A method and system for laser cutting, clamping, and push-pull material control of marine profiles.

Abstract

This invention discloses a method and system for controlling the clamping and pushing / pulling of marine profiles during laser cutting. The control method includes: identifying the type of marine profile to be processed through encoding; based on the identified profile type, controlling multiple servo axes to coordinate actions, driving the clamp to rotate to the theoretical angle suitable for the profile, and moving it to the target positions above, below, left, and right of the profile to complete the spatial adaptive positioning of the clamp; controlling the V-axis servo motors to drive the clamp to feed along the length of the profile, and switching the clamp from high-speed forward movement to low-speed forward movement and then stopping; controlling the hydraulic control unit to drive the clamp to clamp the profile through a dual-control solenoid valve, while controlling the oil pump motor to operate in intermittent mode; after the profile is cut, controlling the dual-control solenoid valve to switch states to release the clamp from the profile, completing one clamping and pushing / pulling process, realizing adaptive clamping and precise pushing / pulling of various types and specifications of marine profiles, improving cutting efficiency and accuracy.

Description

Technical Field

[0001] This invention relates to the field of marine profile processing technology, and in particular to a method and system for controlling the laser cutting, clamping, and pushing / pulling of marine profiles. Background Technology

[0002] Marine profiles (such as bulb flats, flat bars, and angle bars) are core components in shipbuilding, and their cutting precision directly affects the assembly quality and navigation safety of the ship. With the development of laser cutting technology, laser cutting of marine profiles has gradually replaced traditional mechanical cutting, but many technical problems still exist in the clamping and pushing / pulling of materials.

[0003] In existing technologies, the clamping mechanisms of marine profile cutting equipment are mostly fixed structures, which can only adapt to a single type or a limited number of profile specifications. When changing the profile type (such as switching from bulb flat steel to angle steel) or adjusting the profile specifications, the clamping position and angle need to be manually readjusted, resulting in low production efficiency and the possibility of positioning errors due to manual adjustment. At the same time, the clamping teeth of traditional clamping mechanisms are mostly integrated designs, which require replacement of the entire unit after long-term wear, resulting in high maintenance costs. The hydraulic control system mostly uses a single solenoid valve control, which has insufficient clamping reliability, and the continuous operation of the oil pump motor causes energy waste.

[0004] Furthermore, existing profile cutting equipment lacks precise profile recognition and adaptive positioning mechanisms, and cannot automatically calculate clamping parameters based on profile type. This results in poor clamping stability and problems such as profile slippage and displacement, affecting cutting accuracy. While some equipment possesses basic servo-driven positioning capabilities, most are single-axis or dual-axis control, making it difficult to achieve multi-dimensional spatial adaptive positioning, thus limiting adaptability and positioning accuracy.

[0005] For example, Chinese invention patent CN109571495A discloses a method for cutting marine profiles, which only focuses on cutting path planning and online compensation, without addressing the adaptive control of clamping and pushing / pulling materials; Chinese invention patent CN115647913A discloses a method, device, equipment, and medium for cutting and sorting profiles, where the cutting and sorting method emphasizes the coordination of the main line and auxiliary line and the sorting logic, without solving the problem of multi-profile adaptation of the clamping mechanism; Chinese invention patent CN115860203A discloses a method, device, equipment, and medium for optimizing the automated cutting sequence of marine profiles, where the cutting sequence optimization method mainly focuses on waste material and process coordination, without addressing the structural design and control strategy of the clamping system.

[0006] Therefore, there is an urgent need for a clamping and pushing / pulling material control method and system that can adapt to various marine profiles, provide precise positioning, reliable clamping, and convenient maintenance. Summary of the Invention

[0007] In view of this, the present invention aims to provide a method and system for controlling the clamping and pushing / pulling of marine profiles in laser cutting, so as to realize adaptive clamping and precise pushing / pulling of various types and specifications of marine profiles, improve cutting efficiency and accuracy, and reduce maintenance costs and energy consumption.

[0008] To address the aforementioned problems, the primary objective of this invention is to provide a method for controlling the laser cutting, clamping, and pushing / pulling of marine profiles, comprising the following steps:

[0009] S1: The type of marine profile to be processed is identified by a code, wherein the code is VEASTEEL, and different values ​​of VEASTEEL correspond to different profile types;

[0010] S2: Based on the identified profile type, control the coordinated action of multiple servo axes to drive the clamp to rotate to the theoretical angle of the matching profile and move to the target position above, below and to the left and right of the matching profile to complete the spatial adaptive positioning of the clamp.

[0011] The multi-servo axis includes a B-axis rotary servo motor for rotating the clamp, a Z3-axis up-down servo motor for moving the clamp up and down, and a Ty-axis left-right servo motor for moving the clamp left and right.

[0012] S3: Controls the V-axis front and rear servo motors to drive the clamp to feed along the length of the profile. During the feeding process, deceleration and stop signals are triggered in sequence, causing the clamp to switch from high-speed forward movement to low-speed forward movement and then stop.

[0013] S4: The hydraulic control unit drives the clamps to clamp the profile through the dual-control solenoid valve, and at the same time controls the oil pump motor to run in intermittent mode;

[0014] S5: After the profile is cut, control the dual-control solenoid valve to switch states to release the clamps from the profile, completing one clamping and pushing / pulling process.

[0015] Furthermore, in step S1, the value of VEASTEEL includes 0, 1, 2, 3, and 4; when VEASTEEL=0, the ball head of the flat steel is oriented towards the Y+ direction; when VEASTEEL=1, the ball head of the flat steel is oriented towards the Y- direction; when VEASTEEL=2, it corresponds to flat steel; when VEASTEEL=3, the angle steel flange is oriented towards the Y+ direction; when VEASTEEL=4, the angle steel flange is oriented towards the Y- direction.

[0016] Furthermore, in step S2, the theoretical angle is VERollAngle. When the profile is a bulb flat steel, VERollAngle is calculated using trigonometric functions. The opposite side of the trigonometric function is the height of the bulb head of the bulb flat steel, and the adjacent side is the length of the web of the bulb flat steel. When the profile is a flat steel, VERollAngle = 0°.

[0017] Furthermore, in step S2, the process of determining the up / down and left / right target positions includes:

[0018] Pre-store the initial values ​​of the Z3 axis coordinate and Ty axis coordinate corresponding to different profile types and specifications using keyword information of the nesting code;

[0019] Based on the identified profile specifications and dimensions, the corresponding initial values ​​are retrieved and corrected to obtain the Z3 axis coordinate values ​​corresponding to the upper and lower target positions and the Ty axis coordinate values ​​corresponding to the left and right target positions.

[0020] Furthermore, in step S3, the deceleration signal is triggered by a deceleration sensor installed on the clamp, and the stop signal is triggered by a stop sensor installed on the clamp; the high-speed forward speed of the clamp is 400-600 mm / s, and the low-speed forward speed is 30-70 mm / s.

[0021] Furthermore, in step S4, the operating parameters of the oil pump motor in intermittent mode are: running time 25-35s, stopping time 110-130s, and cyclic execution until the profile cutting is completed; the dual-control solenoid valve adopts a control method of continuously outputting clamping signals to ensure stable clamping state of the clamp.

[0022] Furthermore, before step S1, the procedure includes the following steps: installing and adjusting the detachable lower teeth of the clamp, wherein the detachable lower teeth are made of high-strength steel and the surface of the lower teeth is provided with a friction-enhancing structure; if the lower teeth are worn, replace them with new detachable lower teeth.

[0023] The second objective of this invention is to provide a control system for laser cutting, clamping, and pushing / pulling of marine profiles, which implements the control method described above, including a sensing and identification unit, a servo drive unit, a clamping unit, a hydraulic control unit, and a main control unit.

[0024] The sensing and identification unit is used to identify the profile type and output deceleration and stop signals, including an encoding identification module, a deceleration sensor and a stop sensor;

[0025] The servo drive unit is used to drive the clamp movement, including a B-axis rotary servo motor, a Z3-axis up-down servo motor, a Ty-axis left-right servo motor, and a V-axis front-back servo motor.

[0026] The clamping unit is used to clamp the profile, including clamps and a detachable lower tooth structure;

[0027] The hydraulic control unit is used to control the clamping and releasing of the clamps, and includes a dual-control solenoid valve and an oil pump motor.

[0028] The main control unit is electrically connected to the sensing and identification unit, the servo drive unit, and the hydraulic control unit, respectively, and is used to receive sensing signals and output control commands to realize the coordinated action of multiple units.

[0029] Furthermore, the detachable lower tooth is connected to the clamp by a high-strength bolt, and the friction-enhancing structure on the surface of the lower tooth is a mesh pattern or a raised dot pattern; the coding and identification module transmits the profile type information to the main control unit by collecting VEASTEEL coding signals.

[0030] Furthermore, the main control unit has a built-in positioning parameter calculation module and a hydraulic control algorithm module; the positioning parameter calculation module is used to calculate the VEROllAngle, Z3 axis coordinate values ​​and Ty axis coordinate values ​​according to the profile type and specifications; the hydraulic control algorithm module is used to output the on / off signals of the dual-control solenoid valve and the intermittent operation control signals of the oil pump motor.

[0031] The servo drive unit also includes a servo driver, which is connected to each servo motor and the main control unit respectively, and is used to receive instructions from the main control unit and drive the servo motor to operate, with a positioning accuracy of ≤±0.02mm.

[0032] The hydraulic control unit also includes a pressure sensor for real-time monitoring of the hydraulic control unit pressure and feedback to the main control unit;

[0033] The clamp unit also includes a spring-triggered structure, which includes a small stainless steel compression spring and a trigger tongue. The trigger tongue is linked with a deceleration sensor and a stop sensor. When the end of the profile squeezes the trigger tongue, the deceleration sensor and the stop sensor are triggered in sequence.

[0034] Compared with the prior art, the present invention has significant advantages and beneficial effects, specifically reflected in the following aspects:

[0035] The laser cutting clamping and push-pull material control method for marine profiles in this invention addresses the pain points of existing technologies through a closed-loop process of profile identification, spatial adaptive positioning, graded feeding, reliable clamping, and intermittent oil supply. In the profile identification stage, VEASTEEL coding is used to accurately identify bulb flats (including bulb orientation), flat steel, and angle steel (including wing plate orientation), eliminating the need for manual profile type determination. In the spatial adaptive positioning stage, the theoretical rotation angle (VERollAngle) is calculated based on the profile type, and the Z3 axis (vertical) and Ty axis (left-right) coordinates are dynamically adjusted in conjunction with the specifications to achieve multi-servo axis collaborative positioning. In the graded feeding stage, deceleration and stop sensors control the clamp to switch from high-speed forward movement to low-speed forward movement and then stop, avoiding profile displacement caused by impact. In the reliable clamping and intermittent oil supply stage, dual-control solenoid valves continuously output clamping signals to ensure clamping reliability. The oil pump motor operates intermittently, reducing energy consumption. The detachable lower gear design reduces maintenance costs. It enables adaptive clamping and precise push-pull of various types and specifications of marine profiles, while improving clamping reliability and reducing energy consumption and maintenance costs. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the overall process of the laser cutting, clamping, and push-pull material control method for marine profiles in an embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of the frame structure of the marine profile laser cutting clamping and push-pull material control system in an embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram illustrating the calculation of the horizontal laying angle of the bulb flat steel in an embodiment of the present invention;

[0039] Figure 4 This is a schematic diagram of one direction of the laser cutting clamping and push-pull material control device for marine profiles in an embodiment of the present invention;

[0040] Figure 5 This is a schematic diagram of another direction of the marine profile laser cutting clamping and push-pull material control device in an embodiment of the present invention;

[0041] Figure 6 This is a schematic diagram of the main structure of the laser cutting clamping and push-pull material control device for marine profiles in an embodiment of the present invention.

[0042] Explanation of reference numerals in the attached figures:

[0043] 100 - Sensing and Recognition Unit; 110 - Encoding and Recognition Module; 120 - Deceleration Sensor; 130 - Stop Sensor;

[0044] 200 - Servo drive unit; 210 - B-axis rotary servo motor; 220 - Z3-axis up / down servo motor; 230 - Ty-axis left / right servo motor; 240 - V-axis front / back servo motor;

[0045] 300 - Clamp unit; 310 - Clamp; 311 - Upper clamp; 312 - Lower clamp; 3121 - Detachable lower teeth;

[0046] 400 - Hydraulic control unit; 410 - Dual-control solenoid valve; 420 - Oil pump motor;

[0047] 500 - Main Control Unit;

[0048] 600-Pusher arm. Detailed Implementation

[0049] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0050] Existing clamping mechanisms are mostly fixed structures, which can only be adapted to a single type or a limited range of profiles. For example, clamps designed for bulb flats cannot be directly used for angle steel. When changing profiles, manual disassembly and adjustment of the clamp angle and replacement of the clamp teeth are required. This is not only time-consuming and labor-intensive (each adjustment takes 30-60 minutes), but also prone to a decrease in positioning accuracy due to human error (errors can reach ±0.5mm or more), making it difficult to meet the high precision requirements of shipbuilding.

[0051] Traditional clamping mechanisms often feature integrated clamping teeth, which wear down over time, leading to decreased friction and making the profiles prone to slippage and displacement. Hydraulic control systems typically use a single solenoid valve, which can cause the clamps to immediately detach if the valve malfunctions, posing a safety hazard. Furthermore, the oil pump motor runs continuously (consuming approximately 4 kW / h of energy), resulting in energy waste and failing to meet the requirements of green production.

[0052] Existing equipment lacks a precise profile recognition and adaptive positioning mechanism, and cannot automatically calculate the clamping angle and position according to the profile type, requiring manual input of parameters; the clamping feed process is mostly single speed control, and when approaching the profile, it is easy for the profile to deviate due to impact, affecting the cutting accuracy.

[0053] To resolve the above technical issues, please refer to [link / reference]. Figure 1 As shown in the figure, this invention provides a method for controlling the laser cutting, clamping, and pushing / pulling of marine profiles. The control method includes the following steps:

[0054] S1: The type of marine profile to be processed is identified by a code, wherein the code is VEASTEEL, and different values ​​of VEASTEEL correspond to different profile types.

[0055] In this step, due to the diverse types of marine profiles (bulb flats, flat bars, angle bars, etc.) and their directional differences (e.g., the direction of the bulb head in bulb flats, the direction of the flanges in angle bars), if the profile type cannot be accurately identified, subsequent positioning and clamping will lack a suitable reference. Therefore, this step establishes a one-to-one correspondence between VEASTEEL coding and profile types. Essentially, this pre-establishes a mapping database between codes and profile types, ensuring the uniqueness and accuracy of code identification. In other words, it converts the physical profile characteristics into digital signals, providing the main control unit 500 with calculable and callable input parameters, avoiding the subjectivity and errors of manual identification.

[0056] S2: Based on the identified profile type, control the coordinated action of multiple servo axes to drive the clamp 310 to rotate to the theoretical angle of the adapted profile and move to the target position of the adapted profile in the upper, lower and left and right directions, thus completing the spatial adaptive positioning of the clamp 310.

[0057] The multi-servo axis includes a B-axis rotary servo motor 210 for rotating the clamp 310, a Z3-axis up-down servo motor 220 for moving the clamp 310 up and down, and a Ty-axis left-right servo motor 230 for moving the clamp 310 left and right.

[0058] The spatial adaptive positioning in this step needs to be based on the profile type identified in step S1 and call the corresponding positioning algorithm (e.g., the rotation angle needs to be calculated for bulb flat steel, while flat steel does not need to rotate); in response to the spatial posture requirements of the profile, three sets of servo motors are configured: B-axis (rotation), Z3-axis (up and down), and Ty-axis (left and right), corresponding to angle adaptation, height adaptation, and horizontal position adaptation, respectively.

[0059] For example, the bulb flat steel needs to be rotated to the theoretical angle (calculated by trigonometric functions) to fit the clamp 310, the angle steel needs to be adjusted to the left and right positions to align with the wing plate, and the flat steel needs to be fixed in height to ensure that the clamp is centered. The coordinated action of the three sets of servo axes covers all dimensions of profile spatial positioning, realizing the adaptive adjustment of "one set of positioning parameters for one type of profile".

[0060] In terms of precision control, positioning accuracy is ensured through theoretical calculation, parameter pre-storage, and real-time correction. First, the theoretical angle is calculated based on the profile specifications, then the pre-stored initial coordinate values ​​are retrieved, and the target coordinates are corrected by combining the real-time detected profile error. Finally, precise positioning is achieved through high-precision drive of the servo motor (positioning accuracy ≤ ±0.02mm), solving the problem of precision error caused by manual adjustment.

[0061] It is understandable that the positioning parameters (angle, coordinates) of step S2 depend entirely on the profile type identified in step S1, and the positioning result of step S2 directly determines the alignment accuracy between the clamp 310 and the profile during feeding in step S3 (if the positioning is off, the profile is easy to fall off during feeding).

[0062] S3: Control the V-axis front and rear servo motors 240 to drive the clamp 310 to feed along the length of the profile. During the feeding process, the deceleration signal and the stop signal are triggered in sequence, so that the clamp 310 switches from high-speed forward movement to low-speed forward movement and then stops.

[0063] In this step, if the clamp 310 feeds at a single speed, the high speed when it approaches the profile is prone to causing the profile to deviate due to impact (affecting cutting accuracy), while low speed feeding will reduce production efficiency.

[0064] During the high-speed feed phase, when the distance between the clamp 310 and the profile is relatively far (e.g., >100mm), the V-axis servo motors 240 are controlled to advance at a high speed of 400-600mm / s. The purpose is to shorten the feed time and improve efficiency. Since there is no contact with the profile at this time, there is no need to worry about impact. During the deceleration trigger phase, when the clamp 310 trigger tongue contacts the end of the profile, the compression spring links the deceleration sensor 120, and the speed switches to a low speed of 30-70mm / s. The purpose is to buffer the impact and prevent the profile from shifting. The impact force at the moment of contact is absorbed by the elastic deformation of the spring (e.g., a stainless steel compression spring with a spring constant k=100N / m). At the same time, the low-speed feed ensures that the clamp 310 and the end of the profile are accurately aligned. During the stop trigger phase, when the trigger tongue continues to move and links the stop sensor 130, the clamp 310 stops immediately. At this time, the end of the profile is fully embedded in the clamp jaws, providing a full contact basis for subsequent clamping and avoiding slippage due to insufficient contact.

[0065] S4: The hydraulic control unit 400 drives the clamp 310 to clamp the profile through the dual-control solenoid valve 410, and at the same time controls the oil pump motor 420 to operate in intermittent mode.

[0066] This step employs redundant control with dual solenoid valves, continuously outputting clamping signals. Even if one solenoid valve fails, the other can still maintain the clamping state, preventing the profile from loosening and resulting in cutting scrap or safety accidents. At the same time, the clamping force is monitored in real time by a pressure sensor (e.g., maintaining a stable clamping force of 5kN) to ensure clamping reliability and resolve the risk of failure of a single solenoid valve.

[0067] In this embodiment, the oil pump motor 420 adopts a cyclic mode of running for 25-35 seconds and stopping for 110-130 seconds. After clamping, the hydraulic control unit 400 only needs to maintain the pressure and does not need to continuously supply oil. Intermittent operation can reduce energy consumption by more than 60%, while avoiding overheating losses caused by long-term operation of the oil pump and extending the equipment life.

[0068] S5: After the profile is cut, control the dual-control solenoid valve 410 to switch states so that the clamp 310 releases the profile, completing one clamping and pushing / pulling process.

[0069] In this step, after cutting is completed, the dual-control solenoid valve 410 is de-energized, causing the clamp 310 to release. The V-axis servo motors 240 then drive the clamp 310 back to its initial position, making room for the next operation and enabling continuous production. The reset position must be set based on the production line layout (e.g., 2000mm from the cutting station) to ensure that it does not affect the feeding of the next profile. At the same time, the oil pump motor 420 stops running, completing one operation loop.

[0070] Therefore, the five steps of this control method form a closed-loop control of identification, positioning, feeding, clamping, and resetting, with strict causal relationships between the steps. Compared with existing technologies, this solution, through the integrated setup of coded identification, multi-axis positioning, graded feeding, dual-control hydraulics, and intermittent oil supply, achieves for the first time full-process automation, multi-type adaptability, high reliability, and low energy consumption for clamping and pushing / pulling marine profiles.

[0071] Furthermore, in some embodiments of the present invention, in step S1, the value of VEASTEEL includes 0, 1, 2, 3, and 4; when VEASTEEL=0, the ball head of the flat steel is oriented towards the Y+ direction; when VEASTEEL=1, the ball head of the flat steel is oriented towards the Y- direction; when VEASTEEL=2, it corresponds to flat steel; when VEASTEEL=3, the angle steel wing plate is oriented towards the Y+ direction; when VEASTEEL=4, the angle steel wing plate is oriented towards the Y- direction.

[0072] In laser cutting of marine profiles, it is crucial to distinguish between type and orientation differences. Type differences determine the basic positioning mode of the clamp 310 (e.g., bulb flats require rotation, while flats do not), while orientation differences determine the spatial posture adjustment of the clamp (e.g., different orientations of the bulb flats result in opposite rotation directions). The design of the VEASTEEL coding values ​​(0-4) strictly adheres to this requirement, forming a two-dimensional classification system of type and orientation, as detailed below:

[0073] As a core profile in shipbuilding, the orientation of the bulb flat (Y+ / - direction) directly affects the rotation angle and clamping contact area of ​​the clamp 310. If the bulb orientation is misjudged, the clamp 310 will be unable to fit snugly against the profile, resulting in slippage or positioning misalignment.

[0074] This embodiment establishes a one-to-one correspondence between the "ball head facing the -Y axis direction" using the two values ​​"0" and "1" (0=Y+, 1=Y-), which essentially converts the physical direction feature into a binary recognizable signal.

[0075] For example, when the profile is HP120×6 bulb flat steel and the bulb head is facing up (Y+), the code is 0; when the bulb head is facing down (Y-), the code is 1. The main control unit 500 can directly determine the rotation direction through the code value (0 corresponds to a clockwise rotation of 8.08°, and 1 corresponds to a counterclockwise rotation of 8.08°).

[0076] The encoding setting needs to be linked with the B-axis rotation direction of the servo drive unit 200. Encoding 0 triggers the B-axis to rotate in the forward direction, and encoding 1 triggers the B-axis to rotate in the reverse direction, ensuring that the rotation direction of the clamp 310 matches the orientation of the ball head and avoiding clamping misalignment caused by reverse rotation.

[0077] Furthermore, in some embodiments of the present invention, in step S2, the theoretical angle is VERollAngle. When the profile is a bulb flat steel, the VERollAngle is calculated by trigonometric functions, where the opposite side of the trigonometric function is the height of the bulb head of the bulb flat steel, and the adjacent side is the length of the web of the bulb flat steel; when the profile is a flat steel, the VERollAngle = 0°.

[0078] In this step, the flat steel section is rectangular and has no special directional features (such as ball heads or wing plates). No adjustment of the rotation angle is required during clamping (VERollAngle=0°); only the up / down / left / right position needs to be fixed. A single value "2" is used to represent all specifications of flat steel (such as 80×6 and 100×8 flat steel). When the main control unit 500 recognizes code 2, it directly calls the "flat steel positioning template" (rotation angle = 0°, Z3 axis fixed coordinate = -180mm, Ty axis fixed coordinate = 0mm), eliminating the need for additional calculation of directional parameters and simplifying the control process.

[0079] Therefore, the above technical solution avoids setting multiple codes for flat steel without directional differences, reduces the amount of database storage (only one template is needed, instead of setting multiple templates according to specifications), and at the same time reduces the computational load of the main control unit 500, improving the positioning response speed.

[0080] In this step, the orientation of the flange of the angle steel (Y+ / - direction) determines the left and right positioning reference of the clamp 310. If the clamp 310 is biased to the left when the flange is oriented to Y+, or biased to the right when it is oriented to Y-, the flange will not be aligned with the cutting path, affecting the accuracy of the bevel cutting.

[0081] For example, this embodiment establishes a correspondence between the "wingplate orientation - Y-axis direction" using the two values ​​"3" and "4" (3=Y+, 4=Y-). For instance, when the L100×8 angle steel wingplate faces right (Y+), it is coded as 3, and when it faces left (Y-), it is coded as 4. After the main control unit 500 recognizes the code, it can call the corresponding Ty-axis coordinate template (3 corresponds to Ty=15mm, 4 corresponds to Ty=-15mm) to ensure that the clamp 310 is aligned with the center of the wingplate.

[0082] It should be noted that in practical application scenarios: during the construction of ship sections, the wing plate orientation of angle steel needs to be adjusted according to assembly requirements (e.g., the wing plate of deck support angle steel faces upward, and the wing plate of bulkhead angle steel faces downward). Code 3 / 4 can accurately adapt to different assembly scenarios without the need for manual adjustment of the clamp position around 310.

[0083] Compared to existing technologies, this solution establishes a standardized system of "marine profile type-direction-code" for the first time, enabling automatic direction recognition, automatic parameter recall, and multi-profile self-adaptation. This provides accurate input for subsequent spatial adaptive positioning (S2) and is also the core foundation for the entire control method to achieve full-process automation.

[0084] For further details, please refer to Figure 4 , 5 As shown in Figures 6 and 7, in some embodiments of the present invention, the process of determining the up / down and left / right target positions in step S2 specifically includes:

[0085] Pre-store the initial values ​​of the Z3 axis coordinate and Ty axis coordinate corresponding to different profile types and specifications using keyword information of the nesting code;

[0086] Specifically, in the laser cutting of marine profiles, the vertical (Z3 axis) and horizontal (Ty axis) target positions of clamp 310 must simultaneously meet both type and specification compatibility requirements. The former ensures that clamp 310 matches the basic positioning pattern of the profile type (e.g., for ball flats, the ball head must be avoided; for flats, the clamp must be centered). The latter ensures compatibility with profiles of different sizes (e.g., the horizontal positioning difference between 80mm and 400mm wide flats). This technical solution constructs precise positioning logic through a two-step method of pre-stored initial values ​​and dynamic correction, as explained below:

[0087] Nesting codes are core technical documents for ship profile cutting, containing key information such as profile type (e.g., bulb flats, angle steel), specifications and dimensions (e.g., web length, flange width), and cutting path. They are a natural data source for positioning parameters.

[0088] For example, by parsing keywords in the nesting code (such as "BP120×6" representing HP120×6 bulb flat steel and "ANG100×8" representing L100×8 angle steel), a database mapping relationship is established for profile type, specifications, and initial values ​​of Z3 axis + Ty axis.

[0089] For example: Keyword "BP120×6" (ball flat steel, web 120mm, ball head 17mm) → Pre-store initial value of Z3 axis -174mm (ensure the clamps avoid the ball head and fit the web), initial value of Ty axis 21mm (ensure the clamps are centered and hold the web).

[0090] Keyword "ANG100×8" (angle steel, flange 100mm, web 80mm), pre-store initial Z3 axis value 160mm (fitting web height), Ty axis initial value 15mm (aligning with flange center);

[0091] Keyword "FL80×6" (flat steel, width 80mm, thickness 6mm) → Pre-store initial Z3 axis value - 180mm (fixed height), initial Ty axis value 0mm (center clamping).

[0092] By transforming cutting task requirements into positioning parameter benchmarks, the basic coordinates are avoided from being recalculated for each positioning operation. This is essentially an efficiency optimization strategy combining offline preprocessing and online invocation. Initial values ​​are stored offline through nesting code parsing, and then directly retrieved online, significantly shortening positioning response time.

[0093] This embodiment uses the database module of Beckhoff C6030 controller to store mapping relationships and supports fast retrieval by keywords; nesting code parsing is implemented through Python scripts, which automatically extracts "type-specification" keywords and associates them with pre-stored initial values ​​without manual intervention.

[0094] Based on the identified profile specifications and dimensions, the corresponding initial values ​​are retrieved and corrected to obtain the Z3 axis coordinate values ​​corresponding to the upper and lower target positions and the Ty axis coordinate values ​​corresponding to the left and right target positions.

[0095] In actual production, due to manufacturing tolerances in the profiles (such as web length ±1mm, flange width ±0.5mm) or surface oxide layers (thickness 0.1-0.3mm), directly using pre-stored initial values ​​may result in the clamp 310 not fitting tightly against the profile (e.g., if the initial value corresponds to the theoretical size, but the actual profile is narrower, the clamp will be suspended). The dynamic correction process ensures positioning accuracy through "actual specification inspection + parameter fine-tuning." The specific control logic is as follows:

[0096] The main control unit 500 uses the laser rangefinder (accuracy ±0.01mm) of the sensing and recognition unit 100 to detect the actual specifications and dimensions of the current profile in real time (such as the actual web length of bulb flat steel and the actual flange width of angle steel); calculates the deviation between the actual specifications and the theoretical specifications; and generates a correction amount based on the correlation between the deviation and the coordinates.

[0097] For example, for every 1mm increase in the length of the web of the bulb flat steel, the Ty axis coordinate needs to be increased by 0.17mm (based on the proportional relationship of tan8.08°≈0.1417, to ensure that the clamps are always in contact with the center of the web); the Z3 axis coordinate correction is related to the profile thickness, and for every 0.5mm increase in thickness, the Z3 axis coordinate increases by 0.3mm (to avoid the clamps damaging the profile surface).

[0098] In this way, by superimposing the initial value and the correction amount, the target coordinate value is obtained (e.g., the initial value of the Ty axis is 21mm + correction amount 0.034mm = 21.034mm, and the initial value of the Z3 axis is -174mm + correction amount 0 = -174mm, since there is no deviation in thickness).

[0099] It should be noted that the calculation coefficient of the correction amount in this embodiment is calibrated through a large number of experiments (e.g., for 100 types of marine profiles, each type is tested 20 times, fitting the linear relationship between the deviation and the correction amount), to ensure that the correction accuracy is ≤ ±0.02mm, covering more than 99% of the profile manufacturing tolerance range.

[0100] In this embodiment, real-time calculation is transformed into offline pre-storage and online retrieval by pre-storing initial values. The retrieval time is only 10-20ms, and the time for obtaining positioning parameters in a single operation is reduced by 60%-80%. In batch cutting scenarios, the total time for obtaining positioning parameters for 500 profiles is reduced from 25-50 seconds to 5-10 seconds, saving 20-40 seconds per day and approximately 12-24 hours of labor time per year (based on 300 working days per year). The pre-storage mode reduces the computational load on the main control unit 500, allowing it to handle the positioning tasks of 3-5 profiles simultaneously, improving batch cutting efficiency by 200%-400%, significantly shortening the positioning parameter calculation time, and improving production efficiency.

[0101] Furthermore, in some embodiments of the present invention, in step S3, the deceleration signal is triggered by the deceleration sensor 120 disposed on the clamp 310, and the stop signal is triggered by the stop sensor 130 disposed on the clamp 310; the high-speed forward speed of the clamp 310 is 400-600 mm / s, and the low-speed forward speed is 30-70 mm / s.

[0102] In this embodiment, the purpose of the clamp 310's feeding is to efficiently approach and precisely align with the profile. If the clamp 310 operates at high speed throughout, the impact force at the moment of contact can easily cause the profile to shift or the clamp 310 to deform; if the clamp 310 operates at low speed throughout, production efficiency will be significantly reduced. This technical solution utilizes a dual-trigger mechanism of the deceleration sensor 120 and the stop sensor 130 to construct a control strategy that adopts different speeds at different distance stages.

[0103] Preferably, the deceleration sensor 120 in this embodiment is a diffuse reflection laser sensor with a detection distance of 5-50mm and a response time of ≤0.1ms. It is installed on the inner side of the front end of the clamp 310. When the distance between the clamp 310 and the end of the profile enters the preset deceleration range (such as 30-50mm), the deceleration sensor 120 is triggered to act.

[0104] For example, when clamp 310 feeds at a high speed of 400-600 mm / s, the laser sensor continuously monitors the distance to the profile. Once the distance is ≤50 mm, the sensor outputs a deceleration signal to the V-axis servo controller. The main control unit 500 immediately calls the speed switching algorithm, using proportional-integral-derivative (PID) adjustment to smoothly switch the servo motor to a low-speed mode of 30-70 mm / s within 0.2-0.3 seconds. By decelerating in advance, the relative speed between clamp 310 and the profile is reduced from a high-energy state to a low-impact state, reserving buffer space for subsequent precise docking and avoiding profile bouncing caused by high-speed contact.

[0105] Preferably, the stop sensor 130 in this embodiment is a contact limit switch with a triggering force of 5-10N and a repeatability of ±0.02mm. It is installed 5-10mm inside the deceleration sensor 120 and the stop sensor 130 is triggered when the clamp 310 is in direct contact with the end of the profile.

[0106] For example, when clamp 310 feeds at a low speed of 30-70 mm / s, the end of the profile gradually approaches the clamp jaws. When it contacts the trigger plate of stop sensor 130, the limit switch sends a stop signal. The main control unit 500 immediately outputs a braking command, and the V-axis servo motors stop completely within 0.05-0.1 seconds through dynamic braking. At this time, the end of the profile is precisely embedded in the positioning groove of the clamp jaws, with an embedding depth of about 2-3 mm. This contact-based triggering ensures zero-gap docking between clamp 310 and the profile, solving the problem of misjudgment caused by non-contact sensors due to reflections or oil stains on the profile surface.

[0107] Therefore, this technical solution achieves precise triggering of deceleration and stopping through the use of dual sensors. By optimizing efficiency and impact at high and low speeds, it forms a closed-loop control system encompassing distance detection, speed adjustment, and precise stopping. All parameters (such as sensor spacing and speed values) are determined based on physical formulas (kinetic energy, inertia, momentum) and experimental data. This solution addresses both high-speed efficiency and ensures positioning accuracy and equipment safety through a low-impact design, providing crucial technical support for efficient and high-precision feeding in laser cutting of marine profiles.

[0108] Furthermore, in some embodiments of the present invention, in step S4, the operating parameters of the oil pump motor 420 in intermittent mode are: running time 25-35s, stopping time 110-130s, and cyclic execution until the profile cutting is completed; the dual-control solenoid valve 410 adopts a control method of continuously outputting clamping signals to ensure that the clamping state of the clamp 310 is stable.

[0109] In this embodiment, continuous oil supply will cause the oil pump to run idle and consume energy and generate heat. This technical solution achieves on-demand oil supply through an intermittent mode of operation and stop cycle: the hydraulic control unit 400 needs to overcome pipeline resistance, cylinder volume filling and leakage compensation to rise from the depressurized state (0MPa) to the target pressure (10MPa).

[0110] Reliability issues are addressed through the redundant design of the dual-control solenoid valve 410, with both valves working together to form a highly efficient and safe hydraulic control system. The operation / stop time is calculated and determined based on the physical characteristics (leakage rate, filling time) of the hydraulic control unit 400, and the dual-control logic covers all scenarios of single valve failure. Compared to existing technologies, this achieves an 80% reduction in energy consumption and reduces the clamping failure risk to 1% of the original level.

[0111] Furthermore, in some embodiments of the present invention, the step before step S1 includes: installing and adjusting the detachable lower tooth 3121 of the clamp 310, wherein the detachable lower tooth 3121 is made of high-strength steel and the surface of the lower tooth is provided with a friction-enhancing structure; if the lower tooth is worn, a new detachable lower tooth 3121 is replaced.

[0112] The lower teeth of the clamp are the core components that come into direct contact with the marine profiles. They must meet the requirements of "stable clamping (wear-resistant, high coefficient of friction)" and "convenient maintenance (easy replacement)". Based on this, the marine profiles (such as bulb flats and angle steel) in this embodiment are mostly high-strength carbon steel (yield strength ≥355MPa). The lower teeth need to withstand a clamping force of more than 5kN during clamping, and they are prone to wear due to long-term friction with the profiles.

[0113] High-strength alloy tool steel (Cr12MoV) is preferred, with a hardness of HRC60-62 after quenching and tempering, and a tensile strength ≥2000MPa. Its wear resistance is more than 5 times that of ordinary carbon steel (Q235), allowing it to withstand high-frequency friction and extrusion of the profile, preventing deformation or breakage of the lower teeth. CNC grinding ensures a tooth surface roughness Ra≤0.8μm, guaranteeing uniform force distribution during contact with the profile and preventing damage caused by localized stress concentration. During clamping, slippage of the profile (especially irregularly shaped profiles such as bulb flats) must be avoided. A friction-enhancing structure is key to improving clamping stability: using either a mesh pattern or a raised dot pattern, both structures change the contact between the lower teeth and the profile from surface contact to point-line contact, increasing local pressure and improving static friction.

[0114] Corresponding to the method provided in this application, this application also proposes a laser cutting clamping and push-pull material control system for marine profiles. Figure 2 The diagram schematically illustrates the structure of a marine profile laser cutting clamping and push-pull material control system according to an embodiment of this application. The system includes a sensing and identification unit 100, a servo drive unit 200, a clamping unit 300, a hydraulic control unit 400, and a main control unit 500, wherein:

[0115] The sensing and identification unit 100 is used to identify the profile type and output deceleration and stop signals, including an encoding identification module 110, a deceleration sensor 120 and a stop sensor 130;

[0116] The servo drive unit 200 is used to drive the clamp 310 to move. In this embodiment, the servo drive unit 200 includes a B-axis rotary servo motor 210, a Z3-axis up-down servo motor 220, a Ty-axis left-right servo motor 230, and a V-axis front-back servo motor 240.

[0117] The clamp unit 300 is used to clamp the profile and includes clamp 310. The clamp 310 includes an upper clamp 311 and a lower clamp 312, wherein the lower clamp 312 has a detachable lower tooth 3121.

[0118] The hydraulic control unit 400 is used to control the clamping and releasing of the clamps, including a dual-control solenoid valve 410 and an oil pump motor 420;

[0119] The main control unit 500 is electrically connected to the sensing and identification unit 100, the servo drive unit 200, and the hydraulic control unit 400, respectively, and is used to receive sensing signals and output control commands to realize the coordinated action of multiple units.

[0120] The pusher arm 600 and clamp 310 can be rotated to VERollAngle (the theoretical calculated value) by the B-axis rotary servo motor 210. Then, the Z3 axis up-down servo drives the pusher arm 600 and clamp 310 up and down and records the coordinate value of the Z3 axis servo (the teaching value). Next, the Ty axis servo drives the pusher arm 600 and clamp 310 left and right and records the coordinate value of the Ty axis servo (the teaching value).

[0121] Specifically, during the startup phase, the clamping unit 300 completes the installation and debugging of the detachable lower tooth 3121 to ensure the reliability of the clamping base; the coding and identification module 110 of the sensing and identification unit 100 reads the VEASTEEL code in the nesting code, identifies the profile type, and transmits the information to the main control unit 500; the main control unit 500 calls the pre-stored parameters of the corresponding profile (such as the theoretical rotation angle and initial coordinate value of the bulb flat steel) to prepare for subsequent actions.

[0122] During the positioning phase, the main control unit 500 outputs positioning commands to the servo drive unit 200. The B-axis rotary servo motor 210 drives the clamp to rotate to the theoretical angle. The Z3 axis up-down servo motor 220 and the Ty axis left-right servo motor 230 work together to adjust the clamp to the target coordinates. The servo drive unit 200 feeds back the actual positioning results to the main control unit 500. If there is a deviation (such as a Ty axis deviation of 0.05mm), the main control unit 500 outputs correction commands until the positioning accuracy meets the standard.

[0123] During the feeding phase, the main control unit 500 controls the V-axis front and rear servo motors 240 to drive the clamp to feed at a high speed of 400-600 mm / s. When the deceleration sensor 120 triggers a deceleration signal, the main control unit 500 immediately instructs the V-axis front and rear servo motors 240 to switch to a low speed of 30-70 mm / s. When the stop sensor 130 triggers a stop signal, the V-axis front and rear servo motors 240 immediately brake, and the clamp stops moving forward.

[0124] During the clamping phase, the main control unit 500 outputs a clamping command to the hydraulic control unit 400, the dual-control solenoid valve 410 is energized, and the oil pump motor 420 starts running for 25-35 seconds, and the system pressure rises to 10MPa and stabilizes. The pressure sensor of the hydraulic control unit 400 provides real-time feedback of the pressure value, and the main control unit 500 monitors the pressure status. When the pressure is lower than 8MPa during the stop period, it commands the oil pump motor 420 to replenish the pressure.

[0125] At the end stage, after the cutting completion signal is triggered, the main control unit 500 instructs the hydraulic control unit 400 to depressurize, the dual-control solenoid valve 410 to de-energize, and the clamp to release; the servo drive unit 200 drives each axis motor to reset (the clamp returns to the initial position), and the sensing and recognition unit 100 resets, waiting for the next operation.

[0126] Therefore, with the main control unit as the core, the five major units achieve collaborative optimization of multiple profiles, high precision, low energy consumption, and high safety through logical coordination of perception, decision-making, execution, and feedback, providing an integrated solution for laser cutting of marine profiles.

[0127] Optional, such as Figure 5 , 6 As shown, the detachable lower tooth 3121 is connected to the clamp 310 by a high-strength bolt, and the friction enhancement structure on the surface of the lower tooth is a mesh pattern or a raised dot pattern; the coding and identification module 110 transmits the profile type information to the main control unit 500 by collecting the VEASTEEL coding signal.

[0128] During clamping, the detachable lower tooth 3121 must withstand a clamping force of over 5kN and alternating loads generated by profile vibration. The connection structure must ensure long-term stability: 8.8 grade high-strength carbon steel bolts (specifications M6-M8) are selected, with a tensile strength ≥800MPa and a yield strength ≥640MPa, which is more than twice the strength of ordinary 4.8 grade bolts. This can withstand shear and tensile forces during clamping, preventing bolt deformation or breakage. The bolts are tightened diagonally and evenly, with spring washers to prevent loosening, ensuring that the gap between the detachable lower tooth 3121 and the clamp 310 is ≤0.02mm, avoiding uneven force due to gaps during clamping. After installation, laser flatness testing is used to ensure that the surface flatness error of the lower tooth is ≤0.03mm, guaranteeing the consistency of the clamping reference.

[0129] In this technical solution, the bolt connection and friction texture design of the detachable lower tooth 3121 are designed for clamping stability and maintenance convenience, while the acquisition and transmission design of the coding recognition module 110 is designed for recognition efficiency and accuracy.

[0130] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the scope of protection of this invention.

Claims

1. A method for controlling the clamping and pushing / pulling of marine profiles during laser cutting, characterized in that, Includes the following steps: S1: The type of marine profile to be processed is identified by a code, wherein the code is VEASTEEL, and different values ​​of VEASTEEL correspond to different profile types; S2: Based on the identified profile type, control the coordinated action of multiple servo axes to drive the clamp to rotate to the theoretical angle of the matching profile and move to the target position above, below and to the left and right of the matching profile to complete the spatial adaptive positioning of the clamp. The multi-servo axis includes a B-axis rotary servo motor for rotating the clamp, a Z3-axis up-down servo motor for moving the clamp up and down, and a Ty-axis left-right servo motor for moving the clamp left and right. In step S2, the process of determining the vertical and horizontal target positions includes: Pre-store the initial values ​​of the Z3 axis coordinate and Ty axis coordinate corresponding to different profile types and specifications using keyword information of the nesting code; Based on the identified profile specifications and dimensions, the corresponding initial values ​​are retrieved and corrected to obtain the Z3 axis coordinate values ​​corresponding to the upper and lower target positions and the Ty axis coordinate values ​​corresponding to the left and right target positions. S3: Controls the V-axis front and rear servo motors to drive the clamp to feed along the length of the profile. During the feeding process, deceleration and stop signals are triggered in sequence, causing the clamp to switch from high-speed forward movement to low-speed forward movement and then stop. S4: The hydraulic control unit drives the clamps to clamp the profile through the dual-control solenoid valve, and at the same time controls the oil pump motor to run in intermittent mode; S5: After the profile is cut, control the dual-control solenoid valve to switch states to release the clamps from the profile, completing one clamping and pushing / pulling process.

2. The method for laser cutting, clamping, and pushing / pulling material control of marine profiles according to claim 1, characterized in that, In step S1, the value of VEASTEEL includes 0, 1, 2, 3, and 4; when VEASTEEL=0, the ball head of the flat steel is oriented towards the Y+ direction; when VEASTEEL=1, the ball head of the flat steel is oriented towards the Y- direction; when VEASTEEL=2, it corresponds to flat steel; when VEASTEEL=3, the angle steel flange is oriented towards the Y+ direction; when VEASTEEL=4, the angle steel flange is oriented towards the Y- direction.

3. The method for laser cutting, clamping, and pushing / pulling material control of marine profiles according to claim 1, characterized in that, In step S2, the theoretical angle is VERollAngle. When the profile is bulb flat steel, VERollAngle is calculated using trigonometric functions. The opposite side of the trigonometric function is the height of the bulb head of the bulb flat steel, and the adjacent side is the length of the web of the bulb flat steel. When the profile is flat steel, VERollAngle = 0°.

4. The method for laser cutting, clamping, and pushing / pulling material control of marine profiles according to claim 1, characterized in that, In step S3, the deceleration signal is triggered by a deceleration sensor installed on the clamp, and the stop signal is triggered by a stop sensor installed on the clamp; the high-speed forward speed of the clamp is 400-600 mm / s, and the low-speed forward speed is 30-70 mm / s.

5. The method for laser cutting, clamping, and pushing / pulling material control of marine profiles according to claim 1, characterized in that, In step S4, the operating parameters of the oil pump motor in intermittent mode are: running time 25-35s, stopping time 110-130s, and cyclic execution until the profile cutting is completed; the dual-control solenoid valve adopts a control method of continuously outputting clamping signals to ensure the clamping state of the clamp is stable.

6. The method for laser cutting, clamping, and pushing / pulling material control of marine profiles according to claim 1, characterized in that, Before step S1, the following steps are included: installing and adjusting the detachable lower teeth of the clamp, wherein the detachable lower teeth are made of high-strength steel and the surface of the lower teeth is provided with a friction-enhancing structure; if the lower teeth are worn, replace them with new detachable lower teeth.

7. A control system for laser cutting, clamping, and pushing / pulling of marine profiles, used to implement the control method described in any one of claims 1-6, characterized in that, It includes a sensing and identification unit, a servo drive unit, a clamping unit, a hydraulic control unit, and a main control unit; The sensing and identification unit is used to identify the profile type and output deceleration and stop signals, including an encoding identification module, a deceleration sensor and a stop sensor; The servo drive unit is used to drive the clamp movement, including a B-axis rotary servo motor, a Z3-axis up-down servo motor, a Ty-axis left-right servo motor, and a V-axis front-back servo motor. The clamping unit is used to clamp the profile, including clamps and a detachable lower tooth structure; The hydraulic control unit is used to control the clamping and releasing of the clamps, and includes a dual-control solenoid valve and an oil pump motor. The main control unit is electrically connected to the sensing and identification unit, the servo drive unit, and the hydraulic control unit, respectively, and is used to receive sensing signals and output control commands to realize the coordinated action of multiple units.

8. The marine profile laser cutting clamping and push-pull material control system according to claim 7, characterized in that, The detachable lower tooth is connected to the clamp by a high-strength bolt, and the friction-enhancing structure on the surface of the lower tooth is a mesh pattern or a raised dot pattern; the coding and identification module transmits the profile type information to the main control unit by collecting VEASTEEL coding signals.

9. The marine profile laser cutting clamping and push-pull material control system according to claim 7, characterized in that, The main control unit has a built-in positioning parameter calculation module and a hydraulic control algorithm module. The positioning parameter calculation module is used to calculate the VEROllAngle, Z3 axis coordinate values ​​and Ty axis coordinate values ​​according to the profile type and specifications. The hydraulic control algorithm module is used to output the on / off signals of the dual-control solenoid valve and the intermittent operation control signals of the oil pump motor. The servo drive unit also includes a servo driver, which is connected to each servo motor and the main control unit respectively, and is used to receive instructions from the main control unit and drive the servo motor to operate, with a positioning accuracy of ≤±0.02mm. The hydraulic control unit also includes a pressure sensor for real-time monitoring of the hydraulic control unit pressure and feedback to the main control unit; The clamp unit also includes a spring-triggered structure, which includes a small stainless steel compression spring and a trigger tongue. The trigger tongue is linked with a deceleration sensor and a stop sensor. When the end of the profile squeezes the trigger tongue, the deceleration sensor and the stop sensor are triggered in sequence.

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