CN112346407A - Method and device for centering I-steel, electronic equipment and storage medium - Google Patents
Method and device for centering I-steel, electronic equipment and storage medium Download PDFInfo
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- CN112346407A CN112346407A CN202011216378.7A CN202011216378A CN112346407A CN 112346407 A CN112346407 A CN 112346407A CN 202011216378 A CN202011216378 A CN 202011216378A CN 112346407 A CN112346407 A CN 112346407A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35349—Display part, programmed locus and tool path, traject, dynamic locus
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Abstract
The invention provides a method and a device for centering an I-steel, electronic equipment and a storage medium, wherein the method comprises the following steps: controlling the I-steel to rotate to a first direction around a rotating shaft center, and measuring and calculating the position of a central axis of the surface of a first wing plate of the I-steel at the moment to obtain first position information; controlling the I-beam to rotate around the rotating axis to a second direction, and measuring and calculating the position of the central axis of the surface of a second wing plate of the I-beam at the moment to obtain second position information; and determining the deviation of the central axis of the I-shaped steel relative to the rotating axis according to the first position information and the second position information.
Description
Technical Field
The invention relates to the field of laser cutting, in particular to a method and a device for centering an I-steel, electronic equipment and a storage medium.
Background
An i-section, which is understood to be a steel material with an i-shaped or i-like cross-section, may generally comprise two flanges and a web connected between the flanges. In some scenarios, the i-beam needs to be cut to obtain the required components.
In the actual cutting process, the i-steel is usually required to be mounted on the chuck, and then the i-steel is driven to rotate by the rotation of the chuck, at this time, the rotation axis of the chuck is the rotation axis of the i-steel, and the position of the rotation axis under the mechanical coordinate system is known. In the prior art, because the position of the i-steel relative to the chuck is fixed after the feeding of the machine tool is completed, the position of the rotation axis of the i-steel is usually taken as the position of the central axis of the i-steel, so that the movement of the cutting head under a mechanical coordinate system is controlled based on the position.
However, there may be a deviation between the central axis of the i-beam and the rotation axis, and in this case, if the position of the rotation axis of the i-beam is used as the central axis of the i-beam, the cutting may be in an incorrect position.
For example: in some scenarios, in order to meet the requirement for cutting performed by welding the i-beam, a part of wing plates may need to be cut while keeping the web of the i-beam intact, and at this time, due to the existence of the above deviation, situations such as excessive cutting (cutting the web of the i-beam), insufficient cutting (cutting the wing plates is not in place), or asymmetric cutting may be caused, and thus required components cannot be formed.
Therefore, in the prior art, cutting errors can be caused by the deviation between the central axis of the I-steel and the rotating axis.
Disclosure of Invention
The invention provides a method and a device for centering an I-steel, electronic equipment and a storage medium, which aim to solve the problem of cutting errors caused by deviation between a central axis and a rotating axis of the I-steel.
According to a first aspect of the invention, there is provided a method of centering an i-steel, comprising: controlling the I-steel to rotate to a first direction around a rotating shaft center, and measuring and calculating the position of a central axis of the surface of a first wing plate of the I-steel at the moment to obtain first position information;
controlling the I-beam to rotate around the rotating axis to a second direction, and measuring and calculating the position of the central axis of the surface of a second wing plate of the I-beam at the moment to obtain second position information;
and determining the deviation of the central axis of the I-shaped steel relative to the rotating axis according to the first position information and the second position information.
Optionally, the central axis position of the surface of the first wing plate of the i-beam at this time is measured and calculated to obtain first position information, including:
controlling a cutting head to move above the first strake surface;
controlling the cutting head to move along a first direction, and acquiring the position of the cutting head when the cutting head moves to a first boundary of the first wing plate to obtain first boundary information; the first direction is parallel to the first wing plate surface and perpendicular to the rotation axis;
controlling the cutting head to move along a second direction, and acquiring the position of the cutting head when the cutting head moves to a second boundary of the first wing plate to obtain second boundary information; the first direction is opposite the second direction;
and calculating the first position information according to the first boundary information and the second boundary information.
Optionally, the central axis position of the second flange surface of the i-beam at this time is measured and calculated, and second position information is obtained, including:
controlling a cutting head to move above the second wing plate surface;
controlling the cutting head to move along a third direction, and acquiring the position of the cutting head when the cutting head moves to the first boundary of the second wing plate to obtain third boundary information; the third direction is parallel to the second wing plate surface and perpendicular to the rotation axis;
controlling the cutting head to move along a fourth direction, and acquiring the position of the cutting head when the cutting head moves to a second boundary of the second wing plate to obtain fourth boundary information; the third direction is opposite the fourth direction;
and calculating the second position information according to the third boundary information and the fourth boundary information.
Optionally, the first orientation and the second orientation differ by a rotation angle of 180 degrees.
Optionally, the rotation axis is perpendicular to an X axis and a Z axis of the mechanical coordinate system;
when the I-steel is in the first orientation, the surface of the first wing plate is perpendicular to the Z axis;
the first location information is determined according to the following formula:
X1＝(XA1+XB1)/2；
Z1＝(ZA1+ZB1)/2；
wherein, X1Representing the position of the central axis of the surface of the first wing plate in the X-axis direction for the X coordinate in the first position information;
Z1representing the position of the central axis of the surface of the first wing plate in the Z-axis direction for the Z coordinate in the first position information;
XA1characterizing a position of a first boundary of the first wing in the X-axis direction;
ZA1characterizing a position of a first boundary of the first wing in the Z-axis direction;
XB1characterizing a position of a second boundary of the first wing in the X-axis direction;
ZB1characterizing a position of a second boundary of the first wing in the Z-axis direction;
the second wing plate surface is perpendicular to the Z axis when the I-steel is in the second orientation;
the second location information is determined according to the following formula:
X2＝(XA2+XB2)/2；
Z2＝(ZA2+ZB2)/2；
wherein, X2Representing the position of the central axis of the second wing surface in the X-axis direction for the X coordinate in the second position information;
Z2characterizing a position of a central axis of the second wing surface in the Z-axis direction for a Z coordinate in the second position information;
XA2characterizing a position of a first boundary of the second wing in the X-axis direction;
ZA2characterizing a position of a first boundary of the second wing in the Z-axis direction;
XB2characterizing a position of a second boundary of the second wing in the X-axis direction;
ZB2to characterize the position of the second boundary of the second wing in the Z-axis direction.
Optionally, the deviation is determined according to the following formula:
△X＝X1-(X1+X2)/2；
△Z＝(Z1-Z2)/2；
wherein the content of the first and second substances,
the delta X represents the deviation of the central axis of the I-shaped steel relative to the X-axis direction of the rotating shaft center;
the delta Z represents the deviation of the central axis of the I-steel in the Z-axis direction relative to the rotating shaft center.
Optionally, the i-steel is a wide flange i-steel.
According to a second aspect of the invention, an apparatus for centering an i-steel is provided, which includes a first position information estimation module, configured to: controlling the I-steel to rotate to a first direction around a rotating shaft center, and measuring and calculating the position of a central axis of the surface of a first wing plate of the I-steel at the moment to obtain first position information;
the second position information measuring and calculating module is used for: controlling the I-beam to rotate around the rotating axis to a second direction, and measuring and calculating the position of the central axis of the surface of a second wing plate of the I-beam at the moment to obtain second position information;
a deviation determination module to: and determining the deviation of the central axis of the I-shaped steel relative to the rotating axis according to the first position information and the second position information.
According to a third aspect of the invention, there is provided an electronic device comprising a processor and a memory,
the memory is used for storing codes and related data;
the processor is adapted to execute code in the memory for implementing the method of the first aspect of the invention and its alternatives.
According to a fourth aspect of the present invention, there is provided a storage medium having stored thereon a computer program which, when executed by a processor, implements the method of the first aspect of the present invention and its alternatives.
According to the method and device for locating the center of the I-beam, the electronic equipment and the storage medium, the cutting head and a mechanical coordinate system can be used for obtaining the deviation between the axis coordinate of the I-beam and the rotation center (known) through measurement and calculation, the axis of the I-beam is accurately positioned, and the accurate cutting of the I-beam is facilitated. Furthermore, in the invention, during the calculation of the deviation, the I-steel is controlled to rotate around the rotating shaft center, the position of the central axis of the surfaces of different wing plates of the I-steel in different directions is calculated, and the deviation is determined based on the position of the central axis of the surfaces of the wing plates. Meanwhile, the invention can be universally applied to various types of I-beams (including wide-flange I-beams and non-wide-flange I-beams).
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a first schematic flow chart of a method for centering an I-beam according to an embodiment of the present invention;
FIG. 2 is a second schematic flow chart of a method for centering an I-beam according to an embodiment of the present invention;
FIG. 3 is a third schematic flow chart of a method for centering an I-beam according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating formula derivation and analysis of a method for centering an I-beam according to an embodiment of the present invention;
FIG. 5a is a schematic cross-sectional view of a wide flange I-beam in one application scenario of the present invention;
FIG. 5b is a schematic cross-sectional view of an H-shaped I-steel in an application scenario of the present invention;
FIG. 6 is a schematic view of an I-steel cutting member in an application of the present invention;
FIG. 7 is a schematic structural diagram of an I-beam centering device according to an embodiment of the present invention;
fig. 8 is a schematic diagram of an electronic device according to an embodiment of the invention.
Description of the reference numerals
41-wing plate;
42-a web;
43-cutting head.
Detailed Description
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.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
The method for centering the I-shaped steel can be applied to control equipment of a machine tool and can also be applied to control equipment externally connected with the machine tool.
Referring to fig. 1, the method for centering an i-steel includes:
s1: controlling the I-steel to rotate to a first direction around a rotating shaft center, and measuring and calculating the position of a central axis of the surface of a first wing plate of the I-steel at the moment to obtain first position information;
s2: controlling the I-beam to rotate around the rotating axis to a second direction, and measuring and calculating the position of the central axis of the surface of a second wing plate of the I-beam at the moment to obtain second position information;
s3: and determining the deviation of the central axis of the I-shaped steel relative to the rotating axis according to the first position information and the second position information.
Since the coordinates of the rotation axis are known, after step S3, the position of the central axis of the i-beam can be located by the deviation from the rotation axis (known) and/or: the cutting tool path is adjusted based on the deviation.
Therefore, the method for centering the I-beam provided by the embodiment of the invention can accurately position the central axis of the I-beam by measuring and calculating the deviation between the central axis coordinate and the rotation center coordinate (known) of the I-beam by using the cutting head and the mechanical coordinate system, and is beneficial to the accurate cutting, subsequent welding and other operations of the I-beam.
In one embodiment, referring to fig. 2, step S1 includes:
s11: controlling a cutting head to move above the first strake surface;
s12: controlling the cutting head to move along a first direction, and acquiring the position of the cutting head when the cutting head moves to a first boundary of the first wing plate to obtain first boundary information;
wherein the first direction is parallel to the first wing surface and perpendicular to the rotational axis;
s13: controlling the cutting head to move along a second direction, and acquiring the position of the cutting head when the cutting head moves to a second boundary of the first wing plate to obtain second boundary information;
wherein the first direction is opposite the second direction;
s14: and calculating the first position information according to the first boundary information and the second boundary information.
Wherein, the first boundary information can be understood as: coordinates of the cutting head in the mechanical coordinate system when the cutting head is moved to the first boundary of the first wing plate; the second boundary information may be understood as: coordinates of the cutting head in the mechanical coordinate system when the cutting head is moved to the second boundary of the first strake. In other examples, the first boundary information and the second boundary information may be other information obtained by conversion based on the coordinates of the cutting head (for example, coordinates of a boundary line of a surface of the wing plate obtained by conversion based on the coordinates of the cutting head and a distance between the cutting head and the wing plate).
The surface of the wing plate refers to the outer surface far from the web plate, the outer surface is rectangular and has four boundary lines which are connected in a rectangular manner, and the first boundary and the second boundary of the first wing plate can refer to two boundary lines (also can be understood as two boundary lines which are parallel to the surface of the web plate) far from the web plate.
In an example, since the surface of the first wing plate is parallel to the X-axis of the mechanical coordinate system, the first direction may refer to the positive direction of the X-axis or the negative direction of the X-axis; the second direction is a direction opposite to the first direction.
In one example, a height sensor (e.g., a capacitive sensor) mounted on the cutting head may be used to identify whether the cutting head moves to the boundary of the first wing surface of the i-beam (i.e., the boundary of the wing surface), the height sensor follows the cutting head and collects the real-time height of the first wing surface of the i-beam, and if a sudden increase in the real-time height is detected (e.g., the change exceeds a threshold), the boundary of the cutting head moving to the first wing surface may be determined. In other examples, an optical sensor may be used, and it is not departing from the scope of the embodiment of the present invention as long as it can recognize whether or not the cutting head moves to the flange boundary of the i-beam.
In one embodiment, referring to fig. 3, step S2 includes:
s21: controlling a cutting head to move above the second wing plate surface;
s22: controlling the cutting head to move along a third direction, and acquiring the position of the cutting head when the cutting head moves to the first boundary of the second wing plate to obtain third boundary information;
wherein the third direction is parallel to the second wing plate surface and perpendicular to the rotational axis;
s23: controlling the cutting head to move along a fourth direction, and acquiring the position of the cutting head when the cutting head moves to a second boundary of the second wing plate to obtain fourth boundary information;
wherein the third direction is opposite the fourth direction;
s24: and calculating the second position information according to the third boundary information and the fourth boundary information.
Wherein the second wing can be understood as the other wing of the i-steel relative to the first wing; the third boundary information may be understood as: coordinates of the cutting head in the mechanical coordinate system when the cutting head is moved to the first boundary of the second wing plate; the fourth boundary information may be understood as: coordinates of the cutting head in the mechanical coordinate system when the cutting head is moved to the second boundary of the second strake. In other examples, the third boundary information and the fourth boundary information may be other information obtained by conversion based on the coordinates of the cutting head (for example, coordinates of a wing plate surface boundary line obtained by conversion based on the coordinates of the cutting head and the distance between the cutting head and the wing plate).
The surface of the wing mentioned above refers to its outer surface remote from the web, which is rectangular with four boundary lines connected in a rectangular shape, and the first and second boundaries of the second wing may refer to two boundary lines of the second wing surface remote from the web (also understood as two boundary lines parallel to the web surface).
In one example, since the second wing surface is parallel to the X-axis of the mechanical coordinate system, the third direction may refer to the positive direction of the X-axis or the negative direction of the X-axis; the fourth direction is a direction opposite to the third direction.
In one example, a height sensor (e.g., a capacitive sensor) mounted to the cutting head may be used to identify whether the cutting head has moved to the boundary of the second flange surface of the i-beam (i.e., the boundary of the flange surface), the height sensor following the movement of the cutting head on the second flange surface of the i-beam and collecting the real-time height, and if a sudden increase in the real-time height is detected (e.g., the magnitude of the change exceeds a threshold), the cutting head may be determined to be at the boundary of the second flange surface. In other examples, an optical sensor may be used, and it is not departing from the scope of the embodiment of the present invention as long as it can recognize whether or not the cutting head moves to the flange boundary of the i-beam.
In one embodiment, referring to fig. 4, the first orientation and the second orientation are different from each other by a rotation angle of 180 degrees. It can be understood that: the i-steel in the first orientation is rotated 180 degrees around the rotation axis M to obtain the i-steel in the second orientation, and in an example, the i-steel may be rotated 180 degrees around the rotation axis M counterclockwise, or may be rotated 180 degrees around the rotation center M clockwise.
In one embodiment, the rotation axis M is perpendicular to the X axis and the Z axis of the mechanical coordinate system;
when the I-steel is in the first orientation, the surface of the first wing plate is perpendicular to the Z axis;
in one example, to ensure that the first wing surface is perpendicular to the Z-axis, the first wing surface of the i-steel may be flattened before performing step S11, if Z is perpendicular1＝ZA1＝ZB1Then, the I-steel is characterized to be leveled, namely the surface of the first wing plate is vertical to the Z axis; in other examples, Z may be the same as Z1＝ZA1＝ZB1The associated other equations are flattened.
The first location information is determined according to the following formula:
X1＝(XA1+XB1)/2；
Z1＝(ZA1+ZB1)/2；
wherein, X1Representing the position of the central axis of the surface of the first wing plate in the X-axis direction for the X coordinate in the first position information;
Z1representing the position of the central axis of the surface of the first wing plate in the Z-axis direction for the Z coordinate in the first position information;
XA1a position of a first boundary of the first wing plate in the X-axis direction, XA1For example, it may be a positive number; it can also be understood as an X coordinate in the first boundary information;
ZA1characterised by the position of a first boundary of the first wing in the direction of the Z axis, ZA1For example, it may be a positive number; it can also be understood as the Z coordinate in the first boundary information;
XB1a position of a second boundary of the first wing plate in the X-axis direction, XB1For example, it may be a positive number; it can also be understood as an X coordinate in the second boundary information;
ZB1characterised by the position of a second boundary of the first wing in the direction of the Z axis, ZB1For example, it may be a positive number; it can also be understood as Z-coordinate in the second boundary information.
The second wing plate surface is perpendicular to the Z axis when the I-steel is in the second orientation;
in one example, to ensure that the second wing surface is perpendicular to the Z-axis, the second wing surface of the i-beam may be flattened before performing step S21, if Z is perpendicular2＝ZA2＝ZB2Then, watchThe sign I-steel has been leveled, i.e., the second wing plate surface has been perpendicular to the Z-axis; in other examples, Z may be the same as Z2＝ZA2＝ZB2The associated other equations are flattened.
The second location information is determined according to the following formula:
X2＝(XA2+XB2)/2；
Z2＝(ZA2+ZB2)/2；
wherein, X2Representing the position of the central axis of the second wing surface in the X-axis direction for the X coordinate in the second position information;
Z2characterizing a position of a central axis of the second wing surface in the Z-axis direction for a Z coordinate in the second position information;
XA2a position of a first boundary of the second wing plate in the X-axis direction, XA2For example, it may be a positive number; it can also be understood as the X coordinate in the third boundary information;
ZA2characterised by the position of a first boundary of the second wing in the direction of the Z axis, ZA2For example, it may be a positive number; it can also be understood as the Z coordinate in the third boundary information;
XB2a position of a second boundary characterizing the second wing in the X-axis direction, XB2For example, it may be a positive number; it can also be understood as the X coordinate in the fourth boundary information;
ZB2characterised by the position of a second boundary of the second wing in the direction of the Z axis, ZB2For example, it may be a positive number; it can also be understood as Z-coordinate in the fourth boundary information.
In one embodiment, referring to fig. 4, the deviation is determined according to the following formula:
△X＝X1-(X1+X2)/2；
△Z＝(Z1-Z2)/2；
wherein the content of the first and second substances,
the delta X represents the deviation of the central axis of the I-shaped steel relative to the X-axis direction of the rotating shaft center;
the delta Z represents the deviation of the central axis of the I-steel in the Z-axis direction relative to the rotating shaft center.
The deviation may include the above deviation in the X-axis direction and the deviation in the Y-axis direction.
In conclusion, the I-shaped steel is controlled to rotate around the rotating shaft center, the position of the central axis of the surfaces of different wing plates of the I-shaped steel in different directions is measured, and then the deviation is determined based on the position of the central axis of the surfaces of the wing plates.
In one embodiment, referring to fig. 5a, the i-beam is a wide-flange i-beam, 41 is two flanges of the wide-flange i-beam, and 42 is a web of the wide-flange i-beam; compared with the common H-shaped steel (as shown in fig. 5 b), the inner surface of the wing plate of the wide-flange I-shaped steel has a certain inclination, but the method for centering the I-shaped steel is not limited to the wide-flange I-shaped steel and can also be applied to the common H-shaped steel.
In some scenarios, in order to meet the cutting performed by welding the i-steel, it may be necessary to cut part of the wing plate, for example, as shown in fig. 6, with the web of the i-steel left intact, and the cutting head 43 may cut the wing plate from the outside of the wing plate, and the cutting paths may cut part of the wing plate 41, for example, along the paths L1 and L2 (which may be L-shaped) in the direction of the arrows, where only one path of one wing plate is illustrated, and in fact, the path-like cutting may be performed on both sides of the web for both wing plates, so as to obtain the member shown in fig. 6, and in this cutting manner, the i-steel may be cut into members having tongue plates, which may be T-spliced to other i-steels.
In this scenario, the tool path L2 is parallel to the rotation axis and also parallel to the central axis of the i-beam, and if the central axis of the i-beam deviates from the rotation axis, the tool path L1 may cut to a position lower than the surface of the web, thereby causing a cutting error. To avoid such cutting errors, the deviation may be determined using methods according to embodiments of the present invention.
Therefore, based on the I-steel centering method related by the embodiment and the optional schemes of the invention, the cutter path of the cutting head can be controlled by combining the obtained deviation, and the situations of excessive cutting (cutting to a web plate of the I-steel), insufficient cutting (cutting of a wing plate is not in place) or asymmetric cutting are avoided.
Referring to fig. 7, there is provided an i-steel centering device 5, including:
a first position information estimation module 51 for: controlling the I-steel to rotate to a first direction around a rotating shaft center, and measuring and calculating the position of a central axis of the surface of a first wing plate of the I-steel at the moment to obtain first position information;
a second position information estimation module 52 configured to: controlling the I-beam to rotate around the rotating axis to a second direction, and measuring and calculating the position of the central axis of the surface of a second wing plate of the I-beam at the moment to obtain second position information;
a deviation determination module 53 for: and determining the deviation of the central axis of the I-shaped steel relative to the rotating axis according to the first position information and the second position information.
The first position information measuring and calculating module 51 is specifically configured to: controlling a cutting head to move above the first strake surface;
controlling the cutting head to move along a first direction, and acquiring the position of the cutting head when the cutting head moves to a first boundary of the first wing plate to obtain first boundary information; the first direction is parallel to the first wing plate surface and perpendicular to the rotation axis;
controlling the cutting head to move along a second direction, and acquiring the position of the cutting head when the cutting head moves to a second boundary of the first wing plate to obtain second boundary information; the first direction is opposite the second direction;
and calculating the first position information according to the first boundary information and the second boundary information.
The second position information calculating module 52 is specifically configured to: controlling a cutting head to move above the second wing plate surface;
controlling the cutting head to move along a third direction, and acquiring the position of the cutting head when the cutting head moves to the first boundary of the second wing plate to obtain third boundary information; the third direction is parallel to the second wing plate surface and perpendicular to the rotation axis;
controlling the cutting head to move along a fourth direction, and acquiring the position of the cutting head when the cutting head moves to a second boundary of the second wing plate to obtain fourth boundary information; the third direction is opposite the fourth direction;
and calculating the second position information according to the third boundary information and the fourth boundary information.
Wherein the first orientation differs from the second orientation by a rotation angle of 180 degrees.
Referring to fig. 8, an electronic device 6 is provided, which includes:
a processor 61; and the number of the first and second groups,
a memory 63 for storing executable instructions of the processor;
wherein the processor 61 is configured to perform the above-mentioned method via execution of the executable instructions.
The processor 61 is capable of communicating with the memory 63 via the bus 62.
Embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the above-mentioned method.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for centering an I-steel is characterized by comprising the following steps:
controlling the I-steel to rotate to a first direction around a rotating shaft center, and measuring and calculating the position of a central axis of the surface of a first wing plate of the I-steel at the moment to obtain first position information;
controlling the I-beam to rotate around the rotating axis to a second direction, and measuring and calculating the position of the central axis of the surface of a second wing plate of the I-beam at the moment to obtain second position information;
and determining the deviation of the central axis of the I-shaped steel relative to the rotating axis according to the first position information and the second position information.
2. The method for centering an i-steel according to claim 1, wherein the step of calculating the position of the central axis of the surface of the first wing plate of the i-steel at the moment to obtain first position information comprises the following steps:
controlling a cutting head to move above the first strake surface;
controlling the cutting head to move along a first direction, and acquiring the position of the cutting head when the cutting head moves to a first boundary of the first wing plate to obtain first boundary information; the first direction is parallel to the first wing plate surface and perpendicular to the rotation axis;
controlling the cutting head to move along a second direction, and acquiring the position of the cutting head when the cutting head moves to a second boundary of the first wing plate to obtain second boundary information; the first direction is opposite the second direction;
and calculating the first position information according to the first boundary information and the second boundary information.
3. The method for centering an i-steel according to claim 1, wherein the step of calculating the position of the central axis of the surface of the second wing plate of the i-steel at the moment to obtain second position information comprises the following steps:
controlling a cutting head to move above the second wing plate surface;
controlling the cutting head to move along a third direction, and acquiring the position of the cutting head when the cutting head moves to the first boundary of the second wing plate to obtain third boundary information; the third direction is parallel to the second wing plate surface and perpendicular to the rotation axis;
controlling the cutting head to move along a fourth direction, and acquiring the position of the cutting head when the cutting head moves to a second boundary of the second wing plate to obtain fourth boundary information; the third direction is opposite the fourth direction;
and calculating the second position information according to the third boundary information and the fourth boundary information.
4. A method of centering an i-steel according to any one of claims 1 to 3, wherein the first orientation is different from the second orientation by a rotation angle of 180 degrees.
5. The method of claim 4, wherein the axis of rotation is perpendicular to the X-axis and the Z-axis of the mechanical coordinate system;
when the I-steel is in the first orientation, the surface of the first wing plate is perpendicular to the Z axis;
the first location information is determined according to the following formula:
X1＝(XA1+XB1)/2；
Z1＝(ZA1+ZB1)/2；
wherein, X1Representing the position of the central axis of the surface of the first wing plate in the X-axis direction for the X coordinate in the first position information;
Z1representing the position of the central axis of the surface of the first wing plate in the Z-axis direction for the Z coordinate in the first position information;
XA1characterizing a position of a first boundary of the first wing in the X-axis direction;
ZA1characterizing a position of a first boundary of the first wing in the Z-axis direction;
XB1characterizing a position of a second boundary of the first wing in the X-axis direction;
ZB1characterizing a position of a second boundary of the first wing in the Z-axis direction;
the second wing plate surface is perpendicular to the Z axis when the I-steel is in the second orientation;
the second location information is determined according to the following formula:
X2＝(XA2+XB2)/2；
Z2＝(ZA2+ZB2)/2；
wherein, X2Representing the position of the central axis of the second wing surface in the X-axis direction for the X coordinate in the second position information;
Z2characterizing a position of a central axis of the second wing surface in the Z-axis direction for a Z coordinate in the second position information;
XA2characterizing a position of a first boundary of the second wing in the X-axis direction;
ZA2characterizing a position of a first boundary of the second wing in the Z-axis direction;
XB2characterizing a position of a second boundary of the second wing in the X-axis direction;
ZB2the position of the second boundary of the second wing in the Z-axis direction is characterized.
6. The method of centering an i-steel according to claim 5, wherein the deviation is determined according to the following formula:
△X＝X1-(X1+X2)/2；
△Z＝(Z1-Z2)/2；
wherein the content of the first and second substances,
the delta X represents the deviation of the central axis of the I-shaped steel relative to the X-axis direction of the rotating shaft center;
the delta Z represents the deviation of the central axis of the I-steel in the Z-axis direction relative to the rotating shaft center.
7. A method according to any one of claims 1 to 3, wherein the i-section is a wide flange i-section.
8. The utility model provides a device in I-steel seeks, its characterized in that includes:
a first position information measurement module for: controlling the I-steel to rotate to a first direction around a rotating shaft center, and measuring and calculating the position of a central axis of the surface of a first wing plate of the I-steel at the moment to obtain first position information;
the second position information measuring and calculating module is used for: controlling the I-beam to rotate around the rotating axis to a second direction, and measuring and calculating the position of the central axis of the surface of a second wing plate of the I-beam at the moment to obtain second position information;
a deviation determination module to: and determining the deviation of the central axis of the I-shaped steel relative to the rotating axis according to the first position information and the second position information.
9. An electronic device, comprising a processor and a memory,
the memory is used for storing codes and related data;
the processor to execute code in the memory to implement the method of any one of claims 1 to 7.
10. A storage medium having stored thereon a computer program which, when executed by a processor, carries out the method of any one of claims 1 to 7.
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| CN202011216378.7A CN112346407B (en) | 2020-11-04 | 2020-11-04 | Method and device for centering I-steel, electronic equipment and storage medium |
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| CN202011216378.7A CN112346407B (en) | 2020-11-04 | 2020-11-04 | Method and device for centering I-steel, electronic equipment and storage medium |
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