• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a collision-preventing control system for two cutters, to be moved towards one another, of a computer-controlled cutting installation. With this control system, it is possible to detect the actual position of each cutter during the cutting process. The proximity of the two cutters can be determined and compared with a previously set tolerated proximity via comparators arranged in the arithmetic unit. As soon as the tolerated proximity is reached, the control system switches the cutting installation off. In addition, an electrical safety circuit is specified, by means of which it is not possible for the cutting installation, after being automatically switched off, to start up again automatically. …<IMAGE>…
    公开号:SU1644714A3
    申请号:SU894613765
    申请日:1989-03-21
    公开日:1991-04-23
    发明作者:Брудер Вольфганг；Бирверт Клаус；Кюппер Герд
    申请人:Дюркопп Зюстемтехник Гмбх (Фирма)；
    IPC主号:
    专利说明:

    The invention relates to mechanical engineering, in particular, to control systems of cutting equipment, and can be used to prevent the cutting heads of two cutting portals from colliding during the cutting process.
    The purpose of the invention is to increase the reliability of the device.
    FIG. 1 shows a projection image of a cutting machine with ultra-high pressure jet cutting heads; in fig. 2
    The cutting installation in a simplified image, top view, is shown in FIG. 3 is a block diagram of an electronic control and monitoring unit; in fig. 4 shows a 32-bit arithmetic logic function block diagram; in fig. 5 is an electrical circuit of a safety unit; in fig. 6 is an electrical emergency emergency cut-off circuit for cutting nozzles.
    The device contains two cutting gantries 1 and 2, moving along the cutting table 3 along the gear rails.
    Cams 4 and 5 along the table, each cutting portal can move along the entire length of the material to be cut on the cutting table.
    Each cutting port 1 and 2 is provided with a transversely movable holder 6 or 7 of the cutting head, in which high pressure cutting nozzles 8 or 9 are located. The cutting table 3 and both portals 1 and 2 are mounted on the bed 10. Top level
    hierarchical control system is the central computing complex 11.1
    The control and management of both portals 1 and 2 and the holders 6 and 7 of the cutting heads is carried out by means of position regulators 12-15, which are connected to the central computer complex 11 as it follows from FIG.
    Using the incremental sensors 16 and 17 of the path, the actual value of the distance traveled by each portal is determined, and the sensor 16 of the path is assigned to 2 portal 1, and the sensor 17 of the path to portal 2. This index extends to the engines M1 and M2, depicted only symbolically, and also electronic function blocks 18 and 19, 3 associated with a respective track sensor and position controllers.
    For the sake of simplicity, t and also to avoid a possible collision in a dangerous direction along the x axis, it is important 3 only the movement of the cutting portals 1 and 2. FIG. 3 shows only the drive motors of the cutting portals 1 and 2 with the corresponding sensors 16 and 17 of the path. Naturally, the controllers 14 and 15 4 positions with the appropriate engines and track sensors for the transverse movement of the holders 6 and 7 of the cutting heads are also included and working. Each of the functional blocks 18 and 19 4 controls the movement of one cutting portal.
    Both functional blocks 18 and 19 are connected to the arithmetic-logical functional block 20, the functional group 21 and through the interface system 22 with the central computing complex 11.
    With programmable memory, a functional group 21 comprising a central microprocessor serves to actuate the actuators. From them, for example, go

    5 0 5
    0
    commands for opening and closing high pressure nozzles 8 or 9. The arithmetic logic unit 20 (FIG. 4) contains three registers 23-25, a difference generator 26 and a digital comparator 27. Register 23 is connected with the central computing complex 11, and registers 24 and 25 with functional blocks 18 and 19, respectively.
    The output of the digital comparator 27 is connected to an actuating unit 28 consisting of an amplifier 29 and a contactor 30 connected in series with it, which by its contact 31 interrupts the operation of the position regulator 12 or 13, so that the motors no longer receive control signals. The drive motors of the cutting gantries may be braked by a brake that is not shown, thereby increasing the speed of the system's reaction.
    In order to exclude the automatic switching on of the cutting installation after it has been shut down due to the danger of collision, the device has a relay unit (Fig. 5) containing an operator acknowledgment button 32, an emergency switch 33 and electromagnetic contactors 34 and 35, the windings of which are shunted by diodes 36 and 37.
    The contactor 34 is turned on through the serially connected contacts of the emergency switch 33, the contact 31 of the contactor 30, the operator acknowledging button 32 and the contact 38 of the contactor 35. Parallel to the serially connected contacts of the operator acknowledging button 32 and the disconnecting contact 38 of the contactor 35 are connected the serially interlocked contact 39 of the contactor 34 and breaker contact 40 of contactor 35,
    The end contactor 35 of the relay node is switched on by the contact 41 of the intermediate contactor 34. Parallel to the contact 41, the self-blocking contact 42 of the contactor 35 is turned on.
    Contacts 43 and 44 of contactor 35 control the operation of position regulators 12 and 13, and contact 45 includes, schematically shown, brakes 46 and 47.
    In the event of a collision between both portals 1 and 2 to prevent additional damage to the cutting nozzles 8
    and 9 are switched off by a functional group 21 acting on the electromagnetic contactors 48 and 49 for cutting off the nozzles. The control signal to the functional group 21 comes from the emergency switch 33 through the circuit 50. To reduce the time spent on cutting out of the material several patterns from one web of material, several cutting tools are used at the computer-controlled installations. A high degree of optimization of the cutting time is possible if each portal, on which the cutting head is located, does not select a separate cutting area, but distribute the cutting to the portals embedded in the computer’s contour data in such a way that each portal finishes its work. same or about the same time. Since in this case the areas of work of the portals partially overlap, this form of optimization is possible only if the possibility of a collision of the portals with each other during the cutting operation is excluded.
    For this, the distribution of the cutting sequence of the individual contours to be cut must be made taking into account possible collision points. Starting from an arbitrarily chosen zero or reference point P0, the family of coordinates of each contour is entered into the computer. For the optimal path of cutting tools to be determined now, each is indicated (for each possible or necessary movement, towards the risk of collision) a safe area describing the allowable convergence. This safe zone is a constant value that is added to or subtracted from the current position coordinate.
    Whether to produce a slal: the development or subtraction of the safety zone depends on the previously selected zero position.
    or the starting point P.
    about
    The computer separates the contours to be cut further, firstly, based on the condition that both cutting tools finish cutting at the same time or almost simultaneously, and secondly, to satisfy the condition
    Pt i (x) + P (1aXPzi (x) -P (2a),
    Q $ 0 5
    Where
    V
    V
    five
    the possible position of the cutting tools in the direction of the danger of collision; P (1a), P (2a) - zone magnitude modulus
    safety for appropriate cutting tools.
    With this, as described above, the distribution of data theoretically provides for the elimination of collisions during the operation of cutting tools. However, measures are additionally taken to avoid collisions when the cutting strut. The cops deviate from the given trajectory of movement for ciny technological reasons.
    The device works as follows, i
    In register 23 (FIG. 4), the arithmetical-logical functional unit 20 of the central computing complex 11 is digitally entered and the value of the allowable convergence of the two ports 1 and 2, namely P (1a) and P (2a), is remembered (FIG. 2). In the further description of the operation, we proceed from the fact that the choice of the zero point PO and the direction of movement or the safety zones S or S, of the cutting portals 1 and 2 is made according to FIG. 2. In this case, it is possible to mathematically describe the impending collision by the following equation
    Р, (х) + Р (1а) Рг (х) -Р (2а), where Р, (х) is the path traveled every time by portal 1 (cutting nozzle I) or zero point
    Vx)
    P (1a), P (2a)
    ki P0;
    the path traversed by the portal 2 (cutting nozzle 9) from the zero point Pft;
    the safety zone of the corresponding cutting portals 1 or 2 relative to the cutting nozzle 8 H1I 9,
    Rearranged members of the calculus equation, we obtain the value of the allowable approximation
    Re (x) -P, ((1a) + P (2a).
    The functional unit 18 is written each nearest next target coordinate Pj (x) in the direction of the collision hazard (X-axis) of the cutting portal 1 to the register 24 of the functional unit 20 and is stored in
    short time The function block 19 writes each next nearest target coordinate P (x) of the cutting portal 2 to the register 25 of the function block 20, where this value is also stored for a short time in Shaper 26 the difference of the function block 20, the values from the registers 24 and 25 are subtracted into in accordance with the above equation, and the difference in digital comparator 27 is compared with the value in register 23. If the difference takes on the value in register 23 or becomes even smaller, the output () of comparator 27 activates the performer Node 28, which immediately interrupts the operation of position regulator 12 and / or 13, so that the motors Ml and M2 no longer receive control signals (Fig. 5).
    In advance, before starting work, a safety circuit is introduced for automatically restarting the device after it is turned off at a collision hazard.
    The scheme (Fig. 5) works as follows.
    To turn on the cutting machine, the acknowledgment button 32 is pressed so that the contactor 34 is activated and the corresponding contacts 39 and 41 are closed. In this case, the contactor 35 is activated and the contacts 42 - 45 are closed, while the contacts 38 and 40 open, the contactor 34 is de-energized again and the contacts 39 and 41 open The safety circuit is now on, the controllers 12 and 13 are ready for operation. The cutting process can be started if there are appropriate control commands for position controllers.
    In case the digital comparator 27 detects the possibility of a collision between cutting portals 1 and 2, a control impulse comes from it and is fed through the amplifier 29 to the contactor 30. The latter triggers and opens the corresponding contact 31. Connection to the regulators 12 and / or 13 positions are interrupted, due to which their power output is de-energized and the engines M1 and M2 of the cutting portals 1 and 2 are stopped. In addition, contacts 42-45 are opened, and contacts 38 and 40 are closed because
    50
    five
    0 5 d
    five
    0
    five
    contactor 35 is accurate. Additionally, it can be assumed that Ml and M2 engines would brake with schematically shown brakes 46 and 47. If the operator’s accept button 32 is designed as a push-button switch (key) with a spring, then it must be pressed to resume the cutting process after automatic shutdown. The possibility of continuing the cutting process is determined by the operator.
    At the same time, automatic reclosing is also excluded if the subsequent position data recorded in registers 24 and 25 is of such a magnitude that the risk of a collision is no longer detected and, due to the absence of a control signal to the contactor 30, contact 31 is closed again. The same is true if a short-term disappearance or reduction of the supply voltage causes the cutting installation to stop.
    The emergency switch 33 is a mechanical anti-collision protection. This switch is installed on one of the gantries 1 or 2, and in the corresponding place of the other gantry, a not shown probe or rod is installed, the length of which corresponds to the permissible approaching of gantries 1 and 2. If the distance decreases and the control signal from the comparator 27 is not provided , then the probe will activate the emergency switch 33, so that the current circuit to the regulators 12 and 13 is interrupted.
    In addition, in the event of a collision between both portals 1 and 2, to prevent additional damage, the cutting nozzles 8 and 9 should be turned off and retracted to a safe position. For this reason, the emergency switch 33 is electrically connected to the programmable memory function group 21. From FIG. 6, in the event of a collision, a control signal is sent to the functional group 21, which triggers the control program of the electromagnetic contactors 48 and 49 of the cutting nozzles 8 and 9 and, firstly, the nozzles 8 and 9 are turned off, and secondly, they are diverted to more high position relative to the material to be cut.
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    15
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    ° “-He g LoGaGG .G it with the first Register„ th
    From the “Eichral” - in the complex, and in the Rraznost with the exit, the exit is glued in to the inlets, to the entrances memory, Saint - HGA with -ve.s. F. - tonal Slok.
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    权利要求:
    Claims (2)
    [1]
    Claim
    1. A device for preventing a collision of two cutting tools, comprising a central computing system and associated with it through an interface system control unit for cutting tools and two functional blocks, position controllers and sensors of portal gantry with cutting tools installed on them, connected to the corresponding functional unit, characterized in that, in order to increase reliability in operation, three additional memory registers, a signal difference shaper, a digital compar the atator and the executive unit, the outputs of which are connected to the 20 i-control inputs of the port position controllers, and its input is connected to the output of the digital comparator, the digital comparator is connected to the first memory register connected to the central computer complex by the first input, and the second input is connected to the output of the difference shaper signals, the inputs of which are connected to the second and third memory registers, each associated with a corresponding functional unit.
    [2]
    2. The device according to claim 1, characterized in that, in order to prevent spontaneous second start-up of the device after an emergency shutdown, an additional relay unit and an acknowledgment button for the operator are introduced, the output of the relay unit being included in the control circuit of the portal position controllers, and the input through the acknowledgment button of the operator - to the output of the executive unit.
    FIG. 1
    Fig 4
    J3
    4c n> -
    OSuf ._____ FIG. 5
    类似技术:
    公开号 | 公开日 | 专利标题
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    US3596086A|1971-07-27|Automatic conveyor block system
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    US1845308A|1932-02-16|Railway traffic controlling apparatus
    JPS61147306A|1986-07-05|Safety device of robot
    JP2597721B2|1997-04-09|Protection device for DC power circuit
    US1824113A|1931-09-22|Power interlocking system for railroads
    US1824112A|1931-09-22|Power interlocking system for railroads
    同族专利:
    公开号 | 公开日
    EP0334044B1|1994-04-27|
    ES2051902T3|1994-07-01|
    DE58907540D1|1994-06-01|
    DE3809630C1|1989-05-18|
    JP2676627B2|1997-11-17|
    EP0334044A3|1991-01-30|
    JPH01274997A|1989-11-02|
    EP0334044A2|1989-09-27|
    DD283578A5|1990-10-17|
    US4994979A|1991-02-19|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US2809541A|1953-11-16|1957-10-15|Remington Arms Co Inc|Obstruction detector for heading machine|
    US3626796A|1970-04-01|1971-12-14|Gerber Garment Technology Inc|Sheet material cutting apparatus with fail-safe means|
    US3769488A|1972-01-19|1973-10-30|Hughes Aircraft Co|Workload allocation for one or more tools in a laser cloth cutting system|
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    US4267914A|1979-04-26|1981-05-19|Black & Decker Inc.|Anti-kickback power tool control|
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    GB2082346B|1980-07-04|1984-05-16|Komatsu Mfg Co Ltd|Method and device for automatically retreating and returning a tool in a machine tool|
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    US4758961A|1986-07-10|1988-07-19|Yamazaki Machinery Works, Ltd.|Tool move control method and apparatus for preventing tool interference with an object.|
    DE3627110C2|1986-08-06|1989-08-10|Duerkopp System Technik Gmbh, 4800 Bielefeld, De|
    US4736661A|1986-09-22|1988-04-12|Takaaki Shirai|Cutting apparatus|US5304906A|1989-12-26|1994-04-19|Fanuc Ltd.|Collision detecting method using an observer|
    DE4039827C2|1990-12-13|1995-04-06|Duerkopp System Technik Gmbh|Device for setting the parallel distance between tools on a numerically controlled machine tool|
    FR2722618B1|1994-07-13|1996-08-14|Sylea Sa|INSTALLATION FOR DISTRIBUTING PATONS OF PLASTIC ADHESIVE MATERIAL AND TOOL FOR LAYING SAID PATONS IN ELECTRICAL CONNECTOR HOUSING ELEMENTS|
    DE4443669A1|1994-12-08|1996-06-13|Index Werke Kg Hahn & Tessky|Method and device for monitoring the movement of a machine component|
    US5798627A|1995-01-04|1998-08-25|Gilliland; Malcolm T.|Method for simultaneous operation of robot welders|
    DE19516047C2|1995-05-04|1997-04-30|Wohlenberg Vertriebs Und Servi|Triple cutter|
    US5727433A|1995-09-08|1998-03-17|Gerber Garment Technology, Inc.|Method for cutting sheet material|
    DE19719196C2|1996-05-08|2000-06-29|Wolfgang Bruder|Method and device for producing blanks from defective, flat, flaccid materials|
    US5806719A|1997-07-11|1998-09-15|Tetra Laval Holdings & Finance, Sa|Fitment based dispensing system for a pouch|
    US6520057B1|1997-09-30|2003-02-18|Eastman Machine Company|Continuous system and method for cutting sheet material|
    IT1305391B1|1998-09-11|2001-05-04|Teseo Spa|MACHINE PERFECTED FOR CUTTING LEATHER AND SIMILAR|
    ITBO20010134A1|2001-03-13|2002-09-13|Jobs Spa|MACHINE TOOL|
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    DE102010016479A1|2010-04-16|2011-10-20|Matthias Felber|Cutting machine and method for performing cutting work on flat limp or other materials|
    DE102014218977A1|2014-09-22|2016-03-24|Bayerische Motoren Werke Aktiengesellschaft|Method for cutting semi-finished strips and cutting device for cutting semi-finished strips|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE3809630A|DE3809630C1|1988-03-22|1988-03-22|
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