous zone following the motor 10, point B is the starting point of the synchronous zone, and point C is the end point of the synchronous zone;

[0093] Line CD is the deceleration zone of the following motor 10. The following motor 10 performs uniform deceleration motion from ω C Slow down to ω i ;

[0094] Area OABE It is numerically equal to the angle θ1 of the starting point of the synchronization area;

[0095] Area BCFE The numerical value is equal to the angle of the end point of the synchronization area minus the angle of the starting point of the synchronization area, that is, θ2-θ1;

[0096] Area CDGF The numerical value is equal to 360 minus the angle of the end point of the synchronization area, that is, 360-θ2;

[0097] Area OABCDG =360.

[0098] Under the crank 40 motor motion command, point D is the end point of a cut-off cycle, and at this time l = v·t D , l is the set cutting length of the piece to be cut, and v is the set feeding speed of the piece to be cut.

[0099] In this embodiment, the first actual speed command curve is based on the first basic speed command curve, which can simplify the control algorithm of the cutting machine and is suitable for the cutting length of shorter profiles, faster cutting speed and higher cutting accuracy, and can achieve non-stop production and change of profiles.

[0100] Step 253: If l=L 临界 , taking the first basic speed command curve as the first actual speed command curve.

[0101] Specifically, when l = L 临界 When the first actual speed command curve includes an acceleration area, a synchronization area, and a deceleration area.

[0102] like Figure 5 As shown, the straight line OA is the acceleration zone of the following motor 10, and the following motor 10 performs uniform acceleration motion from rest to ω A ;

[0103] Curve AB is the synchronous zone following the motor 10, point A is the starting point of the synchronous zone, and point B is the end point of the synchronous zone;

[0104] Straight line BE is the deceleration zone of the following motor 10, and the following motor 10 performs uniform deceleration motion from ω B Slow down to a standstill;

[0105] Area OAC It is numerically equal to the angle θ1 of the starting point of the synchronization area;

[0106] Area ABDC The numerical value is equal to the angle of the end point of the synchronization area minus the angle of the starting point of the synchronization area, that is, θ2-θ1;

[0107] Area BDE The numerical value is equal to 360 minus the angle of the end point of the synchronization area, that is, 360-θ2;

[0108] Area OABE =360.

[0109] Under the motion instruction of the following motor 10, point E is the end point of a cutting cycle, and the corresponding critical cutting length L is 临界 =v·t E , v is the set feeding speed of the piece to be cut.

[0110] In some specific embodiments of the present invention, the method for generating the second electronic cam curve of the cutter motor 20 according to preset parameters includes: steps 310 to 330.

[0111] Step 310: setting a second initial speed command curve of the cutter motor 20 within a cutting cycle according to preset parameters.

[0112] Specifically, the controller can be configured according to the preset parameter ω 切断 , θ3 and θ4 set the second basic speed command curve of the cutter motor 20 within a cutting cycle, the second basic speed command curve includes an acceleration zone, a cutting zone and a deceleration zone. For example, the controller can set the acceleration zone of the second basic speed command curve to the curvature of a linear increasing equation according to the built-in algorithm, that is, the cutter motor 20 is uniformly accelerated in the acceleration zone, and sets the cutting zone of the second basic speed command curve to the curvature of a certain equation, for example, the cutter motor 20 can move at a uniform speed in the cutting zone, and sets the deceleration zone of the second basic speed command curve to the curvature of a linear decreasing equation, that is, the following motor 10 is uniformly accelerated in the acceleration zone.

[0113] Step 320: Determine l and L 临界 and generate a second actual speed command curve according to the judgment result;

[0114] Step 330: Generate a second electronic cam curve according to the second actual speed command curve and preset parameters

[0115] That is to say, the equation of the second electronic cam curve can be obtained by integrating the equation of the second actual speed command curve, thereby converting the second actual speed command curve into a second electronic cam curve in which the main axis is the displacement L of the workpiece to be cut and the slave axis is the rotation angle of the cutting motor.

[0116] Therefore, according to the control method of the cutting machine in the embodiment of the present invention, by feeding back the second electronic cam curve and the second actual speed command curve in real time on the HMI, it is convenient for the user to intuitively obtain various data, thereby facilitating the user to change the preset parameters to generate different cam tables, thereby enabling the cutting machine to achieve rapid changeover production.

[0117] According to an embodiment of the present invention, the step of generating the second actual speed command curve according to the judgment result includes: step 321 to step 323.

[0118] Step 321, if l>L 临界 , adding a static zone in combination with the second basic speed command curve to generate a second actual speed command curve;

[0119] That is, when l>L 临界In this case, the second actual speed command curve includes an acceleration zone, a cutting zone, a deceleration zone and a stationary zone. The initial speed and the terminal speed of the cutter motor 20 are both zero, and the cutter motor 20 stops rotating when stationary, thereby compensating for the cutting length value.

[0120] like Fig.11 As shown, the straight line OA is the acceleration zone of the cutter motor 20, and the cutter motor 20 performs uniform acceleration motion from rest to ω 切断 ;

[0121] Straight line AB is the cutting area of ​​the cutter motor 20, point A is the starting point of the cutting area, and point B is the end point of the cutting area;

[0122] Line BE is the deceleration zone of the cutter motor 20. The cutter motor 20 performs uniform deceleration motion from ω 切断 Slow down to a standstill;

[0123] Line EF is the static area of ​​the cutter motor 20, and the angular velocity of the cutter motor 20 in the static area is 0;

[0124] Area OAC It is numerically equal to the angle θ3 of the starting point of the cutting zone;

[0125] Area ABDC The value is equal to the angle of the end point of the cut-off area minus the angle of the starting point of the cut-off area, that is, θ4-θ3;

[0126] Area BDE The numerical value is equal to 360 minus the angle of the end point of the cut-off area, that is, 360-θ4;

[0127] Area OABE =360.

[0128] Under the motion instruction of the cutter motor 20, point F is the end point of a cutting cycle, and at this time l=v·t F , l is the set cutting length of the piece to be cut, and v is the set feeding speed of the piece to be cut.

[0129] Step 322, if l<L 临界 , the basic speed is added in combination with the second basic speed command curve to generate a second actual speed command curve.

[0130] Specifically, when l<L 临界 In this case, the second actual speed command curve includes an acceleration zone, a cutting zone and a deceleration zone. At this time, the initial speed and the terminal speed of the cutter motor 20 are both set values, that is, the additional basic speed, so as to ensure that the cutter motor 20 is suitable for a shorter cutting cycle.

[0131] like Fig.12As shown, the straight line AB is the acceleration zone of the cutter motor 20, and the cutter motor 20 performs uniform acceleration motion from ω i Accelerate to ω 切断 ;

[0132] Straight line BC is the cutting area of ​​the cutter motor 20, point B is the starting point of the cutting area, and point C is the end point of the cutting area;

[0133] Line CD is the deceleration zone of the cutter motor 20. The cutter motor 20 performs uniform deceleration motion from ω 切断 Slow down to ω i ;

[0134] Area OABE It is numerically equal to the angle θ3 of the starting point of the cutting zone;

[0135] Area BCFE The value is equal to the angle of the end point of the cut-off area minus the angle of the starting point of the cut-off area, that is, θ4-θ3;

[0136] Area CDGF The numerical value is equal to 360 minus the angle of the end point of the cut-off area, that is, 360-θ4;

[0137] Area OABCDG =360.

[0138] Under the motion instruction of the cutter motor 20, point D is the end point of a cutting cycle, and at this time l=v·t D , l is the set cutting length of the piece to be cut, and v is the set feeding speed of the piece to be cut.

[0139] Step 323, if l = L 临界 , taking the second basic speed as the second actual speed command curve.

[0140] In detail, when l = L 临界 In the case of , the second actual speed command curve includes an acceleration area, a cut-off area and a deceleration area;

[0141] like Fig.10 As shown, the straight line OA is the acceleration zone of the cutter motor 20, and the cutter motor 20 performs uniform acceleration motion from rest to ω 切断 .

[0142] Straight line AB is the cutting area of ​​the cutter motor 20, point A is the starting point of the cutting area, and point B is the end point of the cutting area.

[0143] Line BE is the deceleration zone of the cutter motor 20. The cutter motor 20 performs uniform deceleration motion from ω 切断 Slow down to a standstill.

[0144] Area OAC The value is equal to the angle θ3 of the starting point of the cutting area.

[0145] Area ABDC The numerical value is equal to the angle of the end point of the cutting area minus the angle of the starting point of the cutting area, that is, θ4-θ3.

[0146] Area BDE Numerically, it is equal to 360 minus the angle of the end point of the cut-off zone, that is, 360-θ4.

[0147] Area OABE =360.

[0148] Under the motion instruction of the cutter motor 20, point E is the end point of a cutting cycle, and the corresponding critical cutting length L is 临界 =v·t E , v is the set feeding speed of the piece to be cut.

[0149] In some examples of the present invention, the equation of the first electronic cam curve can be obtained by integrating the equation of the first actual speed command curve. When there is a static zone, the equation of the first electronic cam curve is as follows:

[0150] Acceleration zone: θ 追随 =a1L 2 θ 追随 ∈[0,θ1)

[0151] Synchronous area: L = S (θ 追随 )+λ θ 追随 ∈[θ1,θ2]

[0152] Deceleration zone: θ 追随 =-a2(LL 临界 ) 2 +360 θ 追随 ∈(θ2,360]

[0153] Quiet zone: θ 追随 =360 L∈(L 临界 ,l], l is the set length of the piece to be cut.

[0154] It should be noted that the parameters a1, a2 and λ in the above formula can be obtained by integrating the equation of the first actual speed command curve, which will not be described in detail in this embodiment. After solving, by substituting the preset parameters into the above equation, the following equation can be obtained: Figure 8 The first electronic cam curve is shown.

[0155] The equation of the first electronic cam curve when there is no static zone is as follows:

[0156] Acceleration zone: θ 追随 =k1L 2 +k2L θ 追随 ∈[0,θ1)

[0157] Synchronous area: L = S (θ 追随 )+λ θ 追随 ∈[θ1,θ2]

[0158] Deceleration zone: θ 追随 =k3(Ll) 2 +k4(Ll)+360 θ∈(θ2,360]

[0159] It should be noted that the parameters k1, k2, k3, k4 and λ in the above formula can be obtained by integrating the equation of the first actual speed command curve, which will not be described in detail in this embodiment. After solving, by substituting the preset parameters into the above equation, the following equation can be obtained: Fig. 9 The first electronic cam curve is shown.

[0160] According to one embodiment of the present invention, the equation of the second electronic cam curve can be obtained by integrating the equation of the second actual speed command curve. When there is a static area, the equation of the second electronic cam curve is as follows:

[0161] ① Acceleration zone: θ 切刀 =a1L 2 θ 切刀 ∈[0,θ3)

[0162] ② Cutting area: θ 切刀 =kL-θ3 θ 切刀 ∈[θ3,θ4]

[0163] ③Deceleration zone: θ 切刀 =-a2(LL 临界 ) 2 +360 θ 切刀 ∈(θ3,360]

[0164] ④Stationary zone: θ 切刀 =360 L∈(L 临界 ,l], l is the set length of the piece to be cut.

[0165] It should be noted that the parameters a1, a2 and k in the above formula can be obtained by integrating the equation of the second actual speed command curve, which will not be described in detail in this embodiment. After solving, by substituting the preset parameters into the above equation, the following equation can be obtained: Fig.13 The second electronic cam curve is shown.

[0166] When there is no static zone, the cam curve equation of the cutter 30 is as follows:

[0167] ① Acceleration zone: θ 切刀 =k1L 2 +k2Lθ 切刀 ∈[0,θ3)

[0168] ② Cutting area: θ 切刀 = kL-θ3θ 切刀 ∈[θ3,θ4]

[0169] ③Deceleration zone: θ 切刀 =k3(Ll) 2 +k4(Ll)+360θ 切刀 ∈(θ3,360]

[0170] It should be noted that the parameters k1, k2, k3, k4 and k in the above formula can be obtained by integrating the equation of the second actual speed command curve, which will not be repeated in this embodiment. After solving, by substituting the preset parameters into the above equation, the following equation can be obtained: Fig.14 The second electronic cam curve is shown.

[0171] In some specific implementations of the present invention, the step of determining the coupling relationship between the first cam curve in the synchronization area and the second cam curve in the cut-off area and generating the cam table includes: step 410 to step 430 .

[0172] Step 410, determining whether the synchronization area of ​​the follower motor 10 is larger than the cutting area of ​​the cutter motor 20;

[0173] Specifically, it is determined whether the distance of the synchronization area of ​​the follower motor 10 in the main axis direction is greater than the distance of the cutting area of ​​the cutter motor 20 in the main axis direction.

[0174] Step 420 : If the synchronization area of ​​the following motor 10 is larger than the cutting area of ​​the cutter motor 20 , it is determined that the cutting area of ​​the cutter motor 20 falls into the synchronization area of ​​the following motor 10 .

[0175] That is to say, when the distance of the synchronization zone of the following motor 10 in the main axis direction is smaller than the distance of the cutting zone of the cutter motor 20 in the main axis direction, repeat steps 100 to 400, and the user modifies the corresponding preset parameters; when the distance of the synchronization zone of the following motor 10 in the main axis direction is greater than the distance of the cutting zone of the cutter motor 20 in the main axis direction, determine whether the range of the cutting zone of the cutter motor 20 on the main axis falls within the range of the synchronization zone of the following motor 10 on the main axis.

[0176] Step 430 : If the cutting area of ​​the cutter motor 20 falls into the synchronization area of ​​the follower motor 10 , a cam table is generated according to the first cam curve and the second cam curve.

[0177] Specifically, when the cutting zone of the cutter motor 20 does not fall into the synchronization zone of the follower motor 10, repeat steps 100 to 400, and the user modifies the corresponding preset parameters; when the cutting zone of the cutter motor 20 does not fall into the synchronization zone of the follower motor 10, determine whether the motion parameters of the follower motor 10 and the cutter motor 20 are reasonable, the motion parameters include the rated speed and torque of the motor, the speed can be calculated according to the slope of the electronic cam curve and other related parameters, the torque can be calculated according to the rate of change of the electronic cam curve and other related parameters, which must satisfy that the command speed of the motor is not greater than the rated speed of the motor, and the torque of the motor is less than the maximum output torque of the motor; when the motion parameters are unreasonable, repeat steps 100 to 400, and the user modifies the corresponding preset parameters; when the motion parameters are reasonable, generate a cam table according to the first cam curve and the second cam curve.

[0178] In summary, according to the control method of the cutting machine of the embodiment of the present invention, by judging the coupling relationship between the synchronization area of ​​the first electronic cam curve and the second electronic cam curve in the cutting area, the subsequently generated cam table can be made more accurate, and the correlation between the following motor 10 and the cutter motor 20 during operation can be ensured, which is convenient for the coordinated work of the following motor 10 and the cutter motor 20, so as to ensure that the cutter 30 cuts the workpiece to be cut when it moves synchronously with the workpiece to be cut, effectively avoiding the occurrence of mechanical failures, and making the cut product size more accurate, which can effectively improve the yield of product production; and the user can generate different first electronic cam curves and second electronic cam curves by changing the preset parameters, so that different cam tables can be generated according to needs, which is convenient for the cutting machine to quickly change production, so that the cutting machine can achieve production change without stopping.

[0179] like Figure 2 and Figure 3 As shown, an embodiment of the present invention further provides a cutting machine, which mainly includes a following motor 10, a cutter motor 20, a cutter 30, a feeding mechanism 70 and a controller. The following motor 10 is connected to a structure of a crank 40 and a slider 50. The cutter 30 is arranged on the slider 50 so that the following motor 10 drives the cutter 30 to follow the synchronous movement of the piece to be cut. The feeding mechanism 70 is suitable for the piece to be cut to pass through. The controller is used to store instructions, which are used to implement the control method of the cutting machine described in any of the above embodiments. Since the control method of the cutting machine according to the embodiment of the present invention has the above advantages, the cutting machine according to the embodiment of the present invention also has the above advantages, which will not be described in detail in this embodiment.

[0180] Although some specific embodiments of the present invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A control method for a cutting machine, the cutting machine comprising a follower motor, a cutter motor and a cutter, characterized in that: The method comprises: Get preset parameters; Generate a first electronic cam curve of the following motor according to the preset parameters, wherein the first electronic cam curve includes a synchronization area, and the synchronization area is used to guide the following motor to drive the cutter to follow the workpiece to be cut to move synchronously; Generate a second electronic cam curve of the cutter motor according to the preset parameters, wherein the second electronic cam curve includes a cutting area, and the cutting area is used to guide the cutter motor to drive the cutter to cut the piece to be cut; Determine the coupling relationship between the synchronization area of ​​the first electronic cam curve and the cut-off area of ​​the second electronic cam curve, and generate a cam table; A command for controlling the following motor and the cutter motor is issued according to the CAM table.

2. The control method of the cutting machine according to claim 1, characterized in that: The main axis of the first electronic cam curve is the displacement L of the workpiece to be cut, which is acquired by a main axis encoder, and the secondary axis of the first electronic cam curve is the rotation angle of the follower motor; The main axis of the second electronic cam curve is the displacement L of the workpiece to be cut, and the secondary axis of the second electronic cam curve is the rotation angle of the cutter motor.

3. The control method of the cutting machine according to claim 1, characterized in that: The preset parameters include: the cutting length l of the piece to be cut, the feeding speed v of the piece to be cut, the angle θ1 when the following motor enters the synchronization zone, the angle θ2 when the following motor leaves the synchronization zone, the cutting speed ω 切断 , the angle θ3 when the cutter motor enters the cutting area, and the angle θ4 when the cutter motor leaves the cutting area.

4. The control method of the cutting machine according to claim 3, characterized in that: The method for generating a first electronic cam curve following the motor according to the preset parameters comprises: Calculate the angular velocity ω1 of the following motor entering the synchronization zone and the angular velocity ω2 of the following motor leaving the synchronization zone according to the preset parameters; According to ω1 and ω2, a first basic speed command curve of the following motor in a cut-off cycle is set; Obtain the critical cutting length L according to the first basic speed command curve 临界 ; Determine l and L 临界 and generating a first actual speed command curve according to the judgment result; A first electronic cam curve is generated according to the first actual speed command curve and the preset parameters.

5. The control method of the cutting machine according to claim 4, characterized in that: The follower motor is used to drive the crank slider structure.

6. The control method of the cutting machine according to claim 5, characterized in that: The step of calculating the angular velocity ω1 of the following motor entering the synchronization zone and the angular velocity ω2 of the following motor leaving the synchronization zone according to the preset parameters comprises: Solve the slider synchronization formula based on the slider motion equation; The preset parameters are introduced into the slider synchronization formula to obtain the angular velocity ω1 of the follower motor entering the synchronization zone and the angular velocity ω2 of the follower motor leaving the synchronization zone.

7. The control method of the cutting machine according to claim 4, characterized in that: The step of generating a first actual speed command curve according to the judgment result comprises: If l>L 临界 , adding a static zone in combination with the first basic speed command curve to generate a first actual speed command curve; If l<L 临界 , adding the basic speed in combination with the first basic speed command curve to generate a first actual speed command curve; If l=L 临界 , taking the first basic speed command curve as the first actual speed command curve.

8. The control method of the cutting machine according to claim 5, characterized in that: The step of generating a second electronic cam curve of the cutter motor according to preset parameters comprises: Setting a second initial speed command curve of the cutter motor in a cutting cycle according to the preset parameters; Determine l and L 临界 and generate a second actual speed command curve according to the judgment result; A second electronic cam curve is generated according to the second actual speed command curve and the preset parameters.

9. The control method of the cutting machine according to claim 9, characterized in that: The step of generating a second actual speed command curve according to the judgment result comprises: If l>L 临界 , adding a static zone in combination with the second basic speed command curve to generate a second actual speed command curve; If l<L 临界 , adding the basic speed in combination with the second basic speed command curve to generate a second actual speed command curve; If l=L 临界 , taking the second basic speed as the second actual speed command curve.

10. The control method of the cutting machine according to claim 1, characterized in that: The steps of determining the coupling relationship between the first cam curve in the synchronization area and the second cam curve in the cut-off area and generating a cam table include: Determining whether the synchronization area of ​​the following motor is larger than the cutting area of ​​the cutter motor; If the synchronization zone of the following motor is larger than the cutting zone of the cutter motor, it is determined that the cutting zone of the cutter motor falls into the synchronization zone of the following motor; If the cutting area of ​​the cutter motor falls into the synchronization area of ​​the follower motor, a cam table is generated according to the first cam curve and the second cam curve.

11. A cutting machine, characterized in that: The cutting machine is used to implement the control method according to any one of claims 1 to 10.

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