Automatic cutting method and equipment for steel plate slitter edge

Abstract

The invention discloses an automatic steel plate waste edge cutting method and equipment, and the cutting method comprises the following steps: adjusting the mounting position of a waste cutting gun, enabling the waste cutting gun to deflect towards a main cutting gun around a rotating shaft, enabling the connecting line between the initial position of the waste cutting gun and the rotating shaft to form an included angle theta with the Y axis, the included angle theta meets the requirement for enough preheating time of a cut steel plate in the initial cutting stage of the waste cutting gun; the main cutting gun and the waste cutting gun move along the X axis, and meanwhile, the main cutting gun cuts the waste edge of the steel plate along a preset track; and the waste cutting gun is controlled to do arc motion in the direction opposite to the movement direction of the main cutting gun, so that the waste edges cut by the main cutting gun are cut off according to a certain interval, and the relative position of a cutting nozzle of the waste cutting gun and the steel plate is maintained within the allowable range within the preheating time. According to the invention, the relatively static preheating time of the waste cutting gun can be ensured, so that the success rate of cutting off the waste edge is improved, and the efficiency is remarkably improved.

Description

Technical Field

[0001] The invention relates to the technical field of steel plate cutting, and in particular to a method and equipment for automatically cutting waste edges of steel plates. Background Art

[0002] In the steel plate production process, the edges of the steel plates formed after the billet is rolled often produce irregular scrap edges. The width of these scrap edges is generally less than 200 mm, but it brings many troubles to production. At present, my country's economy is growing steadily, and steel mills are facing huge production pressure to meet the market. In this case, improving production technology and promoting automation have become the key to improving output and product quality. However, from the cutting link from steel billets to finished steel plates, the traditional methods have obvious disadvantages, especially the problem of scrap edge treatment needs to be solved urgently.

[0003] When cutting the scrap edge of steel plates, the long scrap edge is prone to curling up, which not only damages the cutting equipment, but also poses a threat to the safety of on-site operators. At present, many steel mills still use manual cutting to process the scrap edge and segment it. This practice is extremely inefficient and workers have to repeat the cutting operation for a long time, which is very labor-intensive. Moreover, due to the complex environment of steel mills, manual cutting has a high safety risk, which seriously hinders the development of automation and intelligentization of steel production.

[0004] To solve this dilemma, an automatic steel plate trimming device has appeared on the market. It adds a CNC axis structure in front of the main cutting gun to control the linear motion of the scrap cutting gun, and relies on the scrap cutting gun to make a linear motion in a direction perpendicular to the movement direction of the main cutting gun to cut off the scrap edge. Although this device is simple in structure, its fatal flaw is that it cannot give the scrap edge sufficient preheating at a specific position of the steel plate, making it often difficult to cut the scrap edge and unable to meet actual production needs. It can be seen that the existing steel plate scrap edge cutting methods and devices have certain limitations and are difficult to meet the production needs of the steel industry. It is urgent to develop a new steel plate scrap edge automatic cutting method and equipment. Summary of the invention

[0005] The problem to be solved by the present invention is to provide a method and device for automatically cutting waste edges of steel plates, so as to overcome the defect that the existing methods and devices for cutting waste edges of steel plates are difficult to effectively cut off the waste edges.

[0006] The technical solution adopted by the present invention to solve the technical problem is: a method for automatically cutting the scrap edge of a steel plate, comprising the following steps:

[0007] S1. Adjust the installation position of the waste cutting gun, and deflect and incline the waste cutting gun around a rotation axis towards the main cutting gun, so that the line connecting the starting position of the waste cutting gun and the rotation axis forms an angle θ with the Y-axis, and this angle θ can satisfy that there is sufficient preheating time for the steel plate to be cut during the initial stage of cutting by the waste cutting gun;

[0008] S2. The main cutting gun and the waste cutting gun move synchronously along the X-axis, and at the same time, the main cutting gun cuts the waste edge of the steel plate along a preset trajectory;

[0009] S3. Control the waste cutting gun to make an arc movement around the rotation axis in the direction opposite to the movement of the main cutting gun, so as to cut the waste edge cut by the main cutting gun at certain intervals. During the preheating time, the relative position between the nozzle of the waste cutting gun and the steel plate is maintained within an allowable range.

[0010] As a further improvement of the present invention, the angle θ is calculated by the following formula:

[0011] θ = (T1 / 2) * V2 / R * (180° / π)

[0012] wherein, T1 is the preheating time required by the waste cutting gun, V2 is the linear velocity of the waste cutting gun, and R is the rotation radius of the waste cutting gun.

[0013] As a further improvement of the present invention, the angle θ is between 0 - 10°.

[0014] As a further improvement of the present invention, obtain the position of the waste cutting gun during the arc movement, and automatically control the opening and closing of high heating oxygen, piercing oxygen, and cutting oxygen accordingly according to its position.

[0015] As a further improvement of the present invention, when the waste cutting gun moves from the starting position to the reference position of the waste cutting gun, the numerical control system controls the high heating oxygen of the waste cutting gun to open; when the waste cutting gun moves to the cutting position, the numerical control system controls the high heating oxygen to close and at the same time opens the piercing oxygen. After the piercing oxygen is delayed to the set time, the cutting oxygen is opened, and the piercing oxygen is closed. The waste cutting gun starts to cut until the waste cutting gun runs to the set Y coordinate position, then the cutting oxygen is closed, and it resets and waits for the start of the next waste edge cutting;

[0016] wherein, the reference position of the waste cutting gun is: the position when the waste cutting gun rotates to the position where the line connecting it and the rotation axis is parallel to the Y-axis; the cutting position is symmetric with the starting position with respect to the reference position of the waste cutting gun, and both are in the cutting seam of the main cutting gun.

[0017] As a further improvement of the present invention, with the direction of travel of the main cutting gun as the front, the waste material cutting gun is located at the rear side of the main cutting gun, and when the waste material cutting gun rotates to the reference position of the waste material cutting gun, the center line of the waste material cutting gun coincides with the center line of the main cutting gun in the X-axis direction.

[0018] As a further improvement of the present invention, when the waste material cutting gun requires a preheating time of T1 seconds, the function expression of the coordinate position of the waste material cutting gun relative to the ground within t time is as follows:

[0019] X(t) = V1 * t - R * sin(V2 * t / R) + R * sin(V2 * T1 / R / 2)

[0020] Y(t) = R - R * cos(V2 * t / R) + R - R * cos(V2 * T1 / R / 2)

[0021] Wherein, t is the time variable of the waste material cutting gun during the cutting process, and V1 is the forward speed of the main cutting gun.

[0022] As a further improvement of the present invention, the numerical control system establishes a dynamic cutting process database, and according to the cutting parameters of steel plates with different thicknesses, the cutting parameters of the waste material cutting gun can be adjusted in real time to ensure that they are consistent with the cutting parameters of the main cutting gun.

[0023] The present invention also provides an automatic cutting device for steel plate waste edges, and the automatic cutting device for steel plate waste edges uses the above-mentioned automatic cutting method for steel plate waste edges for cutting.

[0024] As a further improvement of the present invention, the automatic cutting device for steel plate waste edges includes: a traveling mechanism and a cutting device installed on the traveling mechanism. The traveling mechanism is used to drive the cutting device to move along the X-axis. The cutting device includes a mounting plate, a rotation driving device, a main cutting gun fixed to the mounting plate, and a waste material cutting gun rotatably installed on the mounting plate through a rotating shaft. The waste material cutting gun is located at the rear side of the main cutting gun and is deflected towards the main cutting gun, so that the connection line between the starting position of the waste material cutting gun and the rotating shaft is distributed at an angle θ with the Y-axis. The rotation driving device is used to drive the waste material cutting gun to make an arc movement around the rotating shaft.

[0025] The beneficial effects of the present invention are as follows: The present invention provides an automatic cutting method and equipment for steel plate waste edges. By adjusting the installation positions of the main cutting gun and the waste material cutting gun, the initial position of the waste material cutting gun forms an angle with the main cutting gun. In the initial stage when the waste material cutting gun starts to perform circular motion, the relative position between the nozzle of the waste material cutting gun and the waste edge steel plate to be cut can be approximately kept unchanged, ensuring that the waste material cutting gun can obtain a certain preheating time with relative rest. Thereby, the success rate of waste edge cutting is improved, the efficiency is significantly enhanced, the cost increased due to the need for manual reprocessing caused by cutting failure is reduced, automatic waste edge cutting of steel plates with different thicknesses is realized, with strong adaptability, good versatility, and simple operation. By realizing the automation and intelligence of waste edge cutting, the production efficiency is significantly improved, the labor intensity of workers is effectively reduced, and at the same time, the cutting process of steel plates and the quality of finished plates are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0027] Figure 1 It is a step block diagram of the automatic cutting method for steel plate waste edges of the present invention;

[0028] Figure 2 It is a top view of the automatic cutting equipment for steel plate waste edges of the present invention;

[0029] Figure 3 It is a three-dimensional view of the cutting device in the automatic cutting equipment for steel plate waste edges of the present invention;

[0030] Figure 4 It is a three-dimensional view of the cutting device in the automatic cutting equipment for steel plate waste edges of the present invention after removing the protective cover;

[0031] Figure 5 It is a bottom view of the cutting device in the automatic cutting equipment for steel plate waste edges of the present invention;

[0032] Figure 6 It is a schematic diagram of the movement trajectories of the main cutting gun and the waste material cutting gun of the present invention;

[0033] Figure 7 It is a curve graph of the position, velocity components, and resultant velocity of the waste material cutting gun of the present invention changing with time and its trajectory curve graph.

[0034] Combined with the attached drawings, the following description is made:

[0035] 1. Installation plate; 2. Main cutting gun; 3. Scrap cutting gun; 4. Rotating shaft; 5. First bracket; 6. Second bracket; 7. Reducing motor; 8. Gear set; 9. Lifting drive device; 10. Lifting bracket; 11. Traveling mechanism. Detailed implementation manners

[0036] The following uses specific specific examples to illustrate the implementation manners of the present application. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0037] It should be noted that the following describes various aspects of the embodiments within the scope of the appended claims. It should be obvious that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is illustrative only. Based on the present application, those skilled in the art should understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspects described herein can be used to implement the device and / or practice the method. In addition, this device can be implemented and this method can be practiced using other structures and / or functions in addition to one or more of the aspects described herein.

[0038] It also needs to be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner. The diagrams only show the components related to the present application, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in its actual implementation can be an arbitrary change, and the component layout type may also be more complex.

[0039] In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the examples can be practiced without these specific details.

[0040] The following combines the accompanying drawings to illustrate the technical solutions provided by each embodiment of the present application.

[0041] The present invention provides a method and device for automatically cutting and severing the waste edges of a steel plate, which are used to cut off the waste edges of the steel plate and can automatically sever the waste edges at a certain interval during the cutting process. In this embodiment, the method for automatically cutting and severing the waste edges of the steel plate is implemented by the following device for automatically cutting and severing the waste edges of the steel plate.

[0042] Referring to Figure 2 , the device for automatically cutting and severing the waste edges of the steel plate includes a traveling mechanism 11 and a cutting device mounted on the traveling mechanism 11. In this embodiment, the traveling mechanism 11 specifically adopts a gantry cutting body, which can travel along the track at a set speed, and the cutting device is mounted on the cross beam of the gantry cutting body. When cutting the waste edges of the steel plate, the traveling mechanism 11 drives the cutting device to move along the X-axis; of course, for example, when cutting the main body of the steel plate, it can also be driven by a linear driving device on the cross beam of the traveling mechanism 11 to move along the Y-axis.

[0043] Figure 2 The device for automatically cutting and severing the waste edges of the steel plate shown in

[0044] Referring to Figures 2 to 5 , the cutting device includes a mounting plate 1, a main cutting gun 2, and a waste material cutting gun 3. The mounting plate 1 is mounted on the cross beam of the traveling mechanism 11 in the vertical direction. A first bracket 5 is fixed to the bottom of the mounting plate 1, and the first bracket 5 and the mounting plate 1 are distributed in an L shape. The main cutting gun 2 is fixed to the first bracket 5 in the vertical direction. In addition, a second bracket 6 is rotatably mounted on the bottom of the mounting plate 1 through a rotating shaft 4. The second bracket 6 is located on one side of the first bracket 5, and the second bracket 6 is also distributed in an L shape with the mounting plate 1. The waste material cutting gun 3 is fixed to the second bracket 6 in the vertical direction.

[0045] The device for automatically cutting and severing the waste edges of the steel plate of the present invention further includes a rotation driving device, which is used to drive the rotating shaft 4 to rotate and synchronously drive the second bracket 6 and the waste material cutting gun 3 to perform a rotational movement around the rotating shaft 4.

[0046] It should be noted that during the cutting process of the waste material cutting gun 3, its starting rotation direction is opposite to the traveling direction of the main cutting gun 2. For example, with Figure 6 the coordinate system as a reference, defining the movement track of the main cutting gun 2 as the X-axis, and the axis that is in the same horizontal plane as the X-axis and perpendicular to it as the Y-axis, when the traveling mechanism 11 drives the cutting device to travel along the positive direction of the X-axis, the waste material cutting gun 3 makes a clockwise circular arc movement during cutting.

[0047] As Figure 2 and Figure 5As shown, with the main cutting gun 2 moving in the front direction, the scrap cutting gun 3 is located at the rear side of the main cutting gun 2 and is deflected toward the main cutting gun 2, so that the line between the starting position of the scrap cutting gun 3 and the rotating shaft 4 is distributed at an angle θ with the Y axis. At the same time, when the scrap cutting gun 3 rotates until the line between it and the rotating shaft 4 is parallel to the Y axis, that is, when the scrap cutting gun 3 is located at point c (as shown in FIG. Figure 6 As shown), the center line of the scrap cutting gun 3 coincides with the center line of the main cutting gun 2 in the X-axis direction.

[0048] In the present invention, the cutting nozzle of the main cutting gun 2 is highly consistent with the cutting nozzle of the scrap cutting gun 3 to ensure that the cutting parameters of the scrap cutting gun 3 and the main cutting gun 2 are consistent.

[0049] In addition, the scrap cutting gun 3 in this embodiment can be raised and lowered on the mounting plate 1. When the scrap cutting gun 3 is needed, for example, in the process of cutting the scrap edge, the scrap cutting gun 3 is lowered until its cutting nozzle is at the same height as the cutting nozzle of the main cutting gun 2; when the scrap cutting gun 3 is not needed, for example, in the process of the main cutting gun 2 cutting the main body of the steel plate, the scrap cutting gun 3 can be raised to avoid interfering with it.

[0050] Specifically, the steel plate waste edge automatic cutting and trimming device of the present invention further comprises a lifting drive device 9 fixed on the top of the mounting plate 1. In this embodiment, the lifting drive device 9 is specifically a cylinder. A slide rail is fixed on the mounting plate 1 in the vertical direction, and a lifting bracket 10 is slidably mounted on the slide rail. The rotating shaft 4 is rotatably mounted on the lifting bracket 10. The lifting drive device 9 is connected to the lifting bracket 10 through a transmission rod, and is used to drive the lifting bracket 10 to drive the rotating shaft 4, the second bracket 6 and the waste cutting gun 3 to perform lifting and lowering movements.

[0051] Furthermore, the rotary drive device is mounted on the lifting bracket 10, and a protective cover is arranged on the outer side of the rotary drive device. The rotary drive device includes a reduction motor 7 and a gear set 8 connected between the reduction motor 7 and the rotary shaft 4. The reduction motor 7 drives the rotary shaft 4 through the gear set 8 to drive the second bracket 6 and the waste cutting gun 3 to rotate.

[0052] See also Figures 1 to 7 The method for automatically cutting and trimming steel plate scrap edge of the present invention comprises the following steps:

[0053] S1, determine the angle θ of the starting position of the scrap cutting gun 3, and by adjusting the installation position of the scrap cutting gun 3, deflect and tilt the scrap cutting gun 3 around the rotating axis 4 toward the main cutting gun 2, so that the line between the starting position of the scrap cutting gun 3 and the rotating axis 4 is distributed at an angle θ with the Y axis, and the angle θ can meet the requirement of sufficient preheating time for the cut steel plate at the starting stage of cutting of the scrap cutting gun 3.

[0054] Among them, the included angle θ is calculated by the following formula:

[0055] θ = (T1 / 2) * V2 / R * (180° / π)

[0056] T1 is the preheating time required by the waste cutting torch 3. The preheating time T1 depends on the thickness of different steel plates. V2 is the linear speed of the waste cutting torch 3, and R is the rotation radius of the waste cutting torch 3.

[0057] It should be noted that by setting the appropriate linear speed of the waste cutting torch 3, the speed component of the waste cutting torch 3 in the X-axis direction relative to the main cutting torch 2 can be offset or approximately offset by the traveling speed of the traveling mechanism 11 driving the cutting device along the positive direction of the X-axis (i.e., the forward speed of the main cutting torch 2), so that the speed component of the waste cutting torch 3 in the X-axis direction relative to the ground is almost zero.

[0058] Preferably, the included angle θ is between 0 - 10°.

[0059] S2. The main cutting torch 2 and the waste cutting torch 3 move synchronously along the positive direction of the X-axis under the drive of the traveling mechanism 11. At the same time, the main cutting torch 2 cuts the waste edge of the steel plate along the preset trajectory.

[0060] S3. At regular intervals, the waste cutting torch 3 starts to work to cut off the waste edge. Specifically, the numerical control system controls the waste cutting torch 3 to make an arc movement around the rotating shaft 4 in the direction opposite to the movement of the main cutting torch 2 to cut off the waste edge cut by the main cutting torch 2 at certain intervals. During the preheating time, the relative position of the nozzle of the waste cutting torch 3 and the steel plate is maintained within the allowable range.

[0061] In S3, the numerical control system obtains the position of the waste cutting torch 3 during the arc movement and automatically controls the opening and closing of the high heating oxygen, piercing oxygen, and cutting oxygen accordingly according to its position.

[0062] As Figure 6 shown, where point a represents the reference position of the main cutting torch; point b represents the starting position of the waste cutting torch 3; point c represents the reference position of the waste cutting torch, that is, the position when the waste cutting torch 3 rotates to a position where the connection line between it and the rotating shaft 4 is parallel to the Y-axis; point d represents the cutting position of the waste cutting torch 3. The cutting position is symmetric with the starting position with respect to the reference position of the waste cutting torch and is both in the cutting seam of the main cutting torch 2; point e represents the position of the rotating shaft 4; the movement trajectory of the waste cutting torch 3 relative to the main cutting torch 2 is as Figure 6As shown by the arc in the figure, the connection line between point e and point b is the connection line between the waste cutting gun 3 and the rotation axis 4 when the waste cutting gun 3 is in the starting position, that is, the rotation radius R of the waste cutting gun 3. The starting position of the waste cutting gun 3 is at point b. When the waste cutting gun 3 works, the rotation driving device drives the waste cutting gun 3 to make a circular arc movement clockwise at a linear velocity V2. From point b to point d is the preheating stage. When the waste cutting gun 3 starts to move from the starting position (point b), the numerical control system controls the high heating oxygen of the waste cutting gun 3 to open; when the waste cutting gun 3 moves to the cutting position (point d), the numerical control system controls the high heating oxygen to close and at the same time opens the piercing oxygen. After a delay of 0 - 1 s for the piercing oxygen, the cutting oxygen is opened and the piercing oxygen is closed. The waste cutting gun 3 starts to cut until the waste cutting gun 3 runs to the set Y coordinate position, then the cutting oxygen is closed and it resets to wait for the start of the next waste edge cutting. By adopting the gas switch logic timing control process, the present invention can ensure that the main board edge is not damaged during the waste edge cutting process.

[0063] Among them, for the pressure and flow rate of the heating oxygen, high heating oxygen, piercing oxygen, and cutting oxygen, according to the thickness of the steel plate to be cut and the cutting speed, the numerical control system of the equipment can automatically control through the gas proportion valve device. This technology adopts the existing conventional technology.

[0064] In the present invention, the coordinate position function of the waste cutting gun 3 is as follows:

[0065] X(t) = X1(t) + X2(t) + X0

[0066] Y(t) = Y1(t) + Y2(t) + Y0

[0067] Wherein:

[0068] X(t) is the X coordinate of the position of the waste cutting gun 3 relative to the earth;

[0069] Y(t) is the Y coordinate of the position of the waste cutting gun 3 relative to the earth;

[0070] X1(t) is the X coordinate of the current position of the main cutting gun 2;

[0071] X1(t) = V1 * t

[0072] Y1(t) is the Y coordinate of the current position of the main cutting gun 2;

[0073] Y1(t) = 0

[0074] X2(t) is the X coordinate of the distance that the waste cutting gun 3 moves relative to the main cutting gun 2;

[0075] X2(t) = -R * sin(V2 * t / R)

[0076] Y2(t) is the Y coordinate of the distance that the waste cutting torch 3 moves relative to the main cutting torch 2;

[0077] Y2(t) = R - R * cos(V2 * t / R)

[0078] X0 is the starting position X coordinate of the waste cutting torch 3;

[0079] X0 = R * sin(V2 * T1 / R / 2)

[0080] Y0 is the starting position Y coordinate of the waste cutting torch 3;

[0081] Y0 = R - R * cos(V2 * T1 / R / 2)

[0082] From this, it can be obtained that when the waste cutting torch 3 requires a preheating time of T1 seconds, the final expression of the coordinate position function of the waste cutting torch 3 relative to the ground at time t is as follows:

[0083] X(t) = V1 * t - R * sin(V2 * t / R) + R * sin(V2 * T1 / R / 2)

[0084] Y(t) = R - R * cos(V2 * t / R) + R - R * cos(V2 * T1 / R / 2)

[0085] Wherein, t is the time variable of the waste cutting torch 3 during the cutting process, and V1 is the forward speed of the main cutting torch 2 (i.e., the traveling speed of the traveling mechanism 11 driving the cutting device along the positive direction of the X axis).

[0086] At the same time, the velocity components V X and V Y of the waste cutting torch 3 relative to the earth coordinate system are expressed as:

[0087] V X = V1 - V2 * cos(V2 * t / R)

[0088] V Y = V2 * sin(V2 * t / R)

[0089] For example, when T1 = 5s, R = 200mm, V1 = V2 = 5mm / s, the position coordinates (X(t), Y(t)), velocities (V X , V Y ) of the waste cutting torch 3 corresponding to t and the resultant velocity are calculated through the above functions to obtain relevant curves, as Figure 7 shown.

[0090] According to Figure 7From the curve, it can be obtained that when the preheating time T1 = 5s, the starting preheating angle θ of the waste cutting gun 3 is approximately 3.58°, the coordinate position is (X(t), Y(t)) = (12.557, 1.951), the speed (V X , V Y ) = (0.039, 0.623), and the actual running composite speed of the waste cutting gun 3 is V = 0.625mm / s.

[0091] From the coordinate values (X(t), Y(t)) = (12.557, 1.951) of the waste cutting gun 3, it can be seen that within the preheating time of 0 - 5s for the waste cutting gun 3, relative to the ground (or steel plate), the displacement of the waste cutting gun 3 in the X direction is: X(t) - X0 = 0.065mm, and the displacement of the waste cutting gun 3 in the Y direction is equal to 1.951mm (i.e., the offset value from the center line of the X-axis, which is the center line of the cutting seam, is 1.951mm). Generally, the diameter of the flame is about 10mm. Therefore, the waste cutting gun 3 is approximately preheating in place within the 5s preheating time, thereby significantly improving the success rate of waste edge cutting.

[0092] In addition, a dynamic cutting process database is established in the numerical control system of the present invention. According to the cutting parameters of steel plates with different thicknesses, the cutting parameters of the waste cutting gun 3 can be adjusted in real time to ensure that they are consistent with the cutting parameters of the main cutting gun 2.

[0093] The steel plate waste edge automatic cutting equipment provided by the present invention uses the above-mentioned steel plate waste edge automatic cutting method for cutting, making the relative position between the nozzle of the waste cutting gun 3 and the waste edge steel plate to be cut approximately remain unchanged, ensuring that the waste cutting gun 3 can obtain a certain preheating time with relative stillness, thereby improving the success rate of waste edge cutting, significantly enhancing the efficiency, reducing the cost increased due to the need for manual reprocessing caused by cutting failure, realizing the automatic waste edge cutting of steel plates with different thicknesses, having strong adaptability, good versatility, and simple operation. By realizing the automation and intelligence of waste edge cutting, the production efficiency is significantly improved, the labor intensity of workers is effectively reduced, and at the same time, the cutting process of steel plates and the quality of finished plates are improved.

[0094] For the same and similar parts among the various embodiments in this specification, reference can be made to each other. Each embodiment focuses on the differences from other embodiments.

[0095] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An automatic cutting method for waste edges of steel plates, characterized in that, It includes the following steps: S1. Adjust the installation position of the waste cutting gun (3), and deflect and incline the waste cutting gun (3) around a rotation axis (4) towards the main cutting gun (2), so that the connection line between the starting position of the waste cutting gun (3) and the rotation axis (4) forms an angle θ with the Y-axis, and this angle θ can satisfy sufficient preheating time for the steel plate to be cut at the starting stage of cutting by the waste cutting gun (3); S2. The main cutting gun (2) and the waste cutting gun (3) move synchronously along the X-axis, and at the same time, the main cutting gun (2) cuts the waste edge of the steel plate along a preset track; S3. Control the waste cutting gun (3) to make a circular arc movement around the rotation axis (4) in the direction opposite to the movement of the main cutting gun (2), so as to cut the waste edge cut by the main cutting gun (2) at a certain interval. During the preheating time, the relative position between the nozzle of the waste cutting gun (3) and the steel plate is maintained within the allowable range.

2. The automatic cutting method for the waste edge of a steel plate according to claim 1, characterized in that: The angle θ is calculated by the following formula: θ = (T1 / 2) * V2 / R * (180° / π) Wherein, T1 is the preheating time required by the waste cutting gun (3), V2 is the linear velocity of the waste cutting gun (3), and R is the rotation radius of the waste cutting gun (3).

3. The automatic cutting method for steel plate waste edges according to claim 2, characterized in that: The angle θ is between 0 - 10°.

4. The automatic cutting method for the waste edge of the steel plate according to claim 2, characterized in that: Obtain the position of the waste cutting gun (3) during the circular arc movement process, and automatically control the opening and closing of high heating oxygen, piercing oxygen, and cutting oxygen accordingly according to its position.

5. The automatic cutting method for the waste edges of steel plates according to claim 4, wherein: When the waste cutting gun (3) moves from the starting position to the waste cutting gun reference position, the numerical control system controls the high heating oxygen of the waste cutting gun (3) to open; when the waste cutting gun (3) moves to the cutting position, the numerical control system controls the high heating oxygen to close and at the same time opens the piercing oxygen. After the piercing oxygen is delayed to the set time, the cutting oxygen is opened and the piercing oxygen is closed. The waste cutting gun (3) starts cutting until the waste cutting gun (3) runs to the set Y coordinate position, then the cutting oxygen is closed, and it resets and waits for the start of the next waste edge cutting; Wherein, the waste cutting gun reference position is: the position when the waste cutting gun (3) rotates to the position where the connection line between it and the rotation axis (4) is parallel to the Y-axis; the cutting position is symmetrical to the starting position with respect to the waste cutting gun reference position, and both are in the cutting seam of the main cutting gun (2).

6. The automatic cutting method for the waste edge of a steel plate according to claim 5, characterized in that: Taking the direction of travel of the main cutting gun (2) as the front, the waste cutting gun (3) is located at the rear side of the main cutting gun (2), and when the waste cutting gun (3) rotates to the waste cutting gun reference position, the center line of the waste cutting gun (3) coincides with the center line of the main cutting gun (2) in the X-axis direction.

7. The automatic cutting method for waste edges of steel plates according to claim 4, characterized in that: When the waste cutting gun (3) requires a preheating time of T1 seconds, the function expression of the coordinate position of the waste cutting gun (3) relative to the ground within t time is as follows: X(t) = V1 * t - R * sin(V2 * t / R) + R * sin(V2 * T1 / R / 2) Y(t) = R - R * cos(V2 * t / R) + R - R * cos(V2 * T1 / R / 2) Wherein, t is the time variable during the cutting process of the waste cutting gun (3), and V1 is the forward speed of the main cutting gun (2).

8. The automatic cutting method for the waste edge of a steel plate according to claim 1, wherein: The numerical control system has a dynamic cutting process database. According to the cutting parameters of steel plates with different thicknesses, the cutting parameters of the waste cutting gun (3) can be adjusted in real time to ensure that they are consistent with the cutting parameters of the main cutting gun (2).

9. An automatic cutting device for the waste edge of a steel plate, characterized in that: The steel plate waste edge automatic cutting equipment uses the steel plate waste edge automatic cutting method described in any one of claims 1 to 8 for cutting.

10. The automatic cutting device for steel plate waste edges according to claim 9, wherein: It includes a traveling mechanism (11) and a cutting device mounted on the traveling mechanism (11). The traveling mechanism (11) is used to drive the cutting device to move along the X-axis. The cutting device includes a mounting plate (1), a rotation driving device, a main cutting gun (2) fixed to the mounting plate (1), and a waste cutting gun (3) rotatably mounted on the mounting plate (1) through a rotating shaft (4). The waste cutting gun (3) is located at the rear side of the main cutting gun (2) and is deflected towards the main cutting gun (2), so that the connection line between the starting position of the waste cutting gun (3) and the rotating shaft (4) is distributed at an angle θ with the Y-axis. The rotation driving device is used to drive the waste cutting gun (3) to make an arc movement around the rotating shaft (4).

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