阅读说明：本技术 一种双闭环矢量控制的超声锯切装置 (Ultrasonic saw cutting device controlled by double closed-loop vectors ) 是由 吕咏益 吕伟仁 吕伟治 宋德军 于 2020-12-29 设计创作，主要内容包括：本发明公开了一种双闭环矢量控制的超声锯切装置。为了克服现有技术在锯切难锯切材料时,锯切效率低的问题；本发明包括进给系统和锯切系统,锯切装置还包括超声发生器、换能器变幅杆、编码器和PID控制器,超声发生器无线发射超声频率信号给换能器变幅杆,换能器变幅杆设置在主动轮上,换能器变幅杆接收超声发生器的发送的超声频率,产生对于主动轮径向的超声机械振动；编码器设置在主动轮上,获取主动轮的转速,编码器的信号输出端与PID控制器的输入端连接,PID控制器输出的控制信号分别发送给驱动器和进给系统的驱动装置。本方案通过双闭环反馈控制锯切的恒转矩、恒速度锯切,同时控制进给速度,提高锯切效率；通过旋转超声振动,提高锯切能力。(The invention discloses an ultrasonic sawing device with double closed-loop vector control. The problem of low sawing efficiency when sawing materials difficult to saw in the prior art is solved; the ultrasonic cutting device comprises a feeding system and a cutting system, and the cutting device also comprises an ultrasonic generator, an energy converter amplitude transformer, an encoder and a PID controller, wherein the ultrasonic generator wirelessly transmits an ultrasonic frequency signal to the energy converter amplitude transformer, the energy converter amplitude transformer is arranged on a driving wheel, and the energy converter amplitude transformer receives the ultrasonic frequency transmitted by the ultrasonic generator and generates radial ultrasonic mechanical vibration for the driving wheel; the encoder is arranged on the driving wheel to obtain the rotating speed of the driving wheel, the signal output end of the encoder is connected with the input end of the PID controller, and the control signals output by the PID controller are respectively sent to the driver and the driving device of the feeding system. According to the scheme, the constant torque and constant speed saw cutting of the saw cutting are controlled through the double closed loop feedback, and meanwhile, the feeding speed is controlled, so that the saw cutting efficiency is improved; the sawing capacity is improved by the rotary ultrasonic vibration.)

1. The ultrasonic sawing device comprises a feeding system and a sawing system, wherein the feeding system controls a feeding platform for moving a sawing material, a clamp (6) for clamping the sawing material and a driving device for driving the feeding platform, the sawing system comprises a driving wheel (1) for driving a saw blade (3) to move, a driven wheel (2) rotating along with the driving wheel, a driver for driving the driving wheel to rotate and a limiting upright post (4), and the saw blade sequentially bypasses the driving wheel and is annularly connected with the driven wheel; the sawing device is characterized by further comprising an ultrasonic generator (10), an energy converter amplitude transformer (5) and a feedback controller, wherein the ultrasonic generator wirelessly transmits ultrasonic frequency signals to the energy converter amplitude transformer, the energy converter amplitude transformer is respectively arranged on the driving wheel and the driven wheel, and the energy converter amplitude transformer receives the ultrasonic frequency transmitted by the ultrasonic generator and generates radial ultrasonic mechanical vibration for the driving wheel and the driven wheel; the feedback controller respectively adjusts the sawing torque, the rotating speed and the feeding speed through negative feedback according to the sawing speed of the saw blade.

2. The dual closed-loop vector controlled ultrasonic saw device according to claim 1, wherein the feedback controller comprises an encoder and a PID controller; the encoder is photoelectric encoder, and photoelectric encoder sets up on action wheel (1), acquires the rotational speed of action wheel (1), and photoelectric encoder's signal output part is connected with the input of PID controller, and the control signal of PID controller output sends the drive arrangement for driver and feed system respectively.

3. A double closed-loop vector-controlled ultrasonic sawing device according to claim 1 or 2 characterised in that the clamps (6) are each provided with a transducer horn (5) which provides radial ultrasonic mechanical vibration to the sawn material (7).

4. The ultrasonic sawing device with double closed-loop vector control according to claim 3, characterized in that the clamp (6) comprises four stress relief rods (8) symmetrically arranged on both sides of the sawing material (7), and a plurality of through holes are arranged on the stress relief rods.

5. The ultrasonic sawing device with double closed-loop vector control according to claim 2, characterized in that a proximity switch is arranged above the driven wheel (2), the proximity switch is connected with a processor, the other input end of the processor is connected with an encoder on the driving wheel (1), and the output end of the processor is connected with a driver.

6. A double closed-loop vector-controlled ultrasonic saw cutting device according to claim 2 or 5, wherein a camera (9) is arranged on the limit post (4) and is used for capturing the longitudinal offset of the saw blade (3).

7. The double closed-loop vector control ultrasonic sawing device according to claim 6, characterized in that the cameras (9) are respectively installed below the driving wheel (1) and the driven wheel (2).

Technical Field

The invention relates to the field of saw cutting devices, in particular to an ultrasonic saw cutting device with double closed-loop vector control.

Background

The existing main saw cutting motors all adopt three-phase asynchronous motors. The problem of slip can exist in the saw cutting process, when cutting load changes, in order to guarantee that the sawing force is unchangeable, can cause the drop of rotational speed. Affecting the sawing effect and the life of the saw blade.

For example, a "saw frame feeding system with constant sawing force and variable feeding speed and method thereof" disclosed in chinese patent document, publication No. CN102672271B, the system is composed of a saw frame, a hydraulic system, and a control system; the saw frame is arranged on the sawing machine through the double upright posts, and the oil cylinder drives the saw frame to move up and down along the upright posts. The control system is a layered multi-computer cooperative hardware system architecture, real-time/non-real-time tasks are distributed to each processing unit according to classes, and the reliability of the system is improved by the hard logic gate circuit. The system implements a variable feed rate feed forward control based on workpiece saw width variables based on operator selected workpiece cross-sectional type and parameters in combination with measured saw frame displacement and workpiece material hardness.

However, under different materials and different sawing conditions, the ratio of the feeding resistance (corresponding to the hardness and the sawing pressure value) of the saw blade to the sawing resistance is not constant, and the closed-loop control of the given sawing force cannot be effectively realized through the feedforward control of hardness detection feedback and the feedback control of sawing pressure value feedback.

Disclosure of Invention

The invention mainly solves the problem of low sawing efficiency when sawing materials difficult to saw in the prior art; the ultrasonic sawing device with double closed-loop vector control compensates torque output by detecting the change of the rotating speed of a motor during sawing to form constant-torque and constant-rotating-speed output, and simultaneously feeds a torque change signal back to a feeding system to control feeding and ensure sawing efficiency.

The technical problem of the invention is mainly solved by the following technical scheme:

the automatic sawing machine comprises a feeding system and a sawing system, wherein the feeding system controls a feeding platform for moving sawing materials, a clamp for clamping the sawing materials and a driving device for driving the feeding platform; the saw cutting device also comprises an ultrasonic generator, an ultrasonic transducer amplitude transformer, an encoder and a PID controller, wherein the ultrasonic generator wirelessly transmits an ultrasonic frequency signal to the ultrasonic transducer amplitude transformer, the ultrasonic transducer amplitude transformer is arranged on the driving wheel, and the ultrasonic transducer amplitude transformer receives the ultrasonic frequency transmitted by the ultrasonic generator and generates ultrasonic mechanical vibration in the radial direction of the driving wheel; the encoder is arranged on the driving wheel to obtain the rotating speed of the driving wheel, the signal output end of the encoder is connected with the input end of the PID controller, and the control signals output by the PID controller are respectively sent to the driver and the driving device of the feeding system.

The driver of the ultrasonic sawing device drives the driving wheel to rotate, so that the saw blade on the injection wheel is driven to rotate to cut materials, when materials which are difficult to saw are sawed, such as metals with high hardness and the like, the slip of a motor adopted by the driver can be changed, the rotating speed is reduced, a detected rotating speed signal is fed back to the PID controller by the encoder, the PID controller outputs a driving control quantity according to an internal negative feedback PID algorithm and sends the driving control quantity to the driver, the driver outputs a compensation value according to the control quantity, constant-torque and constant-rotating-speed sawing is formed, and the sawing efficiency is ensured; meanwhile, the PID controller outputs and sends the driving device of the feeding system, and the driving device calculates and obtains the torque and the rotating speed conversion process of the saw cutting system according to the control signal, so that the feeding speed is adjusted, the feeding speed is matched with the saw cutting speed, the saw cutting efficiency is ensured, and the service life of the saw blade is prolonged.

The driving wheel is provided with an amplitude transformer, ultrasonic frequency signals sent by the ultrasonic generator are wirelessly received, the amplitude transformer generates ultrasonic mechanical vibration with corresponding frequency, and the ultrasonic mechanical vibration is transmitted along the radial direction of the driving wheel, so that vibration sawing is formed; because under the action of high-frequency vibration pulse, impact acceleration is formed at the tip of the saw blade, the material difficult to saw is easier to saw under the action of strong impact force. Meanwhile, due to the existence of mechanical vibration, the knife is not easy to stick by the knife sticking material. Meanwhile, due to the mechanical characteristics of the ultrasonic waves, the cooling liquid generates a cavitation effect, so that the saw blade is cooled more fully, and the cooling becomes easier for some materials which are difficult to dissipate heat. The ultrasonic technology can greatly prolong the service life of the saw blade, and simultaneously expand the application range of the sawing machine, thereby greatly improving the performance of the sawing machine.

Preferably, the sawing system further comprises a driven wheel, a transducer amplitude transformer is arranged on the driven wheel, and the saw blade sequentially bypasses the driving wheel and is annularly connected with the driven wheel. In the use of band saw machine, all be provided with transducer amplitude transformer on action wheel and the follow driving wheel for saw cut the ability reinforce, saw cut the dynamics even.

Preferably, the clamps are respectively provided with a transducer amplitude transformer, and an ultrasonic mechanical vibration output end of the transducer amplitude transformer is in contact with the sawing material to provide radial ultrasonic mechanical vibration for the sawing material. Set up transducer amplitude transformer on anchor clamps, for saw cutting the material and provide along saw cutting the radial supernatural mechanical vibration of material, provide the vibration cutting from another angle, further improved saw cutting ability, provide fixed vibration with transducer amplitude transformer for saw cutting the material simultaneously, for the rotatory vibration that provides at the action wheel or from the driving wheel is more convenient simple, more convenient control.

Preferably, the clamp comprises four stress relief rods, the stress relief rods are symmetrically arranged on two sides of the sawing material respectively, and a plurality of through holes are formed in the stress relief rods. Set up the stress relieving pole, set up the through-hole on the stress relieving pole, eliminate the resonance that the supersound brought, reduce the precision influence that the supersound mechanical vibration brought on the system of saw cutting or on the feeding system.

Preferably, a proximity switch is arranged above the driven wheel side, the proximity switch is connected with a processor, the other input end of the processor is connected with an encoder on the driving wheel, and the output end of the processor is connected with a driver. The processor is MCU, set up proximity switch in the side of the driven wheel, when the transducer amplitude transformer on the driven wheel rotates below the proximity switch every time, the closed output level signal of proximity switch, thus the processor can obtain the rotational speed signal from the driven wheel, compare with the rotational speed signal of the action wheel, obtain the difference of rotational speed between them, can judge whether the transmission relation of action wheel and driven wheel is inseparable through the difference of rotational speed of action wheel and driven wheel, whether the tension of saw blade is suitable, detect the transmission relation of action wheel and driven wheel and the tension of saw blade under the environment that there is ultrasonic high-frequency vibration.

Preferably, a camera is arranged on the limiting upright post and used for capturing the longitudinal offset of the saw blade. The camera sets up the time delay and catches, shoots the longitudinal offset of saw blade when sawing to obtain the width of sawing, be used for judging the supersound to saw cut the influence of width precision.

Preferably, the cameras are respectively arranged below the driving wheel and the driven wheel. The device is arranged below the driving wheel and the driven wheel, and vibration offsets of saw blades when the saw blades enter a saw cutting material and when the saw blades exit the saw cutting material are respectively obtained, so that the saw cutting precision is ensured; meanwhile, the accumulated chips can be intuitively judged to be remained.

The invention has the beneficial effects that:

1. the constant-torque and constant-speed sawing is controlled through detecting the rotating speed signal of the driving wheel and performing negative feedback regulation of a double closed loop, and the feeding speed is regulated at the same time, so that the feeding speed is matched with the cutting speed; ensuring the sawing efficiency.

2. Through setting up rotatory ultrasonic vibration, improve the saw cutting ability of saw blade, be difficult for gluing the sword, to the coolant liquid cavitation simultaneously, the cooling is more even.

Drawings

Fig. 1 is a schematic structural diagram of an ultrasonic sawing device according to a first embodiment of the present invention.

Fig. 2 is a schematic structural diagram of an ultrasonic sawing device according to a second embodiment of the present invention.

In the figure, 1, a driving wheel, 2, a driven wheel, 3, a saw blade, 4, a limiting upright post, 5, an amplitude transformer of a transducer, 6, a clamp, 7, a sawing material, 8, a stress relief rod, 9, a camera and 10, an ultrasonic generator.

Detailed Description

The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.

The first embodiment is as follows:

as shown in fig. 1, the ultrasonic sawing device of this embodiment is a band sawing machine, and includes a feeding system and a sawing system.

The feed system control comprises a feed platform for moving the sawing material 7, a holder 6 for holding the sawing material and drive means for driving the feed platform. The sawing material 7 is placed on the feeding platform, and the clamp 6 is used for clamping the sawing material 7; the material 7 is cut to both sides stability, and drive arrangement controls the platform of feeding according to the program that sets for to cut just material 7 feeds.

Saw cut the system including drive wheel 1 that drives the saw blade motion with from driving wheel 2, drive wheel 1 pivoted driver and spacing stand 4, saw blade 3 walks around drive wheel 1 in proper order and is connected from driving wheel 2 annular. The driving wheel 1 and the driven wheel 2 are respectively arranged on the limiting upright posts 4, and the driving wheel 1 and the driven wheel 2 can respectively move up and down on the limiting upright posts 4.

The sawing device further comprises an ultrasonic generator 10, a transducer horn 5, an encoder and a PID controller. The encoder is arranged on the driving wheel 1 to obtain the rotating speed of the driving wheel 1, the signal output end of the encoder is connected with the input end of the PID controller, and control signals output by the PID controller are respectively sent to the driver and the driving device of the feeding system.

The driver drives action wheel 1 and rotates, thereby drive from driving wheel 2, saw blade 3 rotates cutting saw cuts material 7, when saw cutting the material that difficult saw cuts, for example, the higher metal of hardness etc., the slip of the motor that the driver adopted can change, the rotational speed reduces, the rotational speed signal feedback that the encoder will detect is to the PID controller, the PID controller is according to inside negative feedback PID algorithm output driven control quantity, send for the driver, the driver is according to control quantity output offset value, form constant torque, saw cutting of constant rotational speed, guarantee saw cutting efficiency.

Meanwhile, the PID controller outputs and sends the driving device of the feeding system, and the driving device calculates and obtains the torque and the rotating speed conversion process of the saw cutting system according to the control signal, so that the feeding speed is adjusted, the feeding speed is matched with the saw cutting speed, the saw cutting efficiency is ensured, and the service life of the saw blade is prolonged.

The ultrasonic generator 10 wirelessly transmits ultrasonic frequency signals to the transducer horns 5, the transducer horns 5 are respectively arranged on the driving wheel 1 and the driven wheel 2, and in the embodiment, the driving wheel 1 and the driven wheel 2 are respectively and symmetrically provided with a pair of transducer horns 5. The transducer horn 5 receives the ultrasonic frequency transmitted by the ultrasonic generator 10, and generates ultrasonic mechanical vibration in the radial direction to the driving wheel 1 and the driven wheel 2.

Set up transducer horn 5, through the ultrasonic frequency signal that wireless reception ultrasonic generator 10 sent, transducer horn 5 output corresponding frequency's ultrasonic mechanical vibration, ultrasonic mechanical vibration is along action wheel 1 and the radial transmission from driving wheel 2 to vibratory saw has been formed.

Under the action of high-frequency vibration pulses, impact acceleration is formed at the sawtooth tips of the saw blades, so that materials difficult to saw are easier to saw under the action of strong impact force. Meanwhile, due to the existence of mechanical vibration, the knife is not easy to stick by the knife sticking material. Meanwhile, due to the mechanical characteristics of the ultrasonic waves, the cooling liquid generates a cavitation effect, so that the saw blade is cooled more fully, and the cooling becomes easier for some materials which are difficult to dissipate heat. The ultrasonic technology can greatly prolong the service life of the saw blade, and simultaneously expand the application range of the sawing machine, thereby greatly improving the performance of the sawing machine.

Example two:

in the ultrasonic sawing device with dual closed-loop vector control according to the embodiment, as shown in fig. 2, the clamp 6 is respectively provided with the transducer horns 5, and the ultrasonic mechanical vibration output ends of the transducer horns 5 are in contact with the sawing material 7 to provide radial ultrasonic mechanical vibration for the sawing material 7.

Set up transducer amplitude transformer 5 on anchor clamps 6, for saw cutting material 7 provides along saw cutting the radial supersound mechanical vibration of material, provide the vibration cutting from another angle, further improved the ability of saw cutting, provide fixed vibration with transducer amplitude transformer 5 for saw cutting material 7 provides the vibration simultaneously, for the rotatory vibration that provides more convenient simple on action wheel 1 or follow driving wheel 2, more convenient control.

The clamp 6 comprises stress relief rods 8, the stress relief rods 8 are symmetrically arranged on two sides of the sawing material 7 respectively, and a plurality of through holes are formed in the stress relief rods 8.

Set up stress relief pole 8, set up the through-hole on stress relief pole 8, eliminate the resonance that the supersound brought, reduce the precision influence that the supersound mechanical vibration brought on the system of saw cutting or on the feeding system.

The top of following 2 sides of driving wheel is provided with proximity switch, and proximity switch is connected with the treater, and the encoder on the action wheel 1 is connected to another input of treater, and the driver is connected to the output of treater.

The processor in the embodiment is an MCU, a proximity switch is arranged on the side surface of the driven wheel 2, when the transducer amplitude transformer 5 on the driven wheel 2 rotates below the proximity switch every time, the proximity switch is closed to output a level signal, so that the processor can obtain a rotating speed signal of the driven wheel 2 and compare the rotating speed signal with the rotating speed signal of the driving wheel 1 to obtain a rotating speed difference between the driving wheel 1 and the driven wheel 2, whether the transmission relationship between the driving wheel 1 and the driven wheel 2 is tight or not and whether the tension of the saw blade is proper or not can be judged according to the rotating speed difference between the driving wheel 1 and the driven wheel 2, and the transmission relationship between the driving wheel 1 and the driven wheel 2 and the tension of the saw blade are.

The limiting upright post 4 is provided with a camera 9, and the camera 9 is used for capturing the longitudinal offset of the saw blade 3. The cameras 9 are respectively arranged below the driving wheel 1 and the driven wheel 2.

The camera 9 sets up the time delay and catches, shoots the longitudinal offset of saw blade 3 when sawing to obtain the width of sawing, be used for judging the supersound to saw cut the influence of width precision. The camera 9 is arranged below the driving wheel 1 and the driven wheel 2, so that the vibration offset of the saw blade 3 when entering the sawing material 7 and the vibration offset of the saw blade when exiting the sawing material 7 are respectively obtained, and the sawing precision is ensured; meanwhile, the accumulated chips can be intuitively judged to be remained.

It should be understood that the examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.