CN113579023B - Section steel bending method based on laser measurement - Google Patents
Section steel bending method based on laser measurement Download PDFInfo
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- CN113579023B CN113579023B CN202110698847.1A CN202110698847A CN113579023B CN 113579023 B CN113579023 B CN 113579023B CN 202110698847 A CN202110698847 A CN 202110698847A CN 113579023 B CN113579023 B CN 113579023B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D7/00—Bending rods, profiles, or tubes
- B21D7/16—Auxiliary equipment, e.g. for heating or cooling of bends
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D7/00—Bending rods, profiles, or tubes
- B21D7/08—Bending rods, profiles, or tubes by passing between rollers or through a curved die
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D7/00—Bending rods, profiles, or tubes
- B21D7/14—Bending rods, profiles, or tubes combined with measuring of bends or lengths
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- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention discloses a section steel bending method based on laser measurement, which is carried out by using a section steel bending machine, wherein a plurality of groups of laser range finders are arranged corresponding to the path of downstream section steel, the coordinates of a plurality of groups of section steel simulation points are obtained through laser range finding, the radius R is obtained through a least square method, and the radius R is obtained according to the coordinates
The advancing and retreating amount of the extension rod of the automatic control pushing device enables the section steel to directly reach the preset curvature through nonlinear resilience after being bent under one-time pressing, repeated advancing and retreating and jacking of the section steel are avoided, the working efficiency of section steel bending is greatly improved, the energy consumption consumed during repeated advancing and retreating and jacking is saved, the energy consumption required by section steel bending is greatly reduced on the whole, and the energy-saving effect-improving effect is very obvious. The laser ranging mode has strong anti-interference capability and is suitable for complex use occasions.
Description
Technical Field
The invention relates to the technical field of machining, in particular to a profile steel bending technology.
Background
The section steel is a construction material commonly used in various construction scenes such as tunnel engineering, bridge engineering, railway engineering and the like at present, the demand of various construction occasions on the bending degree of the section steel is also various, and the section steel is bent into various shapes and bending degrees through a section steel bending machine. The bending degree refers to the bending degree of the long-strip rolled piece (a profile, a rod and a pipe) in the length direction, and the chord height of the bending in each meter of length is the bending degree in each meter; the ratio of the total chord height to the total length of the total length bend is the total bend. The curvature depends on the radius of a circle where an arc is located, the curvature can be referred to by using the radius of the arc, and the invention is to control the curvature of the section steel by using the radius of the section steel after nonlinear springback.
The existing section steel bending machine comprises a workbench, the advancing direction of section steel is used as the downstream direction, a driving device and a plurality of section steel supporting devices are arranged on the workbench at intervals along the direction from the upstream to the downstream, and a working hydraulic cylinder (namely a working oil cylinder) for jacking and bending the section steel is also arranged on the workbench. Put shaped steel on the bending machine and supported by shaped steel strutting arrangement during the use, the tight shaped steel of working cylinder top starts drive arrangement messenger shaped steel and moves to downstream direction, receives the tight power in top of working cylinder and crooked to predetermined crookedness moving process in-process shaped steel.
And (3) pushing the working oil cylinder to tightly push the section steel and start to calculate the bending degree when the section steel is not bent and deformed, wherein the length of the pushing of the oil cylinder is 10-15 mm (millimeter) each time, the driving device is enabled to rotate forwards or backwards, the section steel is driven to move forwards or backwards, and the operation is repeated until the section steel reaches the required radius. In the whole, the section steel is fed from the upstream end of the table and is fed from the downstream end.
Due to the existence of nonlinear springback characteristics, the condition that the preset bending degree is achieved by one-time bending is very rare, and the bending degree of the section steel can be controlled to the preset target by bending for many times. The prior art lacks a technology for ensuring that the preset curvature is reached by one-time bending, so that the section steel repeatedly moves forward and backward on a section steel bending machine to repeatedly press and bend, the section steel can finally reach the preset curvature, the working efficiency is low, and the energy consumption is obviously improved by repeatedly moving forward, backward and pressing.
When the bending deviation value of H-shaped steel, I-shaped steel, channel steel and other profile steels is measured, a traditional measuring mode needs to use a cord which is long enough, two workers respectively press two ends of the profile steel on the same side and pull the cord forcefully, and the cord is tensioned as far as possible and is used as a string of the profile steel; meanwhile, the third operator determines the position where the maximum bending degree is measured by visual observation using a steel plate ruler, and visually observes the bending type (lateral bending, "S" bending, local bending at the end, and the like) of the whole branch profile, and records the value after measurement as the maximum bending degree value of the branch profile.
The traditional measuring tool and the traditional measuring method have the defects of complex measuring method, poor accuracy of measured data, low precision of the measuring tool, large influence degree of human factors, low measuring efficiency, more needed labor and the like, and the measured deviation value has larger error and can not be suitable for the quality control requirement of the modern section steel production line.
The patent "bending degree measuring device for section steel bending machine" (application number: 201821917879.6) and the patent "bending angle measuring device for section steel bending machine" (application number: 202021048808.4) propose solutions.
The technical scheme of the curvature measuring device for the section steel bending machine (application number: 201821917879.6) can measure the curvature of section steel in real time, but the service life of the device is short, as the top of a measuring rod of the device is directly contacted with the surface of the section steel, a large friction force can be generated between the measuring rod and the section steel, the friction can cause irreversible damage to the measuring rod, the measuring rod can be abraded after a period of time, the accuracy of a measuring result is influenced, and the accuracy of a long-time measuring result cannot be ensured; if the device is replaced frequently, the cost is increased and the time is wasted.
The problem of the traditional method for measuring the bending degree can be solved by the solution provided by the patent 'device for measuring the bending angle of the section steel bending machine' (application number: 202021048808.4), but the device can also have the phenomenon that the measuring device is in direct contact with the section steel when the bending degree is measured, so the abrasion phenomenon can also occur, and the service life of the measuring device is shortened; in the measuring process, the numerical value on the graduated scale is read manually to carry out manual calculation, and the precision of the result is influenced by manual reading errors in the process; and the manual calculation is slow, and the real-time measurement of the bending degree of the section steel cannot be realized.
Disclosure of Invention
The invention aims to provide a section steel bending method based on laser measurement, which is characterized in that the section steel directly achieves the preset bending degree through nonlinear resilience after being subjected to one-time compression bending by adjusting the stretching amount of an extension rod of a pushing device.
In order to achieve the purpose, the section steel bending method based on laser measurement is carried out by using a section steel bending machine, the section steel bending machine comprises a workbench, a shell is arranged on the workbench, the shell takes the advancing direction of the section steel as the downstream direction, and the method comprises the following steps:
the first step is feeding; feeding the section steel into the shell from the inlet and penetrating through the supporting and conveying spaces of each pair of supporting and conveying wheels;
secondly, advancing and jacking; synchronously starting each positive and negative rotating motor, driving steel of each rear wheel serving as a driving wheel moves towards the downstream direction under the action of rolling friction force, and enabling the upstream end part of the steel to enter a downstream steel section path;
the electric control device controls the pushing device to apply a preset jacking length to the section steel so as to bend the section steel;
thirdly, the extending amount of an extending rod of the pushing device is adjusted in the process of the second step;
starting each laser range finder, keeping each laser range finder in an open state, continuously identifying the bending degree of the section steel by the electric control device, and adjusting the extension amount of an extension rod of the pushing device in real time when the bending degree of the section steel is inconsistent with the preset bending degree, so that the bending degree of the section steel can be formed at one time to reach the preset bending degree;
and finally, continuously performing the second step and the third step to enable the section steel to be pressed and rebounded to the preset curvature at one time, and continuously performing section steel bending operation.
A plurality of pairs of supporting and conveying wheels are arranged on a workbench of the section steel bending machine along a straight line from the upstream to the downstream, and the straight line direction is the feeding direction of the section steel;
the axes of the supporting and conveying wheels are vertically arranged, each pair of supporting and conveying wheels comprises a front wheel and a rear wheel, the middle parts of the front wheels and the rear wheels in the vertical direction are radially sunken to form a supporting and conveying groove, and the height of the supporting and conveying groove is matched with the height of the section steel in a conveying state;
the distance between the bottom of the supporting and conveying groove of the front wheel and the bottom of the supporting and conveying groove of the rear wheel is matched with the front and rear width of the section steel in a conveying state;
in the pair of supporting and conveying wheels, a supporting and conveying space of the formed steel is enclosed between the supporting and conveying groove of the front wheel and the supporting and conveying groove of the rear wheel, and the formed steel passes through the supporting and conveying spaces of each pair of supporting and conveying wheels from the upstream direction to the downstream direction and is matched with each supporting and conveying wheel in a rolling and pressure-welding manner during work;
the rear wheels are connected with positive and negative rotating motors in a one-to-one correspondence manner and driven by the positive and negative rotating motors, and the positive and negative rotating motors are arranged in the workbench right below the corresponding rear wheels;
the working tables below the downstream of each pair of supporting and conveying wheels are fixedly connected with pushing devices, each pushing device is provided with an extension rod, and the end parts of the extension rods are provided with pressing shafts for pressing the bent section steel; the extension direction of the extension rod is perpendicular to the feeding direction of the profile steel, and the pushing device is a working hydraulic cylinder or a working electric push rod or a working air cylinder;
the downstream direction of the workbench is provided with a curvature measuring mechanism, the curvature measuring mechanism comprises a supporting plate supported on the ground, a plurality of groups of supporting rods are upwards connected on the supporting plate at uniform intervals, the tops of the supporting rods are respectively provided with a laser range finder, the laser range finders are arranged on the same straight line at equal intervals, and the straight line is parallel to the feeding direction of the section steel;
the steel section advancing path at the downstream side of the workbench is called a downstream steel section path, and each laser range finder is as high as the downstream steel section path and faces the downstream steel section path;
each laser range finder, positive and negative motor and thrustor are connected with an electric control device through lines respectively, and the electric control device is connected with a display screen.
The shell covers the workbench, the forward and reverse rotating motor, each supporting and conveying wheel, the pushing device and the curvature measuring mechanism;
the upstream end of the shell is provided with an inlet for entering the section steel, and the downstream end of the shell is provided with an outlet for sending out the section steel; more than ten groups of supporting rods are arranged in one-to-one correspondence with the laser range finders.
In the third step, the method for adjusting the extending amount of the extending rod of the pushing device comprises the following steps:
the electric control device is internally pre-stored with distance information among the laser range finders;
firstly, acquiring coordinates of 10 groups of section steel simulation points;
the electric control device acquires distance signals of the laser range finders, and arranges the laser range finders on a Y axis according to the distance information of the laser range finders by taking a straight line where the laser range finders are located as the Y axis;
taking the Y-axis coordinate of each laser range finder as the Y-axis coordinate of the section steel simulation point;
taking the distance information measured by each laser range finder as the X-axis coordinate of the section steel simulation point;
the Y-axis coordinates of the 10 groups of laser range finders and the corresponding measured distance information respectively correspond to the coordinates of the 10 groups of section steel simulation points;
secondly, obtaining the radius R by a least square method;
the electric control device simulates a section steel simulation arc line formed by 10 groups of section steel simulation points by a least square method, so that the radius R of the section steel simulation arc line is obtained;
thirdly, the electric control device controls the advance and retreat amount of the extension rod of the pushing device;
specifically, the electric control device calculates the advance and retreat amount of the extension rod of the pushing device according to a relation formula of the radius and the advance and retreat amount, and controls the extension rod of the pushing device to stretch to accord with the advance and retreat amount;
the relation formula of the radius and the advancing and retreating amount is as follows:
dT is the calculated advancing and retreating amount of the extending rod of the pushing device; r is the radius R of an arc curve formed by bending the section steel obtained by laser measurement, and R is the radius of a pressing shaft installed at the end part of an extension rod of the pushing device; a central connecting line of the axes of the pair of the downstream supporting conveying wheels is called a limiting line, and L is the distance between the axis center of the pressing shaft and the limiting line; dR is the difference obtained by subtracting the predetermined bending radius of the section steel from R.
The invention has the following advantages:
laser rangefinder and then solve the radius after the shaped steel is crooked, compare image recognition and solve the radius after the steel is crooked of shooing, have the advantage that the interference killing feature is strong, and is lower to the requirement of light environment, and of course its correspondence has the relatively higher characteristics of cost.
The laser distance meters are arranged at the same height at equal intervals, so that the detection of the distance in the arrangement direction of the laser distance meters can be omitted, and the calculation amount of the electric control device is reduced.
The profile steel and the pressing shaft are in rolling fit, so that the extending rod of the pushing device can be prevented from being damaged by sliding friction under the action of the pressing force.
The supporting conveying grooves can prevent the section steel from moving up and down and overturning in the bending process, the bending effect is not affected by the up-down overturning or moving of the section steel, and the bending quality is improved.
The mode that thrustor pushes up at the low reaches for the shaped steel of thrustor downstream direction does not have the restraint, and shaped steel receives three constraining force at the in-process of bending:
1. the bending force provided by the pushing device is the most downstream constraint force;
2. the most downstream pair of supporting conveying grooves for supporting the conveying wheels is a restraining force centered in the upstream direction and the downstream direction;
3. other pairs of supporting and conveying grooves for supporting and conveying wheels; if the supporting and conveying wheels are not restrained, when the section steel is pressed by the pushing device, the upstream end of the section steel can tilt towards the direction opposite to the pressing force of the pushing device.
The structure that the shaped steel of thrustor downstream direction is not restricted has following characteristics: the device has the advantages that the upstream end of the section steel cannot swing, so that the position of a welding point of the section steel is fixed (the section steel has limited length, and a next section of section steel needs to be welded at the upstream of a workbench before the section steel is completely sent to the workbench, so that continuous production is realized), and automatic welding is facilitated; the defects of complex structure, more supporting and conveying wheels and higher cost;
the mode of thrustor between two (initiative) wheels for the shaped steel of thrustor downstream direction has the restraint, and shaped steel receives three restraint power at the bending in-process:
1. the bending force provided by the pushing device.
2. A driving wheel arranged at the downstream direction of the pushing device.
3. A driving wheel in the upstream direction of the pushing device.
This approach has the following features:
the advantages are simple structure, few wheels and low cost; the defects that the upstream end of the section steel can swing reversely to the pushing force of the pushing device, so that the welding position is not fixed, and automatic welding is difficult to realize; if the support conveying wheel is additionally arranged in the upstream direction of the driving wheel in the upstream direction of the pushing device to restrain the swing of the upstream part of the section steel, the section steel is subjected to four restraining forces in bending, so that S-shaped stress of the section steel is caused, and the physical strength characteristic of the section steel is adversely affected.
The process route selected by the invention is a mode of properly increasing the cost for obtaining better performance (the laser range finder has better interference resistance but higher cost compared with a camera, and the downstream direction section steel of the pushing device is not constrained, so that the invention can limit the swing of the upstream part of the section steel under the condition of not reducing the physical strength of the section steel so as to be beneficial to the welding of the section steel), and therefore, the downstream direction section steel of the pushing device is not constrained.
The shell has the function of protecting various devices in the shell, and prevents sundries on working occasions from falling onto the section steel bending machine and the laser range finder.
By adopting the bending method, the bending degree of the section steel after nonlinear resilience can be measured in real time in the process of bending the section steel, and the extension amount of the extension rod of the pushing device is adjusted according to the relation between the input condition and the extension amount of the extension rod of the pushing device, so that the section steel directly reaches the preset bending degree through nonlinear resilience after being bent by one-time pressing, the section steel is prevented from repeatedly advancing and retreating and jacking, the working efficiency of section steel bending is greatly improved, the energy consumption consumed when the section steel is repeatedly advanced and retreated and jacking is saved, the energy consumption required by section steel bending is greatly reduced on the whole, and the effects of energy conservation and efficiency improvement are very obvious. The input conditions are the characteristics of the section steel bending machine (the radius of the pressing shaft and the distance between the axis of the pressing shaft and the limiting line), the section steel bending degree (arc radius) after nonlinear springback at present and the preset section steel bending degree.
Specifically, according to the invention, through a relation formula of the radius and the advancing and retreating amount, the electric control device can calculate the advancing and retreating amount of the extension rod of the pushing device in real time after obtaining the radius R of the arc formed by bending the section steel through laser measurement, so that the extension of the extension rod of the pushing device is correspondingly controlled. The invention can automatically control the extension amount of the extension rod of the pushing device according to the laser measurement result, so that the extension amount of the extension rod of the pushing device is matched with the curvature radius of the profile steel after being pressed and rebounded, thereby realizing that the profile steel does not need to be repeatedly advanced and retreated, and the curvature radius obtained after the profile steel is naturally rebounded is just the preset curvature radius after being pressed once and passes through a profile steel bending machine, thereby greatly improving the working efficiency, avoiding the energy consumption waste caused by repeatedly pressing the same section of profile steel, and having very obvious energy-saving effect and the effect of improving the processing efficiency.
Drawings
FIG. 1 is a schematic perspective view of a steel bending machine with a housing removed;
FIG. 2 is a top view of the steel bender with the housing removed.
Detailed Description
As shown in fig. 1 and 2, the section steel bending method based on laser measurement of the present invention is performed using a section steel bending machine including a table 1 in a downstream direction from a direction in which a section steel 2 is advanced.
A plurality of pairs (preferably 4 pairs) of supporting and conveying wheels are arranged on the workbench 1 along a straight line (preferably uniformly spaced) from the upstream to the downstream direction, and the straight line direction points to the downstream direction and is the feeding direction of the section steel 2;
the axis of each supporting and conveying wheel is vertically arranged, and each pair of supporting and conveying wheels comprises a front wheel 3 and a rear wheel 4. The front wheels 3 are preferably mounted in a wheel carrier, which is preferably driven by a tightening hydraulic cylinder mounted on the table. The wheel frame and the jacking hydraulic cylinder are both in the prior art, and are not shown in the figure.
The middle parts of the front wheels 3 and the rear wheels 4 in the vertical direction are both radially recessed to form a supporting and conveying groove 5, and the height of the supporting and conveying groove 5 is matched with the height of the section steel 2 in a conveying state;
the distance between the bottom of the supporting and conveying groove 5 of the front wheel 3 and the bottom of the supporting and conveying groove 5 of the rear wheel 4 is matched with the front and rear width of the section steel 2 in a conveying state;
in the pair of supporting and conveying wheels, a supporting and conveying space of the section steel 2 is enclosed between the supporting and conveying groove 5 of the front wheel 3 and the supporting and conveying groove 5 of the rear wheel 4, and the section steel 2 passes through the supporting and conveying spaces of each pair of supporting and conveying wheels from the upstream direction to the downstream direction and is matched with each supporting and conveying wheel in a rolling and pressure-welding way during work;
the rear wheels 4 are connected with forward and reverse rotating motors 14 in a one-to-one correspondence manner and driven by the forward and reverse rotating motors 14, and the rear wheels 4 are used for driving the section steel to move forward or backward depending on friction force. The forward and reverse rotation motors are prior art, and each forward and reverse rotation motor is arranged in the workbench 1 right below the corresponding rear wheel, so that each forward and reverse rotation motor is not shown in the figure.
The working tables 1 below the downstream of each pair of supporting and conveying wheels are fixedly connected with pushing devices 7, each pushing device 7 is provided with an extension rod 8, the end part of each extension rod 8 is provided with a pressing shaft 9, and each pressing shaft 9 is used for pressing the bent section steel 2; the extension direction of the extension rod 8 is perpendicular to the feeding direction of the section steel 2, and the pushing device 7 is a working hydraulic cylinder or a working electric push rod or a working air cylinder;
1 downstream direction of workstation is equipped with crookedness measuring mechanism, and crookedness measuring mechanism is including supporting in the backup pad 10 on ground, and even interval upwards is connected with multiunit bracing piece 11 in backup pad 10, and laser range finder 12 is installed respectively at each bracing piece 11 top, and each laser range finder 12 is equidistant on same straight line and arranges, and this straight line is on a parallel with the feed direction of shaped steel 2.
The laser distance measuring instruments are arranged at the same height at equal intervals, so that the detection of the distance in the arrangement direction of the laser distance measuring instruments can be omitted, and the calculation amount of the electric control device 11 is reduced.
The advancing path of the section steel 2 on the downstream side of the table 1 is called a downstream section steel path, and each laser distance meter 12 is at the same height as the downstream section steel path and faces the downstream section steel path;
each laser range finder 12, the forward and reverse rotation motor 14 and the pushing device 7 are respectively connected with an electric control device 13 through lines, and the electric control device is connected with a display screen. The display screen is a conventional device, not shown. The electric control device 13 is a PLC or an industrial control computer.
The profile steel 2 is in rolling fit with the pressing shaft 9, so that the extending rod 8 of the pushing device 7 can be prevented from being damaged by sliding friction under the action of pressing force.
The supporting conveying grooves 5 can prevent the section steel 2 from moving up and down and overturning in the bending process, so that the bending effect is not influenced by the up-down overturning or moving of the section steel 2, and the bending quality is improved.
The bending machine also comprises a shell, wherein the shell covers the workbench 1, the forward and reverse rotating motor 14, the supporting and conveying wheels, the pushing device 7 and the bending degree measuring mechanism;
the upstream end of the shell is provided with an inlet for the section steel 2 to enter, the downstream end of the shell is provided with an outlet for the section steel 2 to be sent out, and the support rods 11 and the laser range finders 12 are arranged in a one-to-one correspondence manner for more than ten groups. The more the laser range finder quantity is, the higher the measurement accuracy is correspondingly, 10 groups of laser range finders can solve the problem properly, and the cost is enough to set more groups of laser range finders. In this embodiment, 10 sets of laser range finders are taken as an example (10 sets can solve the problem well and the cost is relatively less for more sets, so it is expected that the scheme of 10 sets of laser range finders will be more used) to describe the technical scheme of the present invention, and it does not represent that 10 sets of laser range finders must be provided.
The shell has the function of protecting various devices in the shell, and prevents sundries on working occasions from falling onto the section steel bending machine and the laser range finder. The shell is provided with a movable door corresponding to the electric control device 13, and the shell is provided with an observation window corresponding to each laser range finder. The housing and its inlet, outlet, shutter and observation windows are conventional and not shown. The direction indicated by the arrows in FIGS. 1 and 2 is the direction of feeding of the section steel 2.
The invention also discloses a bending method using the section steel bending machine, which comprises the following steps:
the first step is feeding; feeding the section steel 2 into the shell from an inlet and penetrating through the supporting and conveying spaces of each pair of supporting and conveying wheels;
secondly, advancing and jacking;
starting each positive and negative rotation motor 14, driving each rear wheel 4 serving as a driving wheel to drive the section steel 2 to move towards the downstream direction under the action of rolling friction force, and enabling the upstream end part of the section steel 2 to enter a downstream section steel path;
the pushing device 7 is controlled by the electric control device 13 to apply a preset pushing length to the section steel 2 so as to bend the section steel 2;
thirdly, the extending amount of an extending rod 8 of the pushing device 7 is adjusted in the process of the second step;
specifically, each laser range finder 12 is started, each laser range finder 12 is kept in an opening state, and the electric control device 13 continuously identifies the bending degree of the section steel 2;
the electric control device adjusts the extension amount of the extension rod 8 of the pushing device 7 in real time when the bending degree of the section steel 2 is inconsistent with the preset bending degree, so that the bending degree of the section steel 2 is formed at one time to reach the preset bending degree; the "real-time adjustment" here means in practice that the time delay from the finding of the inconsistency to the adjustment of the thruster 7 is negligible, since the calculation process of the electronic control means is very fast and automatic.
And finally, continuously performing the second step and the third step to ensure that the section steel 2 does not need to retreat, and the section steel is pressed and rebounded to the preset bending degree at one time to continuously perform the bending operation of the section steel 2.
In the third step, the method for adjusting the extending amount of the extending rod 8 of the pushing device 7 comprises the following steps:
the electric control device 13 is internally pre-stored with the distance information among the laser range finders 12;
firstly, acquiring coordinates of 10 groups of steel simulation points;
the electric control device 13 acquires the distance signals of the laser range finders 12, and arranges the laser range finders 12 on the Y axis according to the distance information of the laser range finders 12 by taking the straight line where the laser range finders 12 are located as the Y axis;
taking the Y-axis coordinate of each laser range finder 12 as the Y-axis coordinate of the section steel simulation point;
taking the distance information measured by each laser distance meter 12 as the X-axis coordinate of the section steel simulation point;
the Y-axis coordinates of the 10 groups of laser range finders 12 and the corresponding measured distance information respectively correspond to the coordinates of the 10 groups of section steel simulation points;
secondly, obtaining a radius R by a least square method;
the electric control device 13 simulates a section steel simulation arc line formed by 10 groups of section steel simulation points by a least square method, so that the radius R of the section steel simulation arc line is obtained; the least square method is a conventional method, and after obtaining the coordinates of 10 groups of steel simulation points, a person skilled in the art can simulate an arc line by the least square method and obtain the radius of the simulated arc line.
Thirdly, the electric control device 13 controls the advance and retreat amount of the extension bar 8 of the pushing device 7;
specifically, the electric control device 13 calculates the advance and retreat amount of the extension rod 8 of the pushing device 7 according to a relation formula of the radius and the advance and retreat amount, and controls the extension rod 8 of the pushing device 7 to stretch and contract to accord with the advance and retreat amount;
the relation formula of the radius and the advancing and retreating amount is as follows:
dT is the calculated advancing and retreating amount of the extension rod 8 of the pushing device 7; r is the radius R of an arc curve (namely a profile steel simulation arc) formed by bending the profile steel 2 obtained by laser measurement, and R is the radius of a pressing shaft 9 arranged at the end part of an extension rod 8 of the pushing device 7; a central connecting line of the axes of the pair of the downstream supporting conveying wheels is called a limiting line, and L is the distance between the axis center of the pressing shaft 9 and the limiting line; dR is a difference obtained by subtracting a predetermined bending radius of the section steel 2 (i.e., a target value of the bending radius of the section steel 2) from R;
the dR value is zero in an ideal state, and under the condition that the final bending radius of the section steel 2 subjected to nonlinear rebounding fluctuates, the final bending radius of the section steel 2 is controlled within the fluctuation range allowed by the process by adjusting the advance and retreat amount of the extension rod 8 of the pushing device 7 in real time, so that the one-time top pressure bending forming is realized.
Through a relation formula of the radius and the advancing and retreating amount, the electric control device 13 can calculate the advancing and retreating amount of the extension rod 8 of the pushing device 7 in real time after obtaining the radius R of the arc formed by bending the section steel 2 through laser measurement, so that the extension and contraction of the extension rod 8 of the pushing device 7 are correspondingly controlled. The invention can automatically control the extension amount of the extension rod 8 of the pushing device 7 according to the laser measurement result, so that the extension amount of the extension rod 8 of the pushing device 7 is matched with the curvature radius of the profile steel 2 after being pressed and rebounded, thereby realizing no need of repeatedly advancing and retreating the profile steel 2, ensuring that the curvature radius obtained after the profile steel 2 is naturally rebounded is just the preset curvature radius after being pressed once and passes through a profile steel bending machine, greatly improving the working efficiency, avoiding the energy consumption waste caused by repeatedly pressing the same section of the profile steel 2, and having very obvious energy-saving effect and the effect of improving the processing efficiency.
Claims (3)
1. The section steel bending method based on laser measurement is carried out by using a section steel bending machine, the section steel bending machine comprises a workbench, a shell is arranged on the workbench, the forward direction of the section steel is taken as the downstream direction,
the method is characterized by comprising the following steps:
the first step is feeding; feeding the section steel into the shell from the inlet and penetrating through the supporting and conveying spaces of each pair of supporting and conveying wheels;
secondly, advancing and jacking; synchronously starting each positive and negative rotating motor, driving steel of each rear wheel serving as a driving wheel moves towards the downstream direction under the action of rolling friction force, and enabling the upstream end part of the steel to enter a downstream steel section path;
the pushing device is controlled by the electric control device to apply a preset jacking length to the section steel so as to bend the section steel;
thirdly, the extending amount of an extending rod of the pushing device is adjusted in the process of the second step;
starting each laser range finder, keeping each laser range finder in an open state, continuously identifying the curvature of the section steel by the electric control device, and adjusting the extension amount of an extension rod of the pushing device in real time when the curvature of the section steel is inconsistent with the preset curvature, so that the curvature of the section steel is formed at one time to reach the preset curvature;
finally, continuously carrying out the second step and the third step to enable the section steel to be pressed and rebounded to the preset curvature at one time, and continuously carrying out section steel bending operation;
in the third step, the method for adjusting the extending amount of the extending rod of the pushing device comprises the following steps:
the electric control device is internally pre-stored with distance information among the laser range finders;
firstly, acquiring coordinates of 10 groups of steel simulation points;
the electric control device acquires distance signals of the laser range finders, and arranges the laser range finders on a Y axis according to the distance information of the laser range finders by taking a straight line where the laser range finders are located as the Y axis;
taking the Y-axis coordinate of each laser range finder as the Y-axis coordinate of the section steel simulation point;
taking the distance information measured by each laser range finder as the X-axis coordinate of the section steel simulation point;
y-axis coordinates of 10 groups of laser range finders and corresponding measured distance information respectively correspond to coordinates of 10 groups of section steel simulation points;
secondly, obtaining the radius R by a least square method;
the electric control device simulates section steel simulation arcs formed by 10 groups of section steel simulation points by a least square method, so that the radius R of the section steel simulation arcs is obtained;
thirdly, the electric control device controls the advance and retreat amount of the extension rod of the pushing device;
specifically, the electric control device calculates the advance and retreat amount of the extension rod of the pushing device according to a relation formula of the radius and the advance and retreat amount, and controls the extension rod of the pushing device to stretch and contract to accord with the advance and retreat amount;
the relation formula of the radius and the advancing and retreating amount is as follows:
dT is the calculated advancing and retreating amount of the extending rod of the pushing device; r is the radius R of an arc curve formed by bending the profile steel obtained by laser measurement, and R is the radius of a pressing shaft installed at the end part of an extending rod of the pushing device; a central connecting line of the axial lines of the pair of support conveying wheels at the most downstream is called a limiting line, and L is the distance between the axial line center of the pressing shaft and the limiting line; dR is the difference obtained by subtracting the predetermined bending radius of the section steel from R.
2. The method for bending section steel based on laser measurement according to claim 1, characterized in that:
a plurality of pairs of supporting and conveying wheels are linearly arranged on a workbench of the section steel bending machine from the upstream to the downstream, and the linear direction is the feeding direction of the section steel;
the axes of the supporting and conveying wheels are vertically arranged, each pair of supporting and conveying wheels comprises a front wheel and a rear wheel, the middle parts of the front wheels and the rear wheels in the vertical direction are radially sunken to form a supporting and conveying groove, and the height of the supporting and conveying groove is matched with the height of the section steel in a conveying state;
the distance between the bottom of the supporting and conveying groove of the front wheel and the bottom of the supporting and conveying groove of the rear wheel is matched with the front and rear width of the section steel in a conveying state;
in the pair of supporting and conveying wheels, a supporting and conveying space of the formed steel is enclosed between the supporting and conveying groove of the front wheel and the supporting and conveying groove of the rear wheel, and the formed steel passes through the supporting and conveying spaces of each pair of supporting and conveying wheels from the upstream direction to the downstream direction and is matched with each supporting and conveying wheel in a rolling and pressure-welding manner during work;
the rear wheels are connected with forward and reverse rotating motors in a one-to-one correspondence manner and driven by the forward and reverse rotating motors, and each forward and reverse rotating motor is arranged in the workbench right below the corresponding rear wheel;
the workbench below each pair of supporting and conveying wheels is fixedly connected with a pushing device, the pushing device is provided with an extension rod, the end part of the extension rod is provided with a pressing shaft, and the pressing shaft is used for pressing the bent section steel; the extension direction of the extension rod is perpendicular to the feeding direction of the profile steel, and the pushing device is a working hydraulic cylinder or a working electric push rod or a working air cylinder;
the downstream direction of the workbench is provided with a curvature measuring mechanism, the curvature measuring mechanism comprises a supporting plate supported on the ground, a plurality of groups of supporting rods are upwards connected on the supporting plate at uniform intervals, the tops of the supporting rods are respectively provided with a laser range finder, the laser range finders are arranged on the same straight line at equal intervals, and the straight line is parallel to the feeding direction of the section steel;
the steel section advancing path at the downstream side of the workbench is called a downstream steel section path, and each laser range finder is as high as the downstream steel section path and faces the downstream steel section path;
each laser range finder, positive and negative motor and thrustor are connected with an electric control device through lines respectively, and the electric control device is connected with a display screen.
3. The method for bending section steel based on laser measurement according to claim 2, characterized in that: the shell covers the workbench, the forward and reverse rotating motor, the supporting and conveying wheels, the pushing device and the curvature measuring mechanism;
the upstream end of the shell is provided with an inlet for entering the section steel, and the downstream end of the shell is provided with an outlet for sending out the section steel; more than ten groups of supporting rods are arranged in one-to-one correspondence with the laser range finders.
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