CN112264982B - Automatic length measuring and scribing device and method for plate blank - Google Patents
Automatic length measuring and scribing device and method for plate blank Download PDFInfo
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- CN112264982B CN112264982B CN202011018985.2A CN202011018985A CN112264982B CN 112264982 B CN112264982 B CN 112264982B CN 202011018985 A CN202011018985 A CN 202011018985A CN 112264982 B CN112264982 B CN 112264982B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H7/00—Marking-out or setting-out work
- B25H7/04—Devices, e.g. scribers, for marking
Abstract
The invention discloses an automatic length measuring and scribing device and method for a plate blank, and belongs to the field of scribing devices. According to the device, the stop sensor is arranged at the front end of the plate blank and positioned outside the conveying roller way; the front-end distance measuring device and the rear-end distance measuring device are respectively arranged at the front end and the rear end of the plate blank and are positioned outside the conveying roller way; the automatic marking device is arranged outside the conveying roller way and is used for measuring the width of the plate blank and spraying and marking on the side surface of the plate blank. The automatic length measuring and scribing device and the automatic length measuring and scribing method for the plate blank have the advantages that the device is simple in structure and high in control accuracy, misoperation of manual operation is reduced, automatic length measuring and scribing can be achieved, manual intervention is not needed in the whole process, and the automatic length measuring and scribing device and the automatic length measuring and scribing method are safe and easy to operate.
Description
Technical Field
The invention belongs to the field of marking devices, and particularly relates to a marking device and a marking method for automatically measuring the length of a plate blank.
Background
At present, in the production and processing of wide and thick plate double-scale blanks, the formed wide and thick plate double-scale blanks are conveyed to a double-cutting double-scale blank library, the cutting process of the wide and thick plate double-scale blanks needs to carry out size recheck on each plate blank according to a double-cutting production plan, cutting marking marks are made according to cutting size requirements, and at least one person needs to go to the double-scale blank library for marking in advance when rechecking each time. Because the field travelling crane has frequent lifting, higher environment temperature and slab temperature, high labor intensity and potential safety hazard, the manual marking is easy to make mistakes, the accuracy is lower, and unpredictable influence can be caused to the subsequent processing technology and the product quality.
Disclosure of Invention
The invention aims to overcome the defects of high labor intensity of manual operation and potential safety hazard of cutting and marking in the production and processing of wide and thick plate double-length blanks, and provides an automatic length measuring and marking device and a marking method for plate blanks.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a plate blank automatic length measuring and scribing device comprises a stop sensor, a front end distance measuring device, a rear end distance measuring device and an automatic scribing device;
the stop sensor is arranged at the front end of the slab conveying direction and positioned outside the conveying roller way;
the front-end distance measuring device and the rear-end distance measuring device are respectively arranged at the front end and the rear end of the plate blank and are positioned outside the conveying roller way;
the automatic marking device is arranged on the outer side of the conveying roller way and used for measuring the width of the plate blank and spraying and marking on the side face of the plate blank.
Furthermore, the front-end distance measuring device comprises a length distance measuring mechanism, a lifting cylinder and a driving device;
the length distance measuring mechanism is of a cantilever structure and is connected with the lifting cylinder, and the driving device is positioned at the bottom of the lifting cylinder;
the lifting cylinder is used for driving the length distance measuring mechanism to move up and down, and the stroke of the lifting cylinder is larger than the maximum thickness of the plate blank;
the driving device is used for driving the lifting cylinder to move back and forth;
the rear-end distance measuring device and the front-end distance measuring device are identical in structure.
Furthermore, the automatic marking device comprises a width distance measuring mechanism, a spraying mechanism, a method disc and a robot, wherein the width distance measuring mechanism and the spraying mechanism are arranged on a flange plate in a 90-degree angle, and the flange plate is arranged on a flange at the head of the robot.
Further, the robot is a seven-axis robot.
Furthermore, the device also comprises a centering device positioned on the outer side of the conveying roller way, and a width datum line is arranged on the centering device.
A scribing method of a scribing device for automatically measuring and lengthening a plate blank comprises the following steps:
firstly, a plate blank is conveyed on a conveying roller way to move forward;
step two, when the stop sensor detects the plate blank, sending a stop signal, and stopping the operation of the transmission roller way;
thirdly, the front-end distance measuring device and the rear-end distance measuring device measure the distance;
step four, calculating according to the measurement data, determining a plurality of scribing positions, wherein the robot scribing travel distance is s1, s2 \8230, and the length L = A-X-Y-X-Y of the plate blank;
the robot scribes a walking distance s1 and moves to a first scribing position;
s1＝B-Y-y-d1；
in the formula, A is the distance between the original points of the front and rear distance measuring devices; b is the distance between the front end distance measuring device and the original point of the automatic marking device; x is the moving distance of the rear-end distance measuring device; y is the moving distance of the front-end distance measuring device; x is a detection value of the rear-end distance measuring device; y is the detection value of the front-end distance measuring device; d1 is the distance from the first scribing position to the front end face of the plate blank;
the robot drives the width distance measuring mechanism to move downwards from the width datum line to a height H above the conveying roller way, the robot stops moving when a plate blank is detected, the descending height is H, the detection distance is z, and the plate blank thickness T = H-H-z;
step six, the robot drives the width distance measuring mechanism to move backwards from the width reference line to the horizontal direction perpendicular to the center line, the movement is stopped until the plate blank cannot be detected, at the moment, the retreating distance is W, and the width of the plate blank is W = (S + W) × 2;
in the formula, S is the distance between the width reference line and the center line of the plate blank;
seventhly, rotating the head of the robot by 90 degrees, moving the head downwards to a corresponding position, and drawing a first marking line by the spraying mechanism;
moving the robot to a second marking position s2, and marking a second marking line by the spraying mechanism;
and repeating the actions until marking lines of all marking positions are marked, and finishing the marking of the plate blank.
Further, the second step further comprises:
and centering the slab by using a centering device so that the distance between the width center line of the slab and the width reference line is a fixed value S.
Further, the third specific process comprises the following steps:
the lifting cylinder drives the length ranging mechanism to descend to a low position, the driving device drives the lifting cylinder and the length ranging mechanism to move back and forth until a plate blank is detected, and the transverse moving distance and the detection distance of the length ranging mechanism are recorded;
the low position is a position where the distance from the length distance measuring mechanism to the upper surface of the roller way is smaller than the height of the plate blank.
Compared with the prior art, the invention has the following beneficial effects:
the automatic length measuring and scribing device for the plate blank, disclosed by the invention, has the advantages of simple structure and high control accuracy, reduces misoperation of manual operation, can automatically measure and scribe, does not need manual intervention in the whole process, and is safe and easy to operate.
According to the scribing method of the automatic length measurement and scribing device for the plate blank, disclosed by the invention, the equipment layout is arranged outside the transmission roller way, the size and the position of the plate blank are detected by utilizing the cantilever structure, the device does not interfere with the original transmission roller way, and the normal operation of the plate blank is not influenced. The size and position measurement is calculated by using the distance measuring sensor and the distance measuring device, automatic measurement and scribing are realized, and the size error and the robot mark and scribing error can be controlled within +/-0.5 mm.
Drawings
FIG. 1 is a schematic diagram of the present invention;
FIG. 2 is a schematic structural diagram of a distance measuring device;
FIG. 3 is a schematic structural view of a robot;
fig. 4 is a schematic structural view of the automatic scribing device.
In the figure: 1-stop sensor, 2-front end distance measuring device, 3-rear end distance measuring device, 4-automatic marking device, 5-plate blank, 6-centering device, 21-length distance measuring mechanism, 22-lifting cylinder, 23-driving device, 41-robot, 42-flange plate, 43-width distance measuring mechanism and 44-spraying mechanism.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that in the description of the present invention, the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship indicated on the drawings, which is only for convenience of description and simplification of description, but does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1, fig. 1 is a schematic diagram of the present invention, the apparatus of the present invention comprises a stop sensor 1, a distance measuring device and an automatic line marking device 4; the stop sensor 1 is an optical sensor, is arranged in front of the running direction of the slab 5, and determines the installation height of the stop sensor 1 according to the height of the conveying roller way and the thickness of the slab 4; the distance measuring equipment is used for measuring the size and the position of a plate blank 5, comprises a front-end distance measuring device 2 and a rear-end distance measuring device 3, is arranged outside a transmission roller way, is respectively arranged in the front and the rear of the plate blank 5, determines the mounting distance of the front-end distance measuring device 2 and the rear-end distance measuring device 3 according to the longest length of the plate blank 5, and determines the lengths of the front-end distance measuring device 2 and the rear-end distance measuring device 3 according to the shortest length of the plate blank 5.
Referring to fig. 2, fig. 2 is a schematic structural diagram of the distance measuring device; the front-end distance measuring device 2 and the rear-end distance measuring device 3 both comprise a length distance measuring mechanism 21, a lifting cylinder 22 and a driving device 23, wherein the length distance measuring mechanism 21 is of a cantilever structure and is connected with the lifting cylinder 22, and the driving device 23 is arranged at the bottom of the lifting cylinder 22; the lifting cylinder 22 is used for driving the length ranging mechanism 21 to ascend and descend, and the stroke of the lifting cylinder 22 is larger than the maximum thickness of the plate blank 5; when the device works, the lifting cylinder 22 drives the length distance measuring mechanism 21 to descend to a low position, the length distance measuring mechanism is located at the low position, and the height distance between the detection sensor and the upper surface of the roller way is smaller than the height of a plate blank; when the distance measurement is completed or the distance measurement function is not used, the length distance measurement mechanism 21 is driven to rise to a high position and is kept, the length distance measurement mechanism is located at the high position, the height distance from the bottommost end of the detection device to the upper surface of the roller way is larger than the height of a plate blank, and the normal conveying of the plate blank is not influenced.
Referring to fig. 4, fig. 4 is a schematic structural view of the automatic scribing apparatus; the automatic marking device 4 comprises a width distance measuring mechanism 43, a spraying mechanism 44 and a flange plate 42, wherein the width distance measuring mechanism 43 and the spraying mechanism 44 are arranged on the flange plate 42 in a 90-degree manner and are arranged on a flange of the head of the robot through the flange plate 42; the width distance measuring mechanism 43 is used for measuring the width of the plate blank 5, and the spraying mechanism 44 is used for marking on the side face of the plate blank 5; referring to fig. 3, fig. 3 is a schematic structural diagram of a robot, the robot 41 adopts a seven-axis robot, lines are drawn according to requirements after measurement is completed, the robot is installed on the outer side of a conveying roller way, and the length of the seventh axis is determined according to the length of the line, and is greater than the distance between the last marking line and the first marking line of the longest slab.
The working method of the device comprises the following steps:
the method comprises the following steps: the plate blank 5 is conveyed on a conveying roller way to advance;
step two: when the stop sensor 1 detects the slab 5, a signal for stopping the operation of the conveying roller way is sent, the slab 5 is stopped in conveying, and the centering device 6 performs centering, so that the distance between the center line in the width direction of the slab 5 and the width reference line is a fixed value S;
step three: the front-end distance measuring device 2 and the rear-end distance measuring device 3 measure the distance;
specifically, the lifting cylinder 22 drives the length ranging mechanism 21 to descend to a low position, the driving device 23 drives the slab 5 to stop moving when the slab 5 is detected in a transverse moving mode, and the transverse moving distance and the detection distance of the length ranging mechanism 21 are recorded at the moment;
step four: calculating to determine the scribing distance s1, s2 \8230ofthe robot, and when the robot moves to the first scribing position, the length L of the plate blank 5 is as follows: l = a-X-Y,
the robot scribing walking distance s1 is as follows: s1= B-Y-d 1;
in the formula, A is the distance between the original points of the front and rear distance measuring devices; b is the distance between the front end distance measuring device and the original point of the automatic marking device; x is the moving distance of the rear-end distance measuring device; y is the moving distance of the front-end distance measuring device; x is a detection value of the rear-end distance measuring device; y is the detection value of the front-end distance measuring device; d1 is the distance from the first line-drawing position to the front end face of the plate blank;
step five: the robot drives width ranging mechanism 43 and begins downward vertical movement by the appointed high H of distance transmission roll table upper surface on the width reference line, stop motion when detecting slab 5 notes descending height H and detection distance z this moment, then slab 5 thickness T is: t = H-z;
step six: the robot drives the width distance measuring mechanism 43 to continue to make a horizontal linear motion backward along a center line from the width reference line until the slab 5 is not detected, the horizontal linear motion is stopped, the backward distance is W, and then the horizontal linear motion is continued for a certain distance, so that the width of the slab 5 is W = (S + W) × 2; s is the distance between the width reference line and the center line of the plate blank;
step seven: the robot head rotates 90 degrees, moves vertically and linearly downwards to a corresponding position, and the spraying mechanism 44 draws a first marking line;
step eight: moving to the next marking position, marking out a second marking line by the spraying mechanism 44 until all marking lines at the marking position are finished, and finishing marking of the plate blank 5;
and (4) returning each device to the original point, transmitting the plate blank 5 to the next processing station by the transmission roller way, waiting for the next plate blank 5 to be transmitted in, and repeating the actions.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (7)
1. The marking method of the automatic slab length measuring and marking device is characterized in that the automatic slab length measuring and marking device comprises a stop sensor (1), a front end distance measuring device (2), a rear end distance measuring device (3) and an automatic marking device (4);
the stop sensor (1) is arranged at the front end of the slab (5) in the transmission direction and is positioned outside the transmission roller way;
the front-end distance measuring device (2) and the rear-end distance measuring device (3) are respectively arranged at the front end and the rear end of the plate blank (5) and are positioned outside the conveying roller way;
the automatic marking device (4) is arranged outside the conveying roller way and is used for measuring the width of the plate blank (5) and spraying and marking on the side surface of the plate blank (5);
the scribing method comprises the following steps:
firstly, a plate blank (5) is conveyed on a conveying roller way to move forward;
step two, when the stop sensor (1) detects the plate blank (5), sending a stop signal, and stopping the operation of the transmission roller bed;
thirdly, the front-end distance measuring device (2) and the rear-end distance measuring device (3) measure the distance;
step four, calculating according to the measurement data, determining a plurality of scribing positions, wherein the robot scribing travel distance is s1, s2 \8230, and the length L = A-X-Y-X-Y of the plate blank (5);
the robot scribes a walking distance s1 and moves to a first scribing position;
s1＝B-Y-y-d1；
wherein A is the distance between the original points of the front and rear distance measuring devices; b is the distance between the front end distance measuring device and the original point of the automatic marking device; x is the moving distance of the rear-end distance measuring device; y is the moving distance of the front-end distance measuring device; x is a detection numerical value of the rear-end distance measuring device; y is the detection value of the front-end distance measuring device; d1 is the distance from the first line-drawing position to the front end face of the plate blank;
fifthly, the robot drives the width distance measuring mechanism (43) to move downwards from the width datum line to a height H above the conveying roller way, the robot stops moving when detecting the slab (5), the descending height is H, the detection distance is z, and the thickness T = H-H-z of the slab (5);
step six, the robot drives the width distance measuring mechanism (43) to move backwards from the width reference line to horizontally move perpendicular to the center line until the slab (5) cannot be detected, and at the moment, the moving back distance is W, and the width of the slab (5) is W = (S + W) × 2;
in the formula, S is the distance between the width reference line and the center line of the plate blank;
seventhly, rotating the head of the robot by 90 degrees, moving the head downwards to a corresponding position, and marking a first marking line by a spraying mechanism (44);
moving the robot to a second marking position by the aid of the robot s2, and marking a second marking line by the spraying mechanism (44);
and repeating the actions until marking lines of all marking positions are marked, and finishing the marking of the slab (5).
2. The scribing method of the slab automatic length measuring and scribing device according to claim 1, wherein the front end distance measuring device (2) comprises a length distance measuring mechanism (21), a lifting cylinder (22) and a driving device (23);
the length ranging mechanism (21) is of a cantilever structure and is connected with the lifting cylinder (22), and the driving device (23) is positioned at the bottom of the lifting cylinder (22);
the lifting cylinder (22) is used for driving the length ranging mechanism (21) to move up and down, and the stroke of the lifting cylinder (22) is larger than the maximum thickness of the plate blank (5);
the driving device (23) is used for driving the lifting cylinder (22) to move back and forth;
the rear-end distance measuring device (3) and the front-end distance measuring device (2) are identical in structure.
3. The scribing method of the automatic slab length measuring and scribing device according to claim 1, wherein the automatic scribing device (4) comprises a width measuring mechanism (43), a spraying mechanism (44), a flange (42) and a robot, the width measuring mechanism (43) and the spraying mechanism (44) are installed on the flange (42) at 90 degrees, and the flange (42) is installed on a flange of a robot head.
4. The scribing method of an automatic length measuring and scribing apparatus for slabs according to claim 3, wherein the robot is a seven-axis robot.
5. The scribing method of the automatic length measuring and scribing device for the slab according to claim 1, further comprising a centering device (6) located outside the conveying roller way, wherein the centering device (6) is provided with a width reference line.
6. The scribing method of the automatic length measuring and scribing device for the slab according to any one of claims 1 to 5, wherein the second step further comprises:
the slab (5) is centered by a centering device (6) so that the distance between the width center line of the slab (5) and the width reference line is a constant value S.
7. The scribing method of the automatic slab length measuring and scribing device according to any one of claims 1 to 5, wherein the specific process of the third step is as follows:
the lifting cylinder (22) drives the length ranging mechanism (21) to descend to a low position, the driving device (23) drives the lifting cylinder (22) and the length ranging mechanism (21) to move back and forth until the slab (5) is detected, the movement is stopped, and the transverse moving distance and the detection distance of the length ranging mechanism (21) are recorded at the moment;
the low position is a position where the distance from the length ranging mechanism (21) to the upper surface of the roller way is smaller than the height of the plate blank (5).
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| CN202011018985.2A CN112264982B (en) | 2020-09-24 | 2020-09-24 | Automatic length measuring and scribing device and method for plate blank |
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| CN113059543B (en) * | 2021-04-14 | 2023-02-07 | 常州旷达威德机械有限公司 | End socket groove position marking system and marking method thereof |
| CN113635281A (en) * | 2021-07-20 | 2021-11-12 | 西安交通大学 | Robot automatic scribing method, system and device based on position error compensation |
| CN116441497A (en) * | 2023-02-27 | 2023-07-18 | 江苏沙钢集团有限公司 | Automatic length measurement and scribing device and method for multiple-length blank |
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