CN102120230B - Device and method for measuring bending angle of bent piece - Google Patents

Device and method for measuring bending angle of bent piece Download PDF

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Publication number
CN102120230B
CN102120230B CN 201010579352 CN201010579352A CN102120230B CN 102120230 B CN102120230 B CN 102120230B CN 201010579352 CN201010579352 CN 201010579352 CN 201010579352 A CN201010579352 A CN 201010579352A CN 102120230 B CN102120230 B CN 102120230B
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CN
China
Prior art keywords
bending
distance
rotatable platform
angle
measuring sensor
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CN 201010579352
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Chinese (zh)
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CN102120230A (en
Inventor
涂宏斌
任会礼
曾光
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中联重科股份有限公司
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Priority to CN 201010579352 priority Critical patent/CN102120230B/en
Publication of CN102120230A publication Critical patent/CN102120230A/en
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Publication of CN102120230B publication Critical patent/CN102120230B/en

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical means
    • G01B11/26Measuring arrangements characterised by the use of optical means for measuring angles or tapers; for testing the alignment of axes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21CMANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C51/00Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/006Bending sheet metal along straight lines, e.g. to form simple curves combined with measuring of bends
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/02Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means

Abstract

The invention provides a device and method for measuring the bending angle of a bent piece. The device comprises a rotation platform, a drive device, an angle sensor, a ranging sensor and a control device, wherein the drive device is mechanically connected with the rotation platform and used for driving the rotation platform to rotate; the angle sensor is used for measuring the rotation angle of the rotation platform; the ranging sensor is fixed on the rotation platform and is used for measuring the distance between the ranging sensor and a first bent part of the bent piece; and the control device is electrically connected with the angle sensor, the ranging sensor and the drive device, and is used for controlling the drive device to drive the rotation platform to rotate in the bending direction of the first bent part according to the distance between the ranging sensor and the first bent part until the distance to the first bent part measured by the ranging sensor is minimal, and at least calculating the bending angle of the bent piece according to the rotation angle sensed by the angle sensor. The device and method provided by the invention have the advantages of simple structure and accurate measurement, and have low requirements for external environment.

Description

A kind of bending angle measurement device and method of bending member
Technical field
The present invention relates to the angular surveying field, and relate in particular to a kind of the detection by the measurement device and the method for the bending angle of bending workpiece.
Background technology
The bus bar folder is a kind of equipment that bus is processed of being used for, and Fig. 1 shows angle and is controlled at the application in the bus bar folder.As shown in Figure 1, the bus bar folder comprises die 10 and pressure head 20.When using the bending angle of this bus bar folder change bus 30, bus 30 is placed said die 10, and utilize 20 pairs of buses of pressure head 30 to carry out punching press, thus the bending angle of change bus 30.In this bus bar folder, the control of bending angle is realized through angle indicating device.This angle indicating device comprises push rod 40, pointer 50 and dial 60; Said push rod 40 is positioned at said die 10, links to each other with said pointer 50, and moves downward along with the extruding of bus 30; Thereby drive pointer 50 motions, the angle that is shown on the indicating graduation dish 60.The installation site of this angle indicating device is confirmed according to displacement and the corresponding relation of bus bending angle of push rod about in the of 40.
Though above-mentioned angle indicating device can be realized the measurement of bending angle, yet its alignment error is very big to the influence of measurement result, and owing to often impacted, the loss of angle indicating device is very big.
Also exists laser autocollimatic method, the interior shooting method of optics and laser interference to carry out bending angle in the prior art and measure, yet there is following shortcoming in it:
(1) laser autocollimatic method: the resolution ratio of measurement is relevant with the focal length of lens in the collimator, and focal length is long more, and resolution ratio is high more, can produce the problem that this neutralization of instrument takes up space and increases but the focal length of lens is long.In addition, generally very little based on the measuring instrument measurement category of optics autocollimatic method, between a few minutes and tens minutes, the resolution ratio of measurement is also undesirable usually.
(2) optics internal reflection method: this method is high to environmental requirement, need in the darkroom, carry out, and requires light source that advantages of higher stability is arranged simultaneously.
(3) laser interferance method: this method is very harsh to environmental requirement, and many extraneous factors (flowing like surrounding air) all can produce very big influence to measurement result.In addition, the apparatus structure based on laser interferance method is accurate, stability is bad, volume is big, only as a kind of measuring basis and detection means, is difficult to in-site measurement usually.
Summary of the invention
For overcoming the many defectives in the bending angle measurement scheme in the prior art, spy of the present invention provides simple, the applied widely and measurement result of a kind of mechanism bending angle measurement device and method accurately.
The bending angle measurement device of a kind of bending member provided by the invention (this bending member comprises first bending part and second bending part that lays respectively at both sides, bending member inflection point) comprising: rotatable platform; Drive unit with said rotatable platform mechanical connection, is used to drive said rotatable platform and rotates; Angular transducer is used to measure the rotational angle of said rotatable platform; Distance measuring sensor is fixed on the said rotatable platform, is used to measure the distance of this distance measuring sensor to said bending member; And control device; Be electrically connected with said angular transducer, distance measuring sensor and drive unit; Be used for according to the distance between first bending part of distance measuring sensor and bending member; Control said drive unit and drive of the overbending direction rotation of said rotatable platform at said bending member first bending part; The distance to first bending part of said bending member until said distance measuring sensor is measured is minimum, with the rotational angle of the said angular transducer institute sensing bending angle as first bending part of said bending member, and calculates the bending angle of said bending member at least according to this bending angle.
Wherein, the bending angle of said bending member can be 2 times of bending angle of first bending part of said bending member.
Wherein, This equipment can also comprise another group rotatable platform, drive unit, angular transducer and the distance measuring sensor to second bending part setting of said bending member; Said control device also calculates the bending angle of second bending part of said bending member; And with the bending angle addition of first bending part of this bending angle and said bending member, to draw the bending angle of said bending member.
Wherein, said distance measuring sensor can be ultrasonic ranging sensor, laser range sensor or infrared distance measuring sensor.Said angular transducer can be the obliquity sensor that is fixed on the said rotatable platform.
Wherein, said drive unit can be stepper motor.
Wherein, said drive unit and the mechanical connection of said rotatable platform can be that worm and gear is connected or gear connects.
In addition, a kind of being used for provided by the invention comprises the method that the bending angle of bending member is measured: distance measuring sensor is fixed on rotatable platform; Before said bending member bends, regulate said rotatable platform, make said distance measuring sensor vertically over against first bending part of said bending member; After said bending member bends, rotate said rotatable platform at the overbending direction of first bending part of said bending member, make the measured distance of said distance measuring sensor minimum to said bending member; And the rotational angle of measuring said rotatable platform, with the bending angle of this rotational angle, and calculate the bending angle of said bending member at least according to this bending angle as first bending part of said bending member.
Wherein, the bending angle of said bending member can be 2 times of bending angle of first bending part of said bending member.
Wherein, said method can also comprise: the bending angle of measuring second bending part of said bending member; And with the bending angle addition of first bending part of this bending angle and said bending member, to draw the bending angle of said bending member.
Wherein, Said make said distance measuring sensor measured to may further comprise the steps of said first bending part apart from minimum: after bending member bends; Write down the measured initial distance of said distance measuring sensor to said first bending part; And on the overbending direction of said first bending part, be that unit rotates said rotatable platform with first step-length; Revolution moves first step-length; With measured the comparing to the measured extremely first front distance of said first bending part of the current distance of said first bending part said distance measuring sensor in last position of said distance measuring sensor, if less than first front distance, then to continue on the overbending direction of said first bending part with first step-length be that unit rotates said rotatable platform to current distance; If current distance, is then controlled said rotatable platform rollback to last position greater than first front distance, and remains on this position; If current distance equals first front distance, then control said rotatable platform and remain on current location.
Wherein, Said make said distance measuring sensor measured to may further comprise the steps of said first bending part apart from minimum: after bending member bends; Write down the measured initial distance of said distance measuring sensor to said bending member; And on the overbending direction of said first bending part, be that unit rotates said rotatable platform with second step-length; Revolution moves second step-length; With measured the comparing to the measured extremely first front distance of said first bending part of the current distance of said first bending part said distance measuring sensor in last position of said distance measuring sensor, if less than first front distance, then to continue on the overbending direction of said first bending part with second step-length be that unit rotates said rotatable platform to current distance; If current distance is more than or equal to first front distance; Then being controlled on the direction opposite with the overbending direction of said first bending part with the 3rd step-length less than said second step-length is that unit rotates said rotatable platform; Revolution moves the 3rd step-length; The measured first front distance to said first bending part of said distance measuring sensor compares in the current distance of the extremely said bending member that said distance measuring sensor is measured and the last position; If it is that unit rotates said rotatable platform that current distance less than first front distance, then continues on the direction opposite with the overbending direction of said first bending part with the 3rd step-length; If current distance, is then controlled said rotatable platform rollback to last position greater than first front distance, and remains on this position; If current distance equals first front distance, then control said rotatable platform and remain on current location.
Bending angle measurement device provided by the invention and method can be through seeking distance measuring sensor to said bending member distance and rotatable platform is rotated so that said distance is minimum; Utilize angular transducer to measure the rotational angle of rotatable platform; Thereby can realize the indirect measurement of bending angle of first bending part of bending member with rotational angle, utilize the bending angle of first bending part of this bending member to try to achieve the bending angle of whole bending member afterwards.That the present invention has is simple in structure, measure accurately and the not high advantage of environmental requirement to external world.
Description of drawings
Fig. 1 shows the application of angle indicating device in the bus bar folder;
Fig. 2 is the structural representation of bending angle measurement device provided by the invention;
Fig. 3 is the sketch map that shows the concrete use of bending angle measurement device provided by the invention;
Fig. 4 is to the flow chart of the rotation process of rotatable platform in the bending angle measurement device provided by the invention;
Fig. 5 is to the flow chart of another rotation process of rotatable platform in the bending angle measurement device provided by the invention; And
Fig. 6 is the flow chart of bending angle measuring method provided by the invention.
The specific embodiment
For let above-mentioned and other purposes of the present invention, feature and advantage can be more obvious, hereinafter will cooperate appended diagram, elaborate as follows.In addition, in explanation of the present invention, identical member is with identical symbolic representation, in this close chat earlier bright.
Fig. 2 is the structural representation of bending angle measurement device provided by the invention.As shown in Figure 2; The invention provides a kind of bending angle measurement device of bending member; This bending member comprises the first bending part 30a and the second bending part 30b that lays respectively at both sides, bending member inflection point; This equipment comprises rotatable platform 100, angular transducer 200, distance measuring sensor 300, drive unit 400 and control device 500; Drive unit 400 and said rotatable platform 100 mechanical connections are used to drive said rotatable platform 100 and rotate at the overbending direction of the first bending part 30a of said bending member; Said angular transducer 200 is used to measure the rotational angle of said rotatable platform 100; Said distance measuring sensor 300 is fixed on the said rotatable platform 100, is used to measure the distance of the first bending part 30a of this distance measuring sensor 300 to said bending member; Said control device 500 is electrically connected with said angular transducer 200, distance measuring sensor 300 and drive unit 400; Be used for according to the distance between the first bending part 30a of distance measuring sensor 300 and said bending member; Control said drive unit 400 and drive of the overbending direction rotation of said rotatable platform 100 at the first bending part 30a of said bending member; The distance to the first bending part 30a of said bending member until said distance measuring sensor 300 is measured is minimum; With the rotational angle of 200 sensings of said angular transducer bending angle, and calculate the bending angle of said bending member at least according to this bending angle as the first bending part 30a of said bending member.
Wherein, said control device 500 can be other embedded systems such as single-chip microcomputer or DSP, and it can comprise display screen and show with the bending angle to said bending member.
Wherein, said distance measuring sensor 300 can be ultrasonic ranging sensor, laser range sensor or infrared distance measuring sensor.Said angular transducer 200 can be the obliquity sensor that is fixed on the said rotatable platform 100 (such as; Solid pendulum-type obliquity sensor, liquid pendulum-type obliquity sensor or pendulum type in-gas inclination senser); This obliquity sensor can rotate with said rotatable platform 100, thereby with the inclination angle of its sensing rotational angle as rotatable platform 100; Said angular transducer 200 also can be realized through two distance measuring sensors being located at rotatable platform 100 belows; This distance measuring sensor can be measured respectively to the distance of said rotatable platform 100; According to the difference of measured distance and the distance between this two distance measuring sensors, utilize the trigonometric function relational expression to try to achieve the rotational angle of rotatable platform 100 afterwards.Said drive unit 400 can be stepper motor.Certainly, the present invention is not limited to this, anyly realizes finding range, angular surveying and drive the device that rotatable platform 100 rotates and all can be applicable to this.
Wherein, Said drive unit 400 can be various connected mode known in the field with the mechanical connection of said rotatable platform 100; Be preferably that worm and gear connects or gear connects, this connection can make the stable drive of drive unit 400 to rotatable platform 100, and precision is high.
Fig. 3 is the sketch map that shows the concrete use of bending angle measurement device provided by the invention.As shown in Figure 3; Distance measuring sensor 300 is fixed on the rotatable platform 100 with angular transducer 200 (is that obliquity sensor is that example describes with angular transducer 200 at this); And this rotatable platform 100 is by drive unit 400 driven rotary, thereby forms a closed-loop control system.Straight and when bending takes place (shown in figure solid line part) at bending member; Vertically measure apart from the distance of the first bending part 30a of bending member over against the distance measuring sensor 300 of bending member; This distance is the initial minimum range apart from the first bending part 30a of bending member, and this distance is the basis of angular transducer 200 zeroings.When bending takes place in bending member (shown in the figure dotted portion); Distance measuring sensor 300 measured distances (this distance is the distance of distance measuring sensor 300 to first bending part 30a) change; Control device 500 as feedback, starts drive unit 400 with the measured distance of distance measuring sensor 300, drives rotatable platform 100 rotations; Thereby driving angular transducer 200 rotates with distance measuring sensor 300; Record when the distance of the first bending part 30a of bending member is said minimum range until distance measuring sensor 300, drive unit 400 quits work, and this moment, obliquity sensor 200 measured angles were the bending angle of the first bending part 30a of bending member.
Need to prove at this; For the situation of the centre of bending member being carried out punching press; First bending part 30a of said bending member and the bending angle of the second bending part 30b are the same; Measure bending angle that bending angle can obtain whole bending member to the first bending part 30a this moment, and the bending angle of whole bending member is the twice of the bending angle of the first bending part 30a;
In addition, for the situation that punching press is carried out in the centre of bending member 10, the bending angle of the first bending part 30a and the second bending part 30b in fact can not be in full accord.Therefore; Preferably; Said equipment also can comprise another group rotatable platform, drive unit, angular transducer and the distance measuring sensor to the second bending part 30b setting of said bending member; Said control device 500 also calculates the bending angle of the second bending part 30b of said bending member, and with the bending angle addition of the first bending part 30a of this bending angle and said bending member, to draw the bending angle of said bending member.By this, can reduce to adopt the bending angle of the above-mentioned survey first bending part 30a and, make measurement more accurate with the error that method possibly produce of 2 times of these bending angles as the bending angle of whole bending member.
In addition; For the situation of the non-central position of bending member being carried out punching press; The first bending part 30a of said bending member and the second bending part 30b are because the influence of factors such as quality; Its bending angle is different, also need measure the bending angle of the first bending part 30a and the second bending part 30b this moment respectively, promptly need lay above-mentioned bending angle measurement device respectively to the first bending part 30a and the second bending part 30b; And with the bending angle addition of the measured first bending part 30a and the second bending part 30b, with bending angle as whole bending member.
Down in the face of control device 500 as how distance measuring sensor 300 measured distances drive rotatable platform 100 as feedback and rotate, till the measured distance to the first bending part 30a of bending member of distance measuring sensor 300 is minimum range, describe.
Fig. 4 is to the flow chart of the rotation process of rotatable platform 100 in the bending angle measurement device provided by the invention.As shown in Figure 4; After bending member bends; The initial distance that the said distance measuring sensor of said control device 500 records 300 is measured to the first bending part 30a of said bending member; And controlling said drive unit 400, to drive said rotatable platform 100 be that unit rotates with first step-length on the overbending direction of the said first bending part 30a; Revolution moves first step-length; The measured first front distance to the first bending part 30a of bending member of said distance measuring sensor to the current distance of the first bending part 30a of bending member and the last position that said distance measuring sensor 300 is measured 300 compares; If current distance, then shows rotatable platform 100 less than first front distance at present just towards the measured minimum direction of distance to the first bending part 30a of bending member of distance measuring sensor 300 is rotated, continuing the said rotatable platform 100 of control is that unit rotates with first step-length on the overbending direction of the said first bending part 30a; If current distance is greater than first front distance; It is excessive to show that then rotatable platform 100 rotates; Control said rotatable platform 100 rollbacks to last position; And remaining on this position, this position promptly makes the minimum position of distance to the first bending part 30a of bending member that distance measuring sensor 300 is measured in the regulative mode for this reason; If current distance equals first front distance; Then show the minimum position of distance that rotatable platform 100 residing positions make for this reason that promptly distance measuring sensor 300 is measured in the regulative mode, control said rotatable platform 100 and remain on current location to the first bending part 30a of bending member.Need to prove at this; Said first step-length needs enough little; So that it is very fine to the adjusting of rotatable platform 100; Can realize minimum range in this regulative mode very near said initial minimum range, just make distance measuring sensor 300 basic or fully vertically over against the first bending part 30a of bending member.
Fig. 5 is to the flow chart of another rotation process of rotatable platform 100 in the bending angle measurement device provided by the invention.Preferably; As shown in Figure 5; After bending member bends; The initial distance that the said distance measuring sensor of said control device 500 records 300 is measured to the first bending part 30a of said bending member; And controlling said drive unit 400, to drive said rotatable platform 100 be that unit rotates with second step-length on the overbending direction of the said first bending part 30a; Revolution moves second step-length, and the measured first front distance to the first bending part 30a of bending member of said distance measuring sensor to the current distance of the first bending part 30a of bending member and the last position that said distance measuring sensor 300 is measured 300 compares, if current distance is less than first front distance; Then show rotatable platform 100 at present just towards the measured minimum direction of distance to the first bending part 30a of bending member of distance measuring sensor 300 is rotated, continuing the said rotatable platform 100 of control is that unit rotates with second step-length on the overbending direction of the said first bending part 30a; If current distance is more than or equal to first front distance; It is excessive to show that then rotatable platform 100 rotates; Controlling said rotatable platform 100 is that unit rotates with the 3rd step-length less than said second step-length on the direction opposite with the overbending direction of the said first bending part 30a; Revolution moves the 3rd step-length; The measured first front distance to the first bending part 30a of bending member of said distance measuring sensor to the current distance of the first bending part 30a of bending member and the last position that said distance measuring sensor 300 is measured 300 compares; If it is still excessive that current distance, shows then that rotatable platform 100 rotates less than first front distance, continuing the said rotatable platform 100 of control is that unit rotates with the 3rd step-length on the direction opposite with the overbending direction of the said first bending part 30a; If current distance is greater than first front distance; Show that then rotatable platform 100 rollbacks are excessive; Control said rotatable platform 100 rollbacks to last position, and remain on this position, this position promptly makes the minimum position of distance that distance measuring sensor 300 is measured in the regulative mode for this reason; If current distance equals first front distance; Then show rotatable platform 100 residing positions promptly for this reason making in the regulative mode control said rotatable platform 100 and remain on current location in the minimum position of distance that distance measuring sensor 300 is measured to the first bending part 30a of bending member.
Rotatable platform 100 is adjusted so that in the minimum process of the measured distance of distance measuring sensor 300 above-mentioned to the first bending part 30a of bending member; Also can with the 3rd step-length be unit look for one make the minimum rotatable platform position of the measured distance of distance measuring sensor 300 to the first bending part 30a of bending member after; Adopt four step-length little than the 3rd step-length further search make the measured rotatable platform position of distance measuring sensor 300 to the distance minimum of the first bending part 30a of bending member, to reach higher precision.Afterwards, also can further search for the 5th step-length littler than the 4th step-length according to the demand of accuracy, move in circles with this, the minimum range that in this adjustment process, is reached equals till the said initial minimum range.Above-mentioned second, third, the 4th and the 5th step-length can not regulate under the excessive principle again neither influencing the adjusting time, set according to field condition.
Certainly; Utilize other searching method search to make minimum rotatable platform 100 positions of distance measuring sensor 300 measured distances also be fine; Yet preferably adopt above-mentioned searching method provided by the present invention, this method second step-length capable of using is confirmed an approximate location, utilizes the 3rd step-length to finely tune afterwards again; Search efficiency is high, helps improving the real-time of bending angle measurement device.
In addition, the present invention also provides with a kind of method that the bending angle of bending member is measured of being used for.Fig. 6 is the flow chart of bending angle measuring method provided by the invention.As shown in Figure 6, said method comprises: distance measuring sensor 300 is fixed on the rotatable platform 100; Before said bending member bends, regulate said rotatable platform 100, make said distance measuring sensor 300 vertical first bending parts over against said bending member; After said bending member bends, rotate said rotatable platform 100 at the overbending direction of the first bending part 30a of said bending member, make the measured distance of said distance measuring sensor 300 minimum to the first bending part 30a of said bending member; And the rotational angle of measuring said rotatable platform 100, with the bending angle of this rotational angle, and calculate the bending angle of said bending member at least according to this bending angle as the first bending part 30a of said bending member.
Wherein, the bending angle of said bending member can be 2 times of bending angle of the first bending part 30a of said bending member.
Wherein, said method also can comprise: the bending angle of measuring the second bending part 30b of said bending member; And with the bending angle addition of the first bending part 30a of this bending angle and said bending member, to draw the bending angle of said bending member.
Wherein, Saidly make measured may further comprise the steps to the I of the distance of the said first bending part 30a of said distance measuring sensor 300: after bending member bends; Write down the measured initial distance of said distance measuring sensor 300 to the first bending part 30a of said bending member; And on the overbending direction of the said first bending part 30a, be that unit rotates said rotatable platform 100 with first step-length; Revolution moves first step-length; Said distance measuring sensor 300 measured first front distances compare in current distance that said distance measuring sensor 300 is measured and the last position; If current distance, then shows rotatable platform 100 less than first front distance at present just towards the distance measuring sensor 300 measured minimum directions of distance are rotated, continuing on the overbending direction of the said first bending part 30a with first step-length is that unit rotates said rotatable platform 100; If current distance is greater than first front distance; It is excessive to show that then rotatable platform 100 rotates; Control said rotatable platform 100 rollbacks to last position, this position promptly makes the minimum position of distance to the first bending part 30a of bending member that distance measuring sensor 300 is measured in the regulative mode for this reason; If current distance equals first front distance, then show the minimum position of distance that rotatable platform 100 residing positions make for this reason that promptly distance measuring sensor 300 is measured in the regulative mode, control said rotatable platform 100 and remain on current location.
Preferably; Saidly make measured may further comprise the steps to the I of the distance of the said first bending part 30a of said distance measuring sensor 300: after bending member bends; Write down the measured initial distance of said distance measuring sensor 300 to the first bending part 30a of said bending member; And on the overbending direction of the said first bending part 30a, be that unit rotates said rotatable platform 100 with second step-length; Revolution moves second step-length; Said distance measuring sensor 300 measured first front distances compare in current distance that said distance measuring sensor 300 is measured and the last position; If current distance, then shows rotatable platform 100 less than first front distance at present just towards the distance measuring sensor 300 measured minimum directions of distance are rotated, continuing on the overbending direction of the said first bending part 30a with second step-length is that unit rotates said rotatable platform 100; If current distance is more than or equal to first front distance; It is excessive to show that then rotatable platform 100 rotates; Being controlled on the direction opposite with the overbending direction of the said first bending part 30a with the 3rd step-length less than said second step-length is that unit rotates said rotatable platform 100; Revolution moves the 3rd step-length; Said distance measuring sensor 300 measured first front distances compare in current distance that said distance measuring sensor 300 is measured and the last position; If it is still excessive that current distance, shows then that rotatable platform 100 rotates less than first front distance, continuing on the direction opposite with the overbending direction of the said first bending part 30a with the 3rd step-length is that unit rotates said rotatable platform 100; If current distance, shows then that rotatable platform 100 rollbacks are excessive greater than first front distance, control said rotatable platform 100 rollbacks to last position, and remain on this position; If current distance equals first front distance, show that then rotatable platform 100 residing positions are the minimum position of distance that makes that distance measuring sensor 300 is measured, control said rotatable platform 100 and remain on current location.
Bending angle measurement scheme of the present invention is compared with similar scheme, has the following advantages:
(1) system is simple, and measuring principle is simple.Only need distance measuring sensor, angular transducer, stepper motor and control device.Only need find distance measuring sensor to get final product during measurement to the minimum range of bending member.And, in operation process, do not influence measurement owing to be noncontacting measurement.
(2) certainty of measurement is high, and the precision of distance measuring sensor can arrive micron order, and the precision of angular transducer can arrive 0.02 °, and the stepper motor precision can arrive 0.02 ° of step angle and 250 segmentations.
(3) adopt the high minimum range searching method of efficient, can realize the accurate location of distance measuring sensor and measurement in real time.
Though the present invention is disclosed through the foregoing description, yet the foregoing description is not in order to qualification the present invention, and technical staff in the technical field is not breaking away from the spirit and scope of the present invention under any the present invention, should do various changes and modification.Therefore protection scope of the present invention should be as the criterion with the scope that appended claims was defined.

Claims (11)

1. the bending angle measurement device of a bending member, this bending member comprises first bending part (30a) and second bending part (30b) that lays respectively at both sides, bending member inflection point, this equipment comprises:
Rotatable platform (100);
Drive unit (400) with said rotatable platform (100) mechanical connection, is used to drive said rotatable platform (100) and rotates at the overbending direction of first bending part (30a) of said bending member;
Angular transducer (200) is used to measure the rotational angle of said rotatable platform (100);
Distance measuring sensor (300) is fixed on the said rotatable platform (100), is used to measure the extremely distance of first bending part (30a) of said bending member of this distance measuring sensor (300); And
Control device (500); Be electrically connected with said angular transducer (200), distance measuring sensor (300) and drive unit (400); Be used for according to the distance between first bending part (30a) of distance measuring sensor (300) and said bending member; Control said drive unit (400) and drive the overbending direction rotation of said rotatable platform (100) at first bending part (30a) of said bending member; The distance to first bending part (30a) of said bending member until said distance measuring sensor (300) is measured is minimum; With the rotational angle of said angular transducer (200) institute sensing bending angle, and calculate the bending angle of said bending member at least according to this bending angle as first bending part (30a) of said bending member.
2. bending angle measurement device according to claim 1, wherein, the bending angle of said bending member is 2 times of bending angle of first bending part (30a) of said bending member.
3. bending angle measurement device according to claim 1; Wherein, This equipment also comprises another group rotatable platform, drive unit, angular transducer and the distance measuring sensor to second bending part (30b) setting of said bending member; Said control device (500) also calculates the bending angle of second bending part (30b) of said bending member, and with the bending angle addition of first bending part (30a) of this bending angle and said bending member, to draw the bending angle of said bending member.
4. equipment according to claim 1; Wherein, Said distance measuring sensor (300) is ultrasonic ranging sensor, laser range sensor or infrared distance measuring sensor, and said angular transducer (200) is for being fixed in the obliquity sensor on the said rotatable platform (100).
5. equipment according to claim 1, wherein, said drive unit (400) is a stepper motor.
6. equipment according to claim 1, wherein, said drive unit (400) is that worm and gear is connected or gear connects with the mechanical connection of said rotatable platform (100).
7. one kind is used for method that the bending angle of bending member is measured, and this bending member comprises first bending part (30a) and second bending part (30b) that lays respectively at both sides, bending member inflection point, and wherein, this method comprises:
Distance measuring sensor (300) is fixed on the rotatable platform (100);
Before said bending member bends, regulate said rotatable platform (100), make vertical first bending part (30a) of said distance measuring sensor (300) over against said bending member;
After said bending member bends; Overbending direction at first bending part (30a) of said bending member rotates said rotatable platform (100), makes the measured distance to first bending part (30a) of said bending member of said distance measuring sensor (300) minimum; And
Measure the rotational angle of said rotatable platform (100),, and calculate the bending angle of said bending member at least according to this bending angle with the bending angle of this rotational angle as first bending part (30a) of said bending member.
8. method according to claim 7, wherein, the bending angle of said bending member is 2 times of bending angle of first bending part (30a) of said bending member.
9. method according to claim 7, wherein, said method also comprises:
Measure the bending angle of second bending part (30b) of said bending member; And
With the bending angle addition of this bending angle and said first bending part (30a), to draw the bending angle of said bending member.
10. method according to claim 7, wherein, said make said distance measuring sensor (300) measured to may further comprise the steps of said first bending part (30a) apart from minimum:
After bending member bends; Write down said distance measuring sensor; (300) measured to said first bending part; Initial distance (30a); And at said first bending part; Be that unit rotates said rotatable platform with first step-length on the overbending direction (30a); (100); Revolution moves first step-length; With said distance measuring sensor; (300) measured to said first bending part; Said distance measuring sensor in current distance (30a) and the last position; (300) measured to said first bending part; First front distance (30a) compares
If it is that unit rotates said rotatable platform (100) that current distance less than first front distance, then continues on the overbending direction of said first bending part (30) with first step-length;
If current distance, is then controlled said rotatable platform (100) rollback to last position greater than first front distance, and remains on this position;
If current distance equals first front distance, then control said rotatable platform (100) and remain on current location.
11. method according to claim 7, wherein, said make said distance measuring sensor (300) measured to may further comprise the steps of said first bending part (30a) apart from minimum:
After bending member bends; Write down said distance measuring sensor; (300) measured to said first bending part; Initial distance (30a); And at said first bending part; Be that unit rotates said rotatable platform with second step-length on the overbending direction (30a); (100); Revolution moves second step-length; With said distance measuring sensor; (300) measured to said first bending part; Said distance measuring sensor in current distance (30a) and the last position; (300) measured to said first bending part; First front distance (30a) compares
If it is that unit rotates said rotatable platform (100) that current distance less than first front distance, then continues on the overbending direction of said first bending part (30a) with second step-length;
If current distance is more than or equal to first front distance; On the direction opposite, be that unit rotates said rotatable platform (100) then with the 3rd step-length less than said second step-length with the overbending direction of said first bending part (30a); Revolution moves the 3rd step-length; The measured first front distance to said first bending part (30a) of said distance measuring sensor (300) compares in the current distance of extremely said first bending part (30a) that said distance measuring sensor (300) is measured and the last position
If it is that unit rotates said rotatable platform (100) that current distance less than first front distance, then continues on the direction opposite with the overbending direction of said first bending part (30a) with the 3rd step-length;
If current distance, is then controlled said rotatable platform (100) rollback to last position greater than first front distance, and remains on this position;
If current distance equals first front distance, then control said rotatable platform (100) and remain on current location.
CN 201010579352 2010-12-03 2010-12-03 Device and method for measuring bending angle of bent piece CN102120230B (en)

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