Shearing force control method and system for gantry shearing machine

Abstract

This invention discloses a shearing force control method and system for a gantry shearing machine, relating to the field of metal processing equipment technology. The method includes: acquiring real-time detection signals of the spatial attitude of the moving tool holder during its downward shearing process; extracting tilt components in different directions from the signals, comparing and combining the results with preset thresholds to determine the current tilt mode; querying a preset control strategy mapping relationship based on the current tilt mode to generate corresponding drive actuator adjustment commands, thereby differentially adjusting the output force of at least two drive actuators to actively suppress the tilt of the moving tool holder. This invention, through real-time sensing and dynamic adjustment, enables the point of application of the resultant drive force to follow the change in the point of application of the shearing resistance, fundamentally eliminating harmful torques that cause tilting, and significantly improving equipment stability, shearing accuracy, and the lifespan of key components.

Description

Technical Field

[0001] This invention belongs to the technical field of metal processing equipment, and particularly relates to a method and system for controlling the shearing force of a gantry shear. Background Technology

[0002] Gantry shears are core equipment in the scrap metal recycling industry, used to shear large-sized scrap metal into regular blocks. To improve shearing efficiency and adaptability, existing gantry shears generally adopt a moving blade assembly with the cutting edges arranged at an angle along the direction of movement. During operation, the moving blade holder moves downward under the drive of multiple hydraulic cylinders, causing the moving blade to form a shearing action with the fixed blade.

[0003] This structure contains an inherent mechanical flaw: the point of application of the shear resistance and the point of application of the resultant force of the hydraulic cylinder cannot remain dynamically consistent, causing the equipment to be subjected to harmful internal stresses. Specifically:

[0004] Dynamic movement of the shear resistance application point: Due to the inclined design of the moving blade edge, the contact position between the material and the blade edge (i.e. the application point of the shear resistance F1) will continuously move along the width direction of the blade edge during shearing.

[0005] Static fixed point of application of the driving resultant force: Multiple hydraulic cylinders that provide downforce are fixedly installed on the frame, and the position of the point of application of the driving resultant force F2 generated by them remains unchanged during the shearing process.

[0006] When the two points of application mentioned above do not coincide, a deflection torque will be generated on the moving tool holder, the magnitude and direction of which change with the shearing process. This torque forces the large moving tool holder to produce a slight pitch or roll. Although the tilt angle is small, its harm is cumulative and cascading:

[0007] First, it causes uneven force on the sliding guide pair between the moving tool holder and the gantry, resulting in unilateral wear and significantly shortening the service life of the guide components. Second, the increased clearance after wear of the guide pair leads to a decrease in the running accuracy of the moving tool holder. Finally, the deteriorated accuracy causes the gap between the moving and fixed blades to become uncontrollable, making it very easy for "material jamming" to occur during the shearing process. This not only damages the blades and affects the shearing quality, but also causes unplanned downtime, seriously affecting production efficiency and equipment reliability.

[0008] Currently, conventional solutions to this problem are mostly passive and defensive in nature, such as using more wear-resistant guide materials, strengthening structural rigidity, or optimizing the blade geometry to distribute wear. While these methods can delay the problem to some extent, they cannot fundamentally eliminate the root cause of the deflection torque. Some improvements focus on blade layout (such as stepped cutting edges), whose main goal is to improve chip removal or prevent localized edge wear, but they do not address the systemic torque imbalance problem.

[0009] Therefore, how to detect and actively counteract the harmful torque generated by the movement of the shearing point in real time, and prevent the moving blade holder from tilting at the source, has become a key technical challenge to improve the reliability of gantry shearing machines, extend the life of key components, and ensure continuous and stable production. Summary of the Invention

[0010] In view of the above-mentioned defects in the existing technology, the purpose of the present invention is to provide a shearing force control method and system for a gantry shearing machine, so as to solve the technical problem that the misalignment between the dynamic movement of the shearing resistance point and the static fixation of the hydraulic cylinder drive force point causes the moving tool holder to generate a harmful deflection torque, which in turn causes a series of chain failures such as guide pair wear, gap expansion and shearing jamming.

[0011] This invention solves the above-mentioned technical problems through the following technical solution: a method for controlling the shearing force of a gantry shear, comprising:

[0012] During the downward shearing process of the moving blade holder of the gantry shear machine, a detection signal for characterizing the spatial attitude of the moving blade holder is acquired in real time;

[0013] Extract the components in the detection signal that reflect the degree of tilt of the moving tool holder in at least two different directions, compare each component with the corresponding preset threshold, and determine the current tilt mode of the moving tool holder based on the combination of comparison results;

[0014] Based on the current tilting mode, the preset control strategy mapping relationship is queried, and corresponding drive actuator adjustment commands are generated and output to differentially adjust the output force of at least two of the multiple drive actuators driving the moving tool holder, thereby suppressing the tilting of the moving tool holder.

[0015] This invention indirectly detects the offset of the shear resistance application point by sensing the tilt posture of the moving tool holder in real time and determining its pattern. Then, by querying a preset strategy library and differentially adjusting the output forces of multiple drive actuators, it actively and in real time adjusts the position of the resultant drive force's application point, making it track and approach the direction of the shear resistance application point. This causes the two application points to coincide, significantly reducing or eliminating the torque that causes the moving tool holder to deflect at its source, transforming the equipment from passively bearing an unbalanced force system to actively maintaining force system balance.

[0016] Because the root cause of uneven wear—the tilting torque—is actively suppressed, the unexpected tilting (pitching forward and backward or rolling left and right) of the moving tool holder during the shearing process is effectively controlled. This ensures that the sliding guide pair between the moving tool holder and the gantry is subjected to uniform force, completely avoiding unilateral uneven wear. The service life of the guide pair is significantly extended, the core motion accuracy of the equipment is maintained for a long time, and the fundamental problem of excessive wear of friction pairs is solved.

[0017] Reduced wear on the guide pair allows the guide surface clearance to remain stable over a long period. The clearance between the moving and stationary blades thus no longer expands uncontrollably due to blade holder tilting and guide wear. This stable shearing clearance ensures clean and efficient material cutting, significantly reducing the rate of jamming caused by material being squeezed into the blade gap or failing to cut properly, thereby improving production continuity and equipment reliability.

[0018] This invention transforms the complex mechanical equilibrium problem into a closed-loop control problem based on sensor feedback and preset strategies. The system can automatically sense changes in operating conditions (movement of the shearing point) and autonomously make decisions and execute corresponding force system adjustments without manual intervention, achieving intelligent and adaptive control of the shearing process. This not only solves the original technical problems but also brings about comprehensive performance improvements such as a smoother shearing section, more stable equipment operation, and optimized energy consumption.

[0019] Furthermore, the detection signal is acquired by an attitude sensor mounted on the moving tool holder; the at least two different directions are mutually orthogonal front-back and left-right directions, and the first tilt component of the moving tool holder in the front-back direction and the second tilt component in the left-right direction are analyzed based on the detection signal.

[0020] By employing orthogonally arranged attitude sensors, direct, independent, and uncoupled precise measurement of the spatial tilt state of the moving tool holder is achieved. This provides the control system with high-confidence, real-time-processable raw data, fundamentally ensuring the input accuracy and real-time performance of the tilt pattern recognition stage, and serving as a reliable sensing foundation for the entire closed-loop control.

[0021] Further, determining the current tilting mode of the moving tool holder based on the combination of comparison results includes:

[0022] Based on the comparison result between the first tilt component and the first preset threshold, the first discrete state of the moving tool holder in the front-back direction is determined. The first discrete state includes a front low state, a front-back balanced state, or a front high state.

[0023] Based on the comparison result between the second tilt angle component and the second preset threshold, the second discrete state of the moving tool holder in the left and right direction is determined. The second discrete state includes the left low state, the left and right balanced state, or the left high state.

[0024] Based on the values ​​of the first discrete state and the second discrete state, the corresponding current tilt mode is determined according to a predefined mapping rule.

[0025] By using dual-threshold comparison and state combination mapping, continuous attitude signals are transformed into finite discrete tilt patterns. This method significantly simplifies the decision-making logic of the control system, making the pattern recognition process extremely stable and responsive. It provides a reliable guarantee for subsequent real-time invocation of precise control strategies, fundamentally avoiding the computational burden and system instability risks that may arise from using complex continuous control algorithms.

[0026] Furthermore, the predefined mapping rule is: to map various specific combinations of the first discrete state and the second discrete state to different tilting modes;

[0027] When the second discrete state is a left-right balanced state, the tilting mode is determined according to the first discrete state, specifically: if the first discrete state is a front-high state, then it corresponds to a front-high-back-low mode; if it is a front-low state, then it corresponds to a back-high-front-low mode; if it is a front-back balanced state, then it corresponds to a force-balanced mode.

[0028] When the first discrete state is the front-to-back balance state, the tilting mode is determined according to the second discrete state, specifically: if the second discrete state is the left-high state, then it corresponds to the left-high-right-low mode; if it is the left-low state, then it corresponds to the right-high-left-low mode.

[0029] When neither the first discrete state nor the second discrete state is in equilibrium, the tilt mode is determined by the combination of the two: if it is a combination of front-high state and left-high state, it corresponds to the left-front-high mode; if it is a combination of front-high state and left-low state, it corresponds to the right-front-high mode; if it is a combination of front-low state and left-high state, it corresponds to the left-rear-high mode; if it is a combination of front-low state and left-low state, it corresponds to the right-rear-high mode.

[0030] The aforementioned mapping rule maps all possible combinations of discrete states to a finite and deterministic tilt pattern without omission or ambiguity, constructing a logical lookup table that fully covers and determinizes decision paths. This ensures the absolute determinism and immediacy of the system response, and is the core rule guarantee that the entire control logic can achieve precise and time-free connection from "judgment" to "execution".

[0031] Furthermore, differentiated adjustment of output force is achieved by independently setting multiple predefined output levels for each drive actuator and switching between these levels; the output levels include at least:

[0032] The first gear provides the first level of power output;

[0033] The second gear provides a second level of power output; the output of the second level is greater than the output of the first level.

[0034] The following gear corresponds to the state where the drive actuator does not apply active shearing force.

[0035] By setting discretized and hierarchical predefined output levels (including active output level and zero-force follow level) for the drive actuator, a standardized, fast-execution execution interface with clear torque adjustment resolution is provided for the control system. This allows the complex "resultant force point movement" target to be achieved through a simple combination of gear switching commands. While ensuring sufficient control accuracy, it greatly simplifies the control logic, improves the system response speed and execution reliability, and is a key execution mechanism for achieving dynamic couple balance.

[0036] Furthermore, when the current tilt mode is a front-high-rear-low mode, at least one drive actuator used to drive the front part of the moving tool holder is controlled to switch to the second gear, and at least one drive actuator used to drive the rear part of the moving tool holder is controlled to maintain or switch to the first gear.

[0037] When the current tilt mode is rear high and front low, at least one drive actuator used to drive the rear part of the moving tool holder is controlled to switch to the second gear, and at least one drive actuator used to drive the front part of the moving tool holder is controlled to maintain or switch to the first gear.

[0038] When the current tilt mode is left high and right low, at least one drive actuator used to drive the left side of the moving tool holder is controlled to switch to the second gear, and at least one drive actuator used to drive the right side of the moving tool holder is controlled to maintain or switch to the first gear.

[0039] When the current tilt mode is right-high-left-low mode, at least one drive actuator used to drive the right side of the moving tool holder is controlled to switch to the second gear, and at least one drive actuator used to drive the left side of the moving tool holder is controlled to maintain or switch to the first gear.

[0040] This invention establishes a deterministic feedback strategy based on the principle of directional reverse drive: mapping a tilting pattern in a specific direction to a standardized correction action that increases force in the reverse driving region and stabilizes / reduces force in the same direction region. This strategy directly encodes the mechanical balance requirement into an immediately executable instruction set, enabling the system to generate a precise reverse balancing torque in the corresponding plane the instant a single-dimensional tilt is detected, without complex calculations, thereby achieving rapid stabilization of the moving tool holder's attitude.

[0041] Furthermore, when the current tilt mode is the left front high mode, the drive actuators with control function orientations of left front, front center and rear center switch to the second gear, the drive actuators with control function orientations of right rear switch to the following gear, and the drive actuators with control function orientations of right front and left rear maintain or switch to the first gear.

[0042] When the current tilt mode is the right front high mode, the drive actuators with control function orientation of right front, front center and rear center switch to the second gear, the drive actuator with control function orientation of left rear switch to the following gear, and the drive actuators with control function orientation of left front and right rear maintain or switch to the first gear.

[0043] When the current tilt mode is left rear high mode, the drive actuators with control function orientation left rear, front center and rear center switch to the second gear, the drive actuator with control function orientation right front switch to the following gear, and the drive actuators with control function orientation right rear and left front maintain or switch to the first gear.

[0044] When the current tilt mode is the right rear high mode, the drive actuators with control function orientation of right rear, front center and rear center switch to the second gear, the drive actuator with control function orientation of left front switch to the following gear, and the drive actuators with control function orientation of left rear and right front maintain or switch to the first gear.

[0045] Each of the drive actuators, according to its designed installation position, corresponds to one of the six directions: left front, right front, left rear, right rear, front center, and rear center; the functional orientation of the drive actuator refers to its corresponding orientation.

[0046] This invention defines a refined balancing strategy of "enhanced synergy and diagonal force release" for composite tilting modes. This strategy generates a dominant corrective torque by simultaneously applying high output force in the mode indicator direction and the central region of the moving tool holder; and forces the drive actuator in the diagonal direction to a zero-force following state to remove potential resistance in that direction. This synergistic effect achieves efficient mechanical decoupling and precise cancellation of two-dimensional tilting, enabling the system to cope with the most complex attitude imbalances with optimal force configuration. This marks a leap in control logic from basic single-dimensional balancing to an advanced stage capable of full-dimensional synergistic optimization.

[0047] Furthermore, when the current tilt mode is the force balance mode, all drive actuators are controlled to switch to the second gear.

[0048] By mapping the force balance mode to a unified global command to switch to a higher gear, when the system determines that it is in or has returned to a balanced state, it can instantly invest all drive resources into efficient shearing operations. This maximizes shearing efficiency and energy utilization while maintaining absolute system stability, achieving a seamless connection between balance control logic and production efficiency optimization.

[0049] Furthermore, after differentially adjusting the output force of at least two of the multiple drive actuators driving the moving tool post, if it is determined from the re-acquired detection signal that the moving tool post is still in the original non-force balance mode and the component of the moving tool post reflecting the degree of tilt exceeds the preset upgrade threshold, then the upgrade adjustment strategy is executed: all drive actuators currently in the first gear are switched to the following gear.

[0050] After implementing the upgrade adjustment strategy, if the detection signal obtained again indicates that the moving tool holder is still in the original non-force balance mode and the component of the moving tool holder reflecting the degree of tilt exceeds the preset safety threshold, then the safety strategy is executed: switch all the drive actuators to the following gear, and stop the shearing operation and trigger an alarm.

[0051] This invention provides the system with deep fault tolerance and ultimate safety protection by constructing a closed-loop verification and three-level response mechanism for specific imbalance modes. Its core lies in the following: when the standard adjustment strategy fails to correct a specific tilt mode (such as "high at the front, low at the back"), the system can accurately identify this "stalemate" and automatically activate the corresponding upgraded adjustment strategy—by switching all low-output drive actuators to zero-force state, attempting to break the imbalance through extreme measures; if the system still stubbornly persists in the same imbalance mode, it is ultimately determined to be an uncontrollable anomaly, triggering a global unloading and shutdown alarm safety strategy. This mechanism ensures that the system not only optimizes normal performance but also responds intelligently, decisively, and with progressively escalating measures to the specific risk scenario of "correction failure," thereby fundamentally eliminating the risk of equipment damage caused by continuous off-center loading and elevating the operational reliability of the equipment to a new level.

[0052] Based on the same concept, the present invention also provides a shearing force control system for a gantry shear, comprising:

[0053] The signal acquisition module is configured to acquire, in real time, a detection signal characterizing the spatial attitude of the moving blade holder during the downward shearing process of the moving blade holder of the gantry shear machine.

[0054] The processing and control module, which is communicatively connected to the signal acquisition module, is configured as follows:

[0055] Extract the components in the detection signal that reflect the degree of tilt of the moving tool holder in at least two different directions, compare each component with the corresponding preset threshold, and determine the current tilt mode of the moving tool holder based on the combination of comparison results;

[0056] Based on the current tilt mode, query the preset control strategy mapping relationship and generate the corresponding drive actuator adjustment command;

[0057] The drive actuator group includes multiple drive actuators, each drive actuator being connected to the processing and control module and drivingly connected to the moving tool holder; wherein, the drive actuator adjustment command is used to differentially adjust the output force of at least two drive actuators in the drive actuator group, thereby suppressing the tilting of the moving tool holder.

[0058] This invention's system, through the construction of a closed-loop control architecture consisting of a high-precision attitude sensing module, a state machine-based real-time decision-making module, and a multi-driver collaborative execution module, achieves rapid monitoring, judgment, and active correction of the moving blade holder's attitude during shearing. This system upgrades the traditional static, open-loop drive method to a dynamic, adaptive force balancing system, capable of instantly offsetting the off-center load torque caused by material position changes at the hardware level. This significantly reduces the risk of guide mechanism wear, effectively maintains stable shearing gaps, and fundamentally prevents material jamming. This integrated system provides gantry shears with highly reliable, manual-intervention-free intelligent operation capabilities, directly improving the equipment's overall performance and market competitiveness.

[0059] Compared with existing technologies, the gantry shearing force control method and system provided by this invention achieves a fundamental shift from passively bearing off-center loads to actively maintaining balance by real-time sensing of the moving blade holder's posture, intelligently determining the tilting mode, and dynamically adjusting the output of multiple actuators. Its core beneficial effects are:

[0060] By dynamically adjusting the point of application of the driving force to track the shear resistance point, the harmful torque that causes tilting is actively counteracted, fundamentally solving a series of problems caused by torque imbalance; it significantly suppresses the tilt of the moving blade holder, greatly reduces the wear of the guide mechanism, maintains precise movement clearance, and thus extends the service life of the core components of the equipment; stable shearing clearance and reliable force system control greatly reduce the failure rate of material jamming and incomplete shearing, and improve the continuity of equipment operation and operational reliability.

[0061] This invention transforms the complex mechanical equilibrium problem into a rapid closed-loop control based on sensor feedback and preset strategies, realizing adaptive and intelligent operation of the shearing process and improving shearing quality and energy efficiency. Attached Figure Description

[0062] To more clearly illustrate the technical solution of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only one embodiment of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0063] Figure 1 This is a schematic diagram of the shearing force control system of the gantry shear machine in an embodiment of the present invention;

[0064] Figure 2 This is a schematic diagram of the force applied to the moving tool holder in an embodiment of the present invention.

[0065] Explanation of reference numerals in the attached drawings: 1-Frame, 2-Moving tool holder, 21-First tilt sensor, 22-Second tilt sensor, 3-Drive actuator group, 31-Left front cylinder, 32-Right front cylinder, 33-Left rear cylinder, 34-Right rear cylinder, 35-Front cylinder, 36-Rear cylinder, 4-Fixed tool device, 5-Controller. Detailed Implementation

[0066] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0067] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0068] like Figure 1 and Figure 2 As shown, the shearing force control system involved in this invention mainly includes a frame 1 (or gantry frame), a fixed blade device 4, a moving blade holder 2, a drive actuator group 3, an attitude sensor, and a controller 5. The frame 1 is the main frame of the equipment, and the fixed blade device 4 is fixed to the worktable at the bottom of the frame 1; the moving blade holder 2 is installed on the frame 1 through a high-precision sliding guide pair and can be vertically raised and lowered under the action of the drive actuator group 3.

[0069] The drive actuator group 3 serves as the actuator that provides shearing power. In this embodiment, the drive actuator group 3 consists of six hydraulic cylinders. The cylinder body of each hydraulic cylinder is fixedly mounted on the top crossbeam of the frame 1, and the piston rod extends downward and connects to the top of the moving tool holder 2. Based on the connection point position of each cylinder piston rod to the moving tool holder 2 and its main driving function, they are clearly grouped and their functional orientations are defined as follows:

[0070] Left front hydraulic cylinder 31 and right front hydraulic cylinder 32: their piston rod connection points are located on the left and right sides of the front area of ​​the moving tool holder 2.

[0071] Left rear cylinder 33 and right rear cylinder 34: their piston rod connection points are located on the left and right sides of the rear area of ​​the moving tool holder 2.

[0072] The piston rod connection points of the front cylinder 35 and the rear cylinder 36 are located on the central axis of the moving tool holder 2 in the front-rear direction, respectively, slightly forward and slightly backward.

[0073] For ease of description, the above-mentioned hydraulic cylinders are categorized into the following six functional orientations based on their connection point locations and the areas they primarily drive: front left, front right, rear left, rear right, front center, and rear center. The "functional orientation" of the hydraulic cylinders refers to this pre-defined classification.

[0074] All directions "front, back, left, and right" in this article are based on the feeding direction of the gantry shear. The direction in which material enters the shearing zone is defined as "front," and the opposite direction is "back." Facing the feeding direction, the left-hand side is "left," and the right-hand side is "right," as shown below. Figure 1 As shown.

[0075] An attitude sensor is used to acquire detection signals characterizing the spatial attitude of the moving tool holder, i.e., the moving tool holder attitude signal. In one specific embodiment, the attitude sensor includes two mutually orthogonal high-precision tilt sensors, namely a first tilt sensor 21 and a second tilt sensor 22. The first tilt sensor 21 and the second tilt sensor 22 are directly fixedly mounted on the rigid body of the moving tool holder 2, and the sensitive axis of the first tilt sensor 21 is parallel to the front-back direction, used to detect the pitch angle (i.e., the first tilt component) of the moving tool holder 2; the sensitive axis of the second tilt sensor 22 is parallel to the left-right direction, used to detect the roll angle (i.e., the second tilt component) of the moving tool holder 2.

[0076] In another specific implementation, the attitude sensor may also be a dual-axis tilt sensor or a gyroscope.

[0077] Controller 5, as the core control unit, is electrically connected to all sensors and the hydraulic servo valves of the cylinders. Each hydraulic cylinder can be independently controlled by controller 5 to one of the following three predefined positions:

[0078] The first gear provides the first level of power output;

[0079] The second gear provides a second level of power output, which is greater than the first level.

[0080] When the gear is shifted, the hydraulic cylinder does not actively provide force; its piston rod can move freely or be pulled.

[0081] The shearing force control method for the gantry shear provided in this embodiment includes the following steps:

[0082] S1: Initialization and Downlink Startup.

[0083] Before the shearing operation begins, controller 5 initializes the system, and the moving blade holder 2 is in the upper position (i.e., the position closest to the hydraulic cylinder). Controller 5 controls all hydraulic cylinders to output force at the first gear, synchronously driving the moving blade holder 2 to descend at a constant speed, approaching the material.

[0084] S2: Continuous sensing and acquisition of the attitude signal of the moving tool holder 2.

[0085] During the entire descent and shearing process, the first tilt sensor 21 and the second tilt sensor 22 work continuously to measure the tilt angle of the moving tool holder 2 in the front-back direction (pitch) and the left-right direction (roll) in real time, and send continuous analog voltage signals (i.e. detection signals) to the controller 5.

[0086] S3: Real-time diagnosis and determination of the tilt mode of the moving tool holder 2.

[0087] The controller 5 has preset first and second preset thresholds corresponding to the first tilt sensor 21 and the second tilt sensor 22, respectively. Both the first and second preset thresholds are small positive angle values ​​used to define the dead zone range of "balance," for example, ±0.5°. When the tilt component is positive and greater than the corresponding preset threshold, it indicates that the front (or left) end of the direction where the corresponding tilt sensor is located is too low; when the tilt component is negative and less than the opposite of the corresponding preset threshold, it indicates that the front (or left) end of the direction where the corresponding tilt sensor is located is too high; when the absolute value of the tilt component is less than or equal to the corresponding preset threshold, it indicates that the direction where the corresponding tilt sensor is located is in a balanced state.

[0088] The controller 5 reads the output signal of the first tilt sensor 21 in real time. This signal directly reflects the tilt angle of the moving tool holder 2 in the front-to-back direction, and is called the first tilt angle component. The first tilt angle component is compared with a first preset threshold:

[0089] If the first tilt component is less than or equal to the first preset threshold, the moving tool holder 2 is determined to be in a front-high and rear-low posture, and the state in the front-back direction at this moment is recorded as the first discrete state = front-high state.

[0090] If the first tilt component is greater than or equal to the first preset threshold, then the moving tool holder 2 is determined to be in a front-low and rear-high posture, and recorded as the first discrete state = front-low state.

[0091] If the absolute value of the first tilt component is less than or equal to the first preset threshold, then the moving tool holder 2 is determined to be basically balanced in the front-back direction and recorded as the first discrete state = front-back balanced state.

[0092] Similarly, the controller 5 reads the output signal of the second tilt sensor 22 in real time. This signal directly reflects the tilt angle of the moving tool holder 2 in the left-right direction, and is called the second tilt angle component. The second tilt angle component is compared with the second preset threshold:

[0093] If the second tilt component is less than or equal to the second preset threshold, the moving tool holder 2 is determined to be in a left-high-right-low posture, and the state in the left and right directions at this moment is recorded as the second discrete state = left-high state.

[0094] If the second tilt component is greater than or equal to the second preset threshold, then the moving tool holder 2 is determined to be in a left-low-right-high posture, and recorded as the second discrete state = left-low state.

[0095] If the absolute value of the second tilt component is less than or equal to the second preset threshold, then the moving tool holder 2 is determined to be basically balanced in the left and right directions, and recorded as the second discrete state = left and right balanced state.

[0096] Controller 5 has a built-in predefined mode mapping rule that uniquely maps all possible combinations of the two discrete states (i.e., the first discrete state and the second discrete state) to a specific current tilt mode. Controller 5 takes the first and second discrete states as input, queries this mapping rule, and can instantly (usually within milliseconds) determine which of the following nine modes the moving tool holder 2 is currently in:

[0097] When the first discrete state is the front-high state and the second discrete state is the left-right balanced state, the current tilt mode is the front-high-back-low mode.

[0098] When the first discrete state is the front low state and the second discrete state is the left and right balanced state, the current tilt mode is the back high front low mode.

[0099] When the first discrete state is a front-to-back equilibrium state and the second discrete state is a left-to-right equilibrium state, the current tilting mode is a force equilibrium mode.

[0100] When the first discrete state is the front-to-back balance state and the second discrete state is the left-high state, the current tilt mode is the left-high-right-low mode.

[0101] When the first discrete state is the front-to-back balance state and the second discrete state is the left-low state, the current tilt mode is the right-high-left-low mode.

[0102] When the first discrete state is the front-high state and the second discrete state is the left-high state, the current tilt mode is the left-front-high mode.

[0103] When the first discrete state is the front high state and the second discrete state is the left low state, the current tilt mode is the right front high mode.

[0104] When the first discrete state is the front low state and the second discrete state is the left high state, the current tilt mode is the left rear high mode.

[0105] When the first discrete state is the front low state and the second discrete state is the left low state, the current tilt mode is the right rear high mode.

[0106] Through step S3, the system completes an efficient and unambiguous conversion from continuous analog signals to discrete digital states, and then to a defined operating mode, providing a unique and definite decision basis for subsequent precise control.

[0107] S4: Precise output adjustment based on tilt mode.

[0108] The controller 5 has a pre-stored control strategy mapping relationship. Once the current tilt mode is diagnosed in step S3, the controller 5 immediately calls the corresponding control strategy and sends precise adjustment commands (i.e., gear switching commands) to each cylinder through the hydraulic servo system to reconstruct the driving force F2, so that the position of the point of application of the driving force F2 approaches the direction of the point of application of the shear resistance F1, thereby suppressing the tilt of the moving tool holder 2.

[0109] The control strategy mapping relationship includes control strategies under the basic unidirectional tilt mode, the compound tilt mode, and the balanced force mode.

[0110] (1) Control strategy under basic unidirectional tilt mode: follow the basic principle of increasing force in the opposite direction of tilt and stabilizing / reducing force in the same direction.

[0111] The current mode is front-high, rear-low: control the left front cylinder 31, right front cylinder 32 and front cylinder 35 to switch to the second gear; control the left rear cylinder 33, right rear cylinder 34 and rear cylinder 36 to switch to the first gear. This action increases the force at the front and decreases the force at the rear, causing the point of application of the resultant driving force F2 to move forward, generating a torque to correct the "front-high" position.

[0112] The current tilt mode is rear-high and front-low: control the left rear cylinder 33, right rear cylinder 34 and rear cylinder 36 to switch to the second gear; control the left front cylinder 31, right front cylinder 32 and front cylinder 35 to switch to the first gear. This action reduces force on the front and increases force on the rear, so that the point of application of the resultant driving force F2 is moved backward to correct the "rear-high".

[0113] The current tilt mode is left high and right low: control the left front cylinder 31, left rear cylinder 33, front cylinder 35, and rear cylinder 36 to switch to the second gear; control the right front cylinder 32 and right rear cylinder 34 to switch to the first gear. By increasing the force on the left and in the middle, the point of application of the resultant driving force F2 is shifted to the left, correcting the "left high".

[0114] The current tilt mode is right-high and left-low: control the right front cylinder 32, right rear cylinder 34, front cylinder 35 and rear cylinder 36 to switch to the second gear; control the left front cylinder 31 and left rear cylinder 33 to switch to the first gear. By increasing the force on the right side and in the middle, the point of application of the resultant driving force F2 is shifted to the right, correcting the "right-high" tilt.

[0115] For the control strategy in the basic unidirectional tilt mode, it can also be implemented using only 4 hydraulic cylinders (left front hydraulic cylinder 31 and right front hydraulic cylinder 32, left rear hydraulic cylinder 33 and right rear hydraulic cylinder 34). The specific control strategy is the same as above (remove the front hydraulic cylinder 35 and the rear hydraulic cylinder 36).

[0116] (2) Control strategy under composite tilt mode: adopt a coordinated strategy of “strengthening the main area and the middle and removing diagonal resistance”.

[0117] The current tilt mode is left front high: control the drive actuators with the function orientation of left front, front center and rear center (i.e. left front cylinder 31, front cylinder 35, rear cylinder 36) to switch to the second gear; set the drive actuator with the function orientation of right rear (i.e. right rear cylinder 34) to the follow gear (0 gear); control the other drive actuators (right front cylinder 32, left rear cylinder 33) to switch to the first gear.

[0118] The current tilt mode is right front high: control the right front cylinder 32, front cylinder 35, and rear cylinder 36 to switch to the second gear; set the left rear cylinder 33 to the follow gear; control the left front cylinder 31 and right rear cylinder 34 to switch to the first gear.

[0119] The current tilt mode is left rear high: control the left rear cylinder 33, front cylinder 35, and rear cylinder 36 to switch to the second gear; set the right front cylinder 32 to the follow gear; control the right rear cylinder 34 and left front cylinder 31 to switch to the first gear.

[0120] The current tilt mode is right rear high: control the right rear cylinder 34, front cylinder 35, and rear cylinder 36 to switch to the second gear; set the left front cylinder 31 to the follow gear; control the left rear cylinder 33 and right front cylinder 32 to switch to the first gear.

[0121] (3) Control strategy under balanced force mode: control all cylinders to switch to the second gear to perform efficient shearing with maximum output.

[0122] The essence of all the above control strategies is to dynamically move the point of application of the resultant driving force F2 and change the resultant torque by adjusting the output of each cylinder differently. The system simplifies this complex mechanical calculation problem into an instantaneous lookup and execution process by querying the preset control strategy mapping relationship, so that the point of application of the resultant driving force F2 can quickly "track" and counteract the off-center load torque caused by the change of shear point, thereby achieving active dynamic balance of the moving tool holder 2.

[0123] S5: Closed-loop monitoring, policy upgrades, and security protection.

[0124] The controller 5 keeps the current gear position of each cylinder unchanged. After a short delay (e.g., 100~200ms), it reads the output signals of the first tilt sensor 21 and the second tilt sensor 22 again, and repeats the diagnostic logic of step S3 to determine the current tilt mode of the moving tool holder 2.

[0125] If the moving tool holder 2 continues to be in the same non-force balance mode as that targeted in step S4 (for example, step S4 is for adjusting the front-high-rear-low mode, and the mode is still front-high-rear-low during verification) and the component of the moving tool holder 2 reflecting the degree of tilt exceeds the preset upgrade threshold (that is, the first tilt component and the second tilt component are compared with their respective preset upgrade thresholds, and the comparison results show that the degree of tilt has an increasing trend), then the controller 5 determines that the standard adjustment strategy in step S4 is not effective enough and will automatically trigger the pre-stored upgrade adjustment strategy.

[0126] The core of the upgrade adjustment strategy is to force all drive actuators currently in first gear to switch to following gear (gear 0), while only retaining the drive actuators originally in second gear to continue providing active shear force, thereby generating a more extreme and unidirectional reverse corrective torque. The specific upgrade adjustment commands for the nine tilt modes are as follows:

[0127] The current tilt mode remains the front-high-rear-low mode: keep the left front cylinder 31, right front cylinder 32 and front cylinder 35 in the second gear; switch the left rear cylinder 33, right rear cylinder 34 and rear cylinder 36 to the following gear (0 gear).

[0128] The current tilt mode remains the rear-high-front-low mode: keep the left rear cylinder 33, right rear cylinder 34 and rear cylinder 36 in the second gear; switch the left front cylinder 31, right front cylinder 32 and front cylinder 35 to the follow gear.

[0129] The current tilt mode remains the left-high-right-low mode: keep the left front cylinder 31, left rear cylinder 33, front cylinder 35 and rear cylinder 36 in the second gear; switch the right front cylinder 32 and right rear cylinder 34 to the follow gear.

[0130] The current tilt mode remains right-high-left-low: keep the right front cylinder 32, right rear cylinder 34, front cylinder 35 and rear cylinder 36 in the second gear; switch the left front cylinder 31 and left rear cylinder 33 to the follow gear.

[0131] The current tilt mode remains the left front high mode: keep the left front cylinder 31, front cylinder 35 and rear cylinder 36 in the second gear; switch the right front cylinder 32, left rear cylinder 33 and right rear cylinder 34 to the follow gear.

[0132] The current tilt mode remains the right front high mode: keep the right front cylinder 32, front cylinder 35 and rear cylinder 36 in the second gear; switch the left front cylinder 31, left rear cylinder 33 and right rear cylinder 34 to the follow gear.

[0133] The current tilt mode remains the left rear high mode: keep the left rear cylinder 33, front cylinder 35 and rear cylinder 36 in the second gear; switch the left front cylinder 31, right front cylinder 32 and right rear cylinder 34 to the follow gear.

[0134] The current tilt mode remains the right rear high mode: keep the right rear cylinder 34, front cylinder 35 and rear cylinder 36 in the second gear; switch the left front cylinder 31, right front cylinder 32 and left rear cylinder 33 to the follow gear.

[0135] The current tilting mode remains a force-balanced mode: in this mode, all cylinders are in the second gear after executing the standard strategy in step S4, and the system has reached an ideal stable shearing state. Therefore, the upgrade adjustment strategy is not activated, and the system remains in the normal shearing operation cycle.

[0136] If the mode diagnosed during verification has changed to a force balance mode or other different non-force balance mode (for example, if step S4 adjusts the front-high-rear-low mode, and the mode changes to rear-high-front-low during verification), it indicates that the system state has changed. Controller 5 will immediately exit this upgrade adjustment strategy and return to step S3, based on the new current tilt mode, to restart the standard perception, judgment, and adjustment process.

[0137] After executing the above-mentioned upgrade and adjustment strategy, controller 5 enters a verification waiting period again. After a short delay, controller 5 reads the output signals of the first tilt sensor 21 and the second tilt sensor 22 for the third time, and repeats the diagnostic logic of step S3 to determine the current tilt mode of the moving tool holder 2.

[0138] If the current tilting mode remains the original non-force-balanced mode, and the component of the tilt reflected by the moving tool holder 2 exceeds the preset safety threshold (the first tilting component and the second tilting component are compared with their respective preset safety thresholds, and the comparison results show that the tilting has an aggravating trend), then the controller 5 determines that there is an uncontrollable anomaly in the system (such as sensor failure, extreme material irregularity, mechanical jamming, etc.). At this time, the highest level of safety strategy is immediately triggered:

[0139] An adjustment command is sent to all hydraulic cylinders, switching them all to the shearing follow position (0 gear), causing the moving blade holder 2 to instantly lose its active downward pressure; at the same time, the controller 5 sends an emergency stop signal to the main control system to stop the shearing operation and controls the hydraulic cylinder group to perform the return action.

[0140] S6: Return reset.

[0141] After the shearing operation in step S4 or S5 is completed, or after the safety protection strategy in step S5 is triggered, the controller 5 hydraulic cylinder group drives the moving blade holder 2 to move upward. During the upward movement, each hydraulic cylinder operates synchronously at the same preset return position (the position at the moment of shearing, or the return position uniformly set after the safety protection strategy is triggered) until the moving blade holder 2 reaches the mechanical upper limit position or the preset origin position and stops.

[0142] After the moving tool holder 2 stops, the controller 5 reads the output signals of the first tilt sensor 21 and the second tilt sensor 22 to determine whether the moving tool holder 2 is in a stable equilibrium state at the mechanical upper limit position or the preset origin position (whether each tilt component is less than or equal to the corresponding preset equilibrium threshold). If it is not in a stable equilibrium state, the controller 5 controls the corresponding hydraulic cylinder to act according to the tilt direction until the moving tool holder 2 is in a stable equilibrium state or reaches the preset maximum number of calibrations.

[0143] After the moving blade holder 2 reaches a stable equilibrium state, the controller 5 sets all cylinders to the first gear, clears all temporary control flags set in the previous shearing cycle, and switches the system's main control state to "ready". The system enters a waiting state. When the controller 5 receives the next shearing operation command, it automatically jumps to step S1 to start a new shearing control cycle.

[0144] Through the above specific implementation methods, this invention upgrades the gantry shearing machine into an intelligent mechanical balancing system. By combining hardware layout definition, software logic rules, and real-time closed-loop control, it achieves proactive, rapid, and precise cancellation of harmful torques during the shearing process. This effectively solves a series of persistent technical problems in practical engineering, such as tilting of the moving blade holder 2, guide wear, gap loss, and material jamming, significantly improving equipment reliability, service life, and intelligence level.

[0145] Example 2

[0146] like Figure 1 and Figure 2 As shown, the shearing force control system of the gantry shear provided in this embodiment is integrated into the gantry shear and is used to dynamically maintain the balance of the moving blade holder 2 during the shearing process. The system specifically includes a signal acquisition module, a processing and control module, and a drive actuator group 3.

[0147] The signal acquisition module is used to acquire detection signals that directly characterize the spatial attitude of the moving tool holder 2 in real time during its downward movement and shearing process. In this embodiment, the signal acquisition module specifically includes two high-precision tilt sensors installed orthogonally to each other, namely the first tilt sensor 21 and the second tilt sensor 22.

[0148] The sensitive axis of the first tilt sensor 21 is parallel to the front-back direction of the gantry shear (i.e., the feeding direction and its opposite direction), and is used to detect the tilt angle of the moving blade holder 2 in the front-back direction in real time and output the first tilt angle component.

[0149] The sensitive axis of the second tilt sensor 22 is parallel to the left and right directions of the gantry shear (the left and right sides facing the feeding direction), and is used to detect the tilt angle of the moving blade holder 2 in the left and right directions in real time and output the second tilt component.

[0150] Both the first tilt sensor 21 and the second tilt sensor 22 are directly mounted on the body of the moving tool holder 2 to ensure that the detected signals directly reflect the true attitude of the moving tool holder 2. Both continuously send the detected analog voltage signals to the processing and control module.

[0151] The processing and control module is the core decision-making unit of the system, and in this embodiment, it is implemented by an embedded industrial controller 5. The processing and control module is electrically connected to the signal acquisition module and the drive actuator group 3, and its internal logic is configured to perform the following functions:

[0152] The controller 5 has a first preset threshold and a second preset threshold corresponding to the first tilt sensor 21 and the second tilt sensor 22, respectively; it reads the first tilt component in real time and compares it with the first preset threshold.

[0153] If the first tilt angle component is less than or equal to the first preset threshold, then the moving tool holder 2 is determined to be in the front high state.

[0154] If the first tilt angle component is greater than or equal to the first preset threshold, then the moving tool holder 2 is determined to be in the forward low state.

[0155] If the absolute value of the first tilt component is less than or equal to the first preset threshold, then the moving tool holder 2 is determined to be in a balanced state.

[0156] Simultaneously, the second tilt angle component is read in real time and compared with the second preset threshold:

[0157] If the second tilt angle component is less than or equal to the second preset threshold, then the moving tool holder 2 is determined to be in the left-high state.

[0158] If the second tilt angle component is greater than or equal to the second preset threshold, then the moving tool holder 2 is determined to be in the left low state.

[0159] If the absolute value of the second tilt component is less than or equal to the second preset threshold, then the moving tool holder 2 is determined to be in a left-right balanced state.

[0160] Subsequently, based on the combination of the two discrete states mentioned above, the controller 5 uniquely determines the current tilting mode of the moving tool holder 2 using internally pre-stored mode mapping rules (such as step S3 in Embodiment 1). This mode is one of the following nine: front high rear low mode, rear high front low mode, left high right low mode, right high left low mode, left front high mode, right front high mode, left rear high mode, right rear high mode, and force balance mode.

[0161] The controller 5 has a pre-stored control strategy mapping relationship, which defines the correspondence between the nine tilt modes and the specific drive actuator adjustment commands. Once the current tilt mode is determined, the controller 5 immediately queries this mapping relationship and generates the corresponding drive actuator adjustment command (i.e., gear shifting command).

[0162] This control strategy mapping relationship includes two levels of strategy:

[0163] Basic adjustment strategy: Corresponding to each tilt mode, the first gear, second gear, or follow gear command is output to each actuator in the drive actuator group 3, as in step S4 of embodiment one. For example, for the "front high rear low mode", the command is: increase the output of the front actuator (set to the second gear) and decrease the output of the rear actuator (set to the first gear).

[0164] Upgraded adjustment strategy: If, after executing the basic adjustment strategy, the moving tool holder 2 remains in the same non-force-balanced mode and the component reflecting the tilt degree of the moving tool holder 2 exceeds the preset upgrade threshold after a short delay verification, this strategy is triggered. The upgrade adjustment command is more aggressive, for example, further setting the actuator originally in the first gear to the following gear (0 gear) to generate a stronger corrective torque, as specifically in step S4 of Embodiment 1.

[0165] If the tilt does not improve or even worsens after upgrading the adjustment strategy, controller 5 generates a safety protection command, sets all drive actuators to the following gear and triggers an alarm.

[0166] After shearing is completed or safety protection is activated, controller 5 also manages the return reset process, including controlling the moving tool holder 2 to move upward synchronously, performing upper position calibration, resetting all drive actuator gears to the first gear, and restoring the system to the "ready" state.

[0167] The drive actuator group 3 serves as the output end of the system, providing shearing power and accepting regulation. In this embodiment, the drive actuator group 3 consists of multiple hydraulic cylinders, specifically six cylinders: left front cylinder 31, right front cylinder 32, left rear cylinder 33, right rear cylinder 34, front cylinder 35, and rear cylinder 36. The cylinder body of each cylinder is fixed to the top of the frame 1, and the piston rod is connected downward to the top of the moving blade holder 2.

[0168] Each hydraulic cylinder has an electro-hydraulic servo valve or proportional valve in its hydraulic circuit, controlled by the processing and control module. The controller 5 independently controls each cylinder to be in one of three predefined positions by sending actuator adjustment commands (specifically, current signals) to these valves:

[0169] First gear: Provides the first level of output (low shear force).

[0170] Second gear: Provides a second level of output (high shear force).

[0171] Follow gear (0 gear): The hydraulic cylinder does not actively provide shearing force, and its piston rod can follow.

[0172] By adjusting the gears of each hydraulic cylinder differently, the position and torque of the resultant force of the entire drive actuator group 3 on the moving tool holder 2 can be changed, thereby actively counteracting the off-center load torque caused by the change of shear point and realizing the dynamic balance control of the moving tool holder 2.

[0173] After the shear force control system of this invention is started, it operates in a cyclical manner according to the following logic:

[0174] All hydraulic cylinders drive the tool holder 2 downward in the first gear;

[0175] The controller 5 continuously acquires attitude signals through the first tilt sensor 21 and the second tilt sensor 22, and diagnoses the current tilt mode in real time.

[0176] Based on the diagnosed current tilt pattern, controller 5 immediately issues the corresponding gear adjustment command, which is executed by the hydraulic cylinder assembly;

[0177] Verify the adjustment effect after a short delay; if ineffective, trigger an upgrade adjustment strategy.

[0178] If adjustment fails completely, perform a safety shutdown;

[0179] After shearing is completed, control the moving blade holder 2 to move upward, calibrate, and reset, in preparation for the next cycle.

[0180] The above description only discloses specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or modifications that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for controlling the shearing force of a gantry shear, characterized in that, The control method includes: During the downward shearing process of the moving blade holder of the gantry shear machine, a detection signal for characterizing the spatial attitude of the moving blade holder is acquired in real time; Extract the components in the detection signal that reflect the degree of tilt of the moving tool holder in at least two different directions, compare each component with the corresponding preset threshold, and determine the current tilt mode of the moving tool holder based on the combination of comparison results; Based on the current tilting mode, a preset control strategy mapping relationship is queried, and a corresponding drive actuator adjustment command is generated and output to differentially adjust the output force of at least two of the multiple drive actuators driving the moving tool holder, thereby suppressing the tilting of the moving tool holder; each drive actuator corresponds to one of the six directions—left front, right front, left rear, right rear, front center, and rear center—according to its designed installation position; the functional orientation of the drive actuator refers to its corresponding orientation; Specifically, the output force is differentiated by independently setting multiple predefined output levels for each drive actuator and switching between these levels; the output levels include at least: The first gear provides the first level of power output; The second gear provides a second level of power output; the output of the second level is greater than the output of the first level. The following gear corresponds to the state where the drive actuator does not apply active shearing force; For each tilt mode, a command for a first gear, a second gear, or a follow gear is output to each of the at least two drive actuators to control at least one of the drive actuators to switch to the second gear and to control at least one of the drive actuators to maintain or switch to the first gear.

2. The shearing force control method for a gantry shear according to claim 1, characterized in that, The detection signal is acquired by an attitude sensor mounted on the moving tool holder; the at least two different directions are mutually orthogonal front-back and left-right directions, and the first tilt component and the second tilt component of the moving tool holder in the front-back direction and the left-right direction are analyzed based on the detection signal.

3. The shearing force control method for a gantry shear machine according to claim 2, characterized in that, The current tilting mode of the moving tool holder is determined based on a combination of comparison results, including: Based on the comparison result between the first tilt component and the first preset threshold, the first discrete state of the moving tool holder in the front-back direction is determined. The first discrete state includes a front low state, a front-back balanced state, or a front high state. Based on the comparison result between the second tilt angle component and the second preset threshold, the second discrete state of the moving tool holder in the left and right direction is determined. The second discrete state includes the left low state, the left and right balanced state, or the left high state. Based on the values ​​of the first discrete state and the second discrete state, the corresponding current tilt mode is determined according to a predefined mapping rule.

4. The shearing force control method for a gantry shear machine according to claim 3, characterized in that, The predefined mapping rule is to map various specific combinations of the first discrete state and the second discrete state to different tilting modes; When the second discrete state is a left-right balanced state, the tilting mode is determined according to the first discrete state, specifically: if the first discrete state is a front-high state, then it corresponds to a front-high-back-low mode; if it is a front-low state, then it corresponds to a back-high-front-low mode; if it is a front-back balanced state, then it corresponds to a force-balanced mode. When the first discrete state is the front-to-back balance state, the tilting mode is determined according to the second discrete state, specifically: if the second discrete state is the left-high state, then it corresponds to the left-high-right-low mode; if it is the left-low state, then it corresponds to the right-high-left-low mode. When neither the first discrete state nor the second discrete state is in equilibrium, the tilt mode is determined by the combination of the two: if it is a combination of front-high state and left-high state, it corresponds to the left-front-high mode; if it is a combination of front-high state and left-low state, it corresponds to the right-front-high mode; if it is a combination of front-low state and left-high state, it corresponds to the left-rear-high mode; if it is a combination of front-low state and left-low state, it corresponds to the right-rear-high mode.

5. The shearing force control method for a gantry shear machine according to claim 1, characterized in that, When the current tilt mode is the front-high-rear-low mode, at least one drive actuator used to drive the front part of the moving tool holder is controlled to switch to the second gear, and at least one drive actuator used to drive the rear part of the moving tool holder is controlled to maintain or switch to the first gear. When the current tilt mode is rear high and front low, at least one drive actuator used to drive the rear part of the moving tool holder is controlled to switch to the second gear, and at least one drive actuator used to drive the front part of the moving tool holder is controlled to maintain or switch to the first gear. When the current tilt mode is left high and right low, at least one drive actuator used to drive the left side of the moving tool holder is controlled to switch to the second gear, and at least one drive actuator used to drive the right side of the moving tool holder is controlled to maintain or switch to the first gear. When the current tilt mode is right-high-left-low mode, at least one drive actuator used to drive the right side of the moving tool holder is controlled to switch to the second gear, and at least one drive actuator used to drive the left side of the moving tool holder is controlled to maintain or switch to the first gear.

6. The shearing force control method for a gantry shear according to claim 1, characterized in that, When the current tilt mode is left front high mode, the drive actuators with control function orientation left front, front center and rear center switch to the second gear, the drive actuator with control function orientation right rear switch to the following gear, and the drive actuators with control function orientation right front and left rear maintain or switch to the first gear. When the current tilt mode is the right front high mode, the drive actuators with control function orientation of right front, front center and rear center switch to the second gear, the drive actuator with control function orientation of left rear switch to the following gear, and the drive actuators with control function orientation of left front and right rear maintain or switch to the first gear. When the current tilt mode is left rear high mode, the drive actuators with control function orientation left rear, front center and rear center switch to the second gear, the drive actuator with control function orientation right front switch to the following gear, and the drive actuators with control function orientation right rear and left front maintain or switch to the first gear. When the current tilt mode is the right rear high mode, the drive actuators with control function orientation of right rear, front center and rear center switch to the second gear, the drive actuator with control function orientation of left front switches to the following gear, and the drive actuators with control function orientation of left rear and right front maintain or switch to the first gear.

7. The shearing force control method for a gantry shear according to claim 1, characterized in that, When the current tilt mode is the force balance mode, control all drive actuators to switch to the second gear.

8. The shearing force control method for a gantry shear machine according to any one of claims 1 to 7, characterized in that, After differentially adjusting the output force of at least two of the multiple drive actuators driving the moving tool post, if it is determined from the re-acquired detection signal that the moving tool post is still in the original non-force balance mode and the component of the moving tool post reflecting the degree of tilt exceeds the preset upgrade threshold, then the upgrade adjustment strategy is executed: all drive actuators currently in the first gear are switched to the following gear. After implementing the upgrade adjustment strategy, if the detection signal obtained again indicates that the moving tool holder is still in the original non-force balance mode and the component of the moving tool holder reflecting the degree of tilt exceeds the preset safety threshold, then the safety strategy is executed: switch all the drive actuators to the following gear, and stop the shearing operation and trigger an alarm.

9. A shearing force control system for a gantry shear, characterized in that, The control system includes: The signal acquisition module is configured to acquire, in real time, a detection signal characterizing the spatial attitude of the moving blade holder during the downward shearing process of the moving blade holder of the gantry shear machine. The processing and control module, which is communicatively connected to the signal acquisition module, is configured as follows: Extract the components in the detection signal that reflect the degree of tilt of the moving tool holder in at least two different directions, compare each component with the corresponding preset threshold, and determine the current tilt mode of the moving tool holder based on the combination of comparison results; Based on the current tilting mode, a preset control strategy mapping relationship is queried to generate a corresponding drive actuator adjustment command. This drive actuator adjustment command is used to differentially adjust the output force of at least two of the drive actuators in the group, thereby suppressing the tilt of the moving tool holder. The differential adjustment of the output force is achieved by independently setting multiple predefined output levels for each drive actuator and switching between these levels. The output levels include at least: The first gear provides the first level of power output; The second gear provides a second level of power output; the output of the second level is greater than the output of the first level. The following gear corresponds to the state where the drive actuator does not apply active shearing force; For each tilt mode, a command for a first gear, a second gear, or a follow gear is output to each of the at least two drive actuators to control at least one of the drive actuators to switch to the second gear, and to control at least one of the drive actuators to maintain or switch to the first gear; The drive actuator group includes multiple drive actuators, each of which is connected to the processing and control module and drives the moving tool holder; each drive actuator corresponds to one of the six directions—left front, right front, left rear, right rear, front center, and rear center—according to its designed installation position; the functional orientation of the drive actuator refers to its corresponding orientation.

Images