CN100504696C

CN100504696C - Method and system for positioning compensation of shear trigger and bending machine backgauge

Info

Publication number: CN100504696C
Application number: CNB2006100968304A
Authority: CN
Inventors: 徐正华
Original assignee: Nanjing Aisidun Digital Technology Co Ltd; EEDUN IND AUTOMATION Co Ltd NANJING
Current assignee: Nanjing Estun Automation Co Ltd
Priority date: 2006-10-19
Filing date: 2006-10-19
Publication date: 2009-06-24
Anticipated expiration: 2026-10-19
Also published as: CN1936753A

Abstract

The method and system used for the positioning compensation of the block material, which is installed behind the shear trigger and bending machine, the rotary encoder of the back block material motor or slider motor is used as the sensor of the slider itinerary or the back block material itinerary of the shear trigger and bending machine, the shear trigger uses only the back block material itinerary sensor to sent the location information collected by the rotation coder to the controller to deal with, and the controller will collect the pulse signal of the coder and transform the pulse into the location equivalent of the back block material or the slider, and compare it with the value of the location to stop at having been assigned, the motor will be stopped if the value enter the assigned range. The controller will sent out the signal for arrival, if the D-value between the present value and the setting value has dropped in the range of the assigned value for the stop ahead of the time. Otherwise, it will not send out the information. The location system of the driver controls the single axis by using the common AC dynamo and the control device for the change of frequency and software used especially by it, and also can realize the automatic switching control by switch the electric circuit with governor, and realize the automatic control function and accuracy for location of the axis needed by the machine.

Description

Be used for plate shearer, bender backstop and anticipate the method and system of position compensation

Technical field

The present invention relates to bender, plate shearer, belong to machining forging and pressing field.Especially the method and apparatus that relates to the location compensation of plate shearer, bender slide block and back backgauge.

Technical background

Cut pull, the bender special-purpose numerical control system.Relate to a kind of plate shearer, bender dedicated control device, it and processing equipment constitute automatic processing device jointly, bender, plate shearer add man-hour, by frequency-variable controller or with the back backgauge alternating current generator of speed regulator control with the slide block alternating current generator drives slide block respectively or the back backgauge makes it rest on the position of setting.

Generally all require slide block or back backgauge to stop in the margin tolerance, meet processing criterion with the sheet material that guarantees processing.What at present system adopted is inertial positioning, system run to setting stop to be worth in advance the time (generally taking fixed value), system provides a motor signal out of service, slide block runs to the target location according to inertia.But after the variation of mechanical resistance, must cause the variation of position location.

Shown in figure one, when X-axis is at distance objective position S2 under system's control, stop output in advance, under action of inertia, arrive target position D.After mechanical resistance increases, S1 and S2 do not change, their particular location is guaranteed by encoder feedback, still rely on inertial positioning finally can only be parked in the D1 point, and the deviation D eltal1 of target position D is exactly the error between physical location (D1) and target location (D) in fact.In like manner, after mechanical resistance reduced, the error that also has Deltal2 occurred.So, if we are satisfying under the situation of certain condition, Deltal1 and Deltal2 can be compensated to automatically shift to an earlier date in the stop distance (S2), consider the situation of machinery in the not obvious change of internal resistance of following short time of unartificial situation, we just can make system's accurate in locating again.But prior art is difficult to the control that guarantees that precision is higher.

Characteristics are arranged in the mach technology of bending, and the slide position does not need frequent adjustment usually, and then backgauge all will be adjusted the position ninety-nine times out of a hundred.

Also can use servomotor/step motor control system in the prior art, but the cost of the motor of this system and employing is higher.

Summary of the invention

In order to solve the deficiencies in the prior art, and, the invention provides a kind of by stopping to be worth the method and system that positions (position) control of backoff algorithm in advance based on the applicant's above-mentioned separate case application.

The present invention realizes by following technical solution: the location backoff algorithm, rotary encoder after utilizing on the working shaft of backgauge motor/slide motor is cut and is pulled, the ram travel of bender/back backgauge stroke sensor (plate shearing machine has only back backgauge stroke sensor), the position that rotary encoder is collected or send into system controller with velocity information, controller capturing and coding device pulse signal, pulses switch is become the position equivalent of back backgauge or slide block, compare with the stop position value of setting, arrival stops scope output stop signal stops motor, if the difference of currency and setting value is stopping in advance in the value scope of setting, controller is exported the signal that puts in place, otherwise is not dealt into a signal.

The described setting value that stops in advance being determined according to following method: will work as the position at front-and-back stop material place and the stop position value of setting and calculate, the absolute value of the difference of gained and the tolerance setting value that puts in place compare.If just send the signal that puts in place less than the tolerance setting value; If just be not dealt into a signal greater than the tolerance setting value.If do not put in place, can compensate.The method of compensation obtains a new stop position numerical value in advance for stopping the difference that stops to be worth that setting value adds a current displayed value that stops and setting in advance, judges with new stop position in advance whether motor needs to stop when moving once more.

If backstop is the position unexpectedly, the controller signal that do not put in place sends, and control system still is in the operational mode that the position is anticipated in backstop, and press enter key this moment, and controller just compensates difference and calculates, calculate the new value that stops in advance, controller control back backgauge motor turns round again, makes the back backgauge retreat into the position of setting earlier, navigates to the stop position that program is provided with forward from the position of setting then, as put in place and then be dealt into a signal, proceed compensation as not in place.

Cut pull, bender dedicated numerical control method and system, backgauge and two motors of slide block behind frequency-conversion drive apparatus band of employing control, switch to control back backgauge motor after finish the slide block location, control system is switched back the control slide motor after accepting next step positioning starting signal.Slide block code device signal, back backgauge code device signal input I/O interface circuit and microprocessor in the system; Microprocessor output connects frequency-variable controller or with speed regulator and is connected back backgauge alternating current generator and slide block alternating current generator again, by frequency-variable controller or with the back backgauge alternating current generator of speed regulator control and slide block alternating current generator drive respectively slide block or after backgauge make it rest on the position of setting.Drive common alternating current generator of positioning system using and frequency-converting control device, microprocessor is by the software programming and the position control method control single shaft of above-mentioned special use, or twin shaft is carried out the Automatic Program switching controls, and reach required bearing accuracy by the speed regulator control switching circuit.

According to the concrete operating mode of bender, backgauge and two motors of slide block behind frequency-conversion drive apparatus band of employing control.Switch to control back backgauge motor after finish the slide block location, control system is switched back the control slide motor after accepting next step positioning starting signal, if this moment, slide block did not need to adjust, does not then switch, still control back backgauge motor.

Characteristics of the present invention are: drive common alternating current generator of positioning system using and frequency-converting control device and special-purpose software programming technique, the may command single shaft, can carry out the Automatic Program switching controls to twin shaft by the speed regulator control switching circuit again, utilize special positioning control algorithm to overcome mechanical resistance and change, and reach required bearing accuracy.Can reach required automatic control function of such lathe and axle positioning accuracy request at 1/5-1/3 cost of the former servomotor/step motor control system of cost.

Description of drawings

Fig. 1 is the method synoptic diagram of control

Fig. 2 is a control system synoptic diagram of the present invention

Fig. 3 is two motor wiring diagrams of control system control of the present invention

Fig. 4 is two motor wiring diagrams of drive systems of the present invention

Embodiment

Shown in Fig. 1-2, concrete workflow is:

1. press " startup " button, controller enters operational mode.The running of controller control slide motor, when arriving the stop position that is provided with, the motor stall, slide block relies on inertia to continue to slide in stopping at margin tolerance (because slide block adopts bigger reduction gear ratio, the accurate positioning of slide block usually need not compensation and calculates).

2. controller switches to the backgauge motor operation of control back, if the position that stops in the scope that is provided with, controller sends the signal that puts in place, flow process finishes; Otherwise, be not dealt into a signal, change 3.

3. press " carriage return " button, controller recomputates the stop position of back backgauge, computing method are: the target location of current position of stopping and setting is subtracted each other, obtain a difference, add that with this difference original stop position value obtains new stop position value.

4. controller control motor operation, stop in the position that runs to a setting earlier, and then to the target location operation, when arriving new stop position in advance, the stall of control motor.Back backgauge relies on inertia to continue to slide until stopping.Change 2.

Among Fig. 3-4, hardware circuit adopts conventional connection, and M1, M2 are respectively back backgauge motor motors, and limitation travel switch is connected among the KA1-4.System of the present invention, form as shown in the figure, especially adopt backgauge and two motors of slide block behind frequency-conversion drive apparatus band of control, switch to control back backgauge motor after finish the slide block location, control system is switched back after accepting next step positioning starting signal and is controlled slide motor.

Claims

1. The method for positioning compensation of the backgauge of the shear trigger and bending machine is characterized in that the rotary encoder on the working shaft of the back gauge motor/slider motor is used as the slider stroke/stroke of the shear trigger and bending machine The back gauge stroke sensor, the shearing machine only uses the back gauge stroke sensor, and sends the position information collected by the rotary encoder to the controller for processing. The controller collects the pulse signal of the encoder and converts the pulse into back gauge or slide The position equivalent of the block is compared with the set stop position value, and when it reaches the stop range, it outputs a stop signal to stop the motor. If the difference between the current value and the set value is within the set early stop value range, the controller outputs an in-position signal , otherwise the in-position signal will not be sent; the set value of the early stop is determined according to the following positioning compensation method: calculate the position of the current backgauge and the set stop set value, and the absolute value of the difference obtained Compare with the in-position tolerance set value: if it is less than the tolerance set value, it will send out the in-position signal; if it is greater than the tolerance set value, it will not send the in-position signal; if it is not in place, the method of compensation is: add the early stop set value The difference between the displayed value of a current stop and the set stop value is used to obtain a new value of the early stop position. When running again, the new early stop position is used to judge whether the motor needs to stop.

2. The positioning compensation method according to claim 1, characterized in that if the back gauge is not in place, the controller does not send out a signal, and the control system is still in the operation mode of back gauge positioning, press Enter at this time key, the controller will calculate the compensation difference and get a new early stop value. The controller will control the rear gauge motor to run again, first make the rear gauge back to the set position, and then position it forward from the set position To the stop position set by the program, if it is in place, it will send a signal of in-position, if it is not in place, continue to compensate.

3. The method for positioning compensation according to claim 1, wherein it is characterized in that a variable frequency drive device is used to control two motors of the back gauge and the slider, and after the slider positioning is completed, it is switched to control the back gauge motor, and the control system Switch back to controlling the slider motor after accepting the next step positioning start signal.