CN114643290A - Manipulator deviation rectifying device and method for hot-rolled steel strip - Google Patents
Manipulator deviation rectifying device and method for hot-rolled steel strip Download PDFInfo
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- CN114643290A CN114643290A CN202210348093.1A CN202210348093A CN114643290A CN 114643290 A CN114643290 A CN 114643290A CN 202210348093 A CN202210348093 A CN 202210348093A CN 114643290 A CN114643290 A CN 114643290A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B39/00—Arrangements for moving, supporting, or positioning work, or controlling its movement, combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
- B21B39/14—Guiding, positioning or aligning work
- B21B39/16—Guiding, positioning or aligning work immediately before entering or after leaving the pass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B38/00—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention provides a manipulator deviation correcting device for a hot rolled steel strip, which comprises a control module, a data processing module, a laser range finder and a calibration module, wherein the control module comprises the following components: two fixed plates in the calibration module are fixed on two supports of the hot-rolled steel strip gripping device, two ends of the clamp assembly are arranged below the two fixed plates, and the calibration plate is arranged below the clamp assembly and can move left and right along the clamp assembly; the laser range finder is fixed at the upper left of the hot rolled steel strip gripping device, emits laser lines to the calibration plate, receives the laser lines for ranging, and sends ranging signals to the control module; the control module controls the laser ranging module to perform ranging, receives ranging signals and sends the ranging signals to the data processing module for calculation, and controls a mechanism which drives the calibration plate to move in the calibration assembly to act. The correcting manipulator is used for correcting the offset distance between the head of the hot-rolled steel strip grabbed by the manipulator and the central line of the roller way, and is beneficial to the smooth entry of the head of the hot-rolled steel strip into the roller way.
Description
Technical Field
The invention relates to the technical field of hot rolled steel, in particular to a manipulator deviation rectifying device and method for hot rolled steel strips.
Background
On a hot rolled steel production line, a hot rolled steel strip enters a flat plate conveying chain through a snake-shaped oscillator, and the steel strip is vibrated and then swings left and right, so that the whole steel strip is conveyed forwards on the flat plate conveying chain in an S shape, is naturally cooled in the conveying process, then passes through a roller way, and is subsequently coiled. The head of the steel strip is excessively bent under the action of the swinging force in the conveying process, so that different postures of head body fitting, head back bending, head fitting on the side wall of the flat plate conveying chain and the like can occur, the steel strip cannot automatically enter the roller way inlet, and the automatic reeling of the steel strip is influenced.
At present, workers mainly enter a flat plate conveying chain, the head of a steel strip is clamped by a clamp to correct the head of the steel strip into a forward posture and drag the steel strip to enter a roll gap, the operation environment is severe, great potential safety hazards exist, and safety production requirements cannot be met, a steel strip traction robot is required to be used, a manipulator of the steel strip traction robot in the prior art is provided with a hot-rolled steel strip gripping device 1, as shown in figure 1, piston rods on two sides of a parallel opening and closing air claw 14 in the hot-rolled steel strip gripping device 1 are respectively fixed with a support 10, the support 10 is provided with a bearing seat plate 11, the bearing seat plate 11 is connected with a roller gripper 13 through a bearing seat 12, the support 10, the bearing seat 11 and the roller gripper 13 are symmetrically arranged, a symmetrical plane is a middle plane 7 of the hot-rolled steel strip gripping device 1, and the piston rods on two sides of the parallel opening and closing air claw 14 extend or retract to drive the supports 10 on two sides to move, two gyro wheel tongs 13 keep away from or are close to the operation of snatching that realizes hot rolled steel strip, snatch back hot rolled steel strip grabbing device 1's midplane 7 and roller way central line and align, and the robot removes the head that sends into the hot rolled steel strip and rolls the way, because midplane 7 position is unknown, only theoretical symmetry plane, consequently snatchs the hot rolled steel strip at the robot and sends into two problems when the roller way: firstly, the middle surface is not easy to align, so that the middle surface is difficult to align with the central line of the roller way; and secondly, although the hot-rolled steel strip is theoretically positioned on the central line of the roller way, the head of the grabbed hot-rolled steel strip has certain deviation from the central line of the roller way due to certain flexibility of the high-temperature steel strip, so that the roller way cannot be smoothly performed, and the steel strip deviation correction is required.
Disclosure of Invention
In view of the above, the invention aims to provide a manipulator deviation correcting device for a hot rolled steel strip, which can solve the technical problems that in the prior art, the middle surface is not easy to align, the head of the hot rolled steel strip deviates from the central line of a roller way after being grabbed by a manipulator, and the hot rolled steel strip is not easy to enter the roller way.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a manipulator deviation correcting device for hot rolled steel strips comprises a control module, a data processing module, a laser range finder and a calibration module:
the calibration module comprises two fixed plates, a clamp assembly and a calibration plate, the two fixed plates are respectively fixed on two supports of the hot-rolled steel strip gripping device, two ends of the clamp assembly are arranged below the two fixed plates, and the calibration plate is arranged below the clamp assembly and can move left and right along the clamp assembly;
the laser range finder is fixed above the left side of the hot rolled steel strip gripping device, emits laser lines to the calibration plate, receives the laser lines for ranging, and sends ranging signals to the control module;
the control module is respectively connected with the data processing module, the laser ranging module and the calibration assembly, controls the laser ranging module to emit laser lines and receive the laser lines for ranging, receives ranging signals and sends the ranging signals to the data processing module for calculation, and controls a mechanism which drives the calibration plate to move in the calibration assembly to act.
Further, the clamp assembly comprises a motor, a lead screw, a guide rail, a moving block, a cylinder mounting plate, a clamp and a sliding plate, wherein the lead screw and the guide rail are arranged in parallel, two ends of the lead screw and the guide rail are respectively rotatably connected with two lower parts of the fixed plates, the motor is in driving connection with one end of the lead screw, the moving block is sleeved on the lead screw and the guide rail at the same time, the moving block is in threaded connection with the lead screw, the moving block is slidably connected with the guide rail, the cylinder mounting plate is fixedly arranged at the lower part of the moving block, the cylinder is fixedly arranged below the cylinder mounting plate, a piston rod of the cylinder is fixedly connected with the sliding plate, the sliding plate is slidably connected with the cylinder mounting plate, the clamp is fixedly arranged below the sliding plate, and the clamp is fixedly connected with the calibration plate.
Furthermore, a guide block is convexly arranged on the surface of the lower part of the cylinder fixing plate, a guide groove is formed in the surface of the upper part of the sliding plate, and the guide block is inserted in the guide groove and is slidably connected with the guide groove.
Furthermore, a clamping groove is formed below the clamp, the upper end of the calibration plate is inserted into the clamping groove, the clamp is fixedly connected with the calibration plate through a fixing nail, and a rubber pad is arranged in the clamping groove.
Furthermore, the calibration plate material is float glass, the surface of one side of the calibration plate is provided with scale marks, one side of each scale mark faces the laser range finder, and the scale marks are sprayed by aluminum oxide.
Furthermore, the upper ends of the fixing plates are fixed on a bearing seat plate of the support, the two fixing plates are arranged in parallel, the screw rod and the guide rail are perpendicular to the fixing plates, and the calibration plate is arranged in parallel to the fixing plates.
Further, a manipulator deviation rectifying method for hot rolled steel strips is used for any one of the manipulator deviation rectifying devices for hot rolled steel strips, and comprises the following steps:
s1: detaching the roller gripper from the hot-rolled steel strip gripping device, fixing the upper ends of the two fixing plates on bearing seat plates of the two supports respectively, and sequentially installing the clamp assembly and the calibration plate; the surface of one side of the calibration plate, which is provided with the scale marks, faces the laser range finder;
s2: the control module controls the calibration plate to move to the positions of the left bearing plate and the right bearing plate respectively, the laser range finders respectively perform range finding at the two positions of the calibration plate, and the control module controls the data processing module to calibrate the middle surface of the hot-rolled steel strip gripping device and the deflection angle of a laser line emitted by the laser range finders;
s3: sequentially disassembling the clamp assembly, the calibration plate and the fixed plate, and installing the roller gripper on bearing seat plates of the two brackets;
s4: moving a manipulator of the hot-rolled steel strip to the position above a hot-rolled steel strip production line, and aligning the middle surfaces of the two roller grippers with the central line of a roller way;
s5: the hot rolled steel strip grabbing device acts, and the two roller grippers grab the hot rolled steel strip;
s6: the control module controls the laser range finder to perform range finding on the left side of the head of the hot rolled steel strip and transmits a range finding signal to the control module;
s7: the control module controls the data processing module to perform data calculation, calculates the distance of the head of the hot-rolled steel strip from the middle surface of the hot-rolled steel strip grabbing device according to the deflection angle of the laser line emitted by the laser range finder, judges the deflection direction of the head of the hot-rolled steel strip, and performs position compensation on the manipulator of the hot-rolled steel strip according to the deflection distance and the deflection direction.
Further, in step S2, the control module controls the calibration plate to move to the left bearing plate and the right bearing plate, the laser range finder measures the distance at the two positions of the calibration plate, and the control module controls the data processing module to calibrate the middle surface of the hot rolled steel strip gripping device and the deflection angle of the laser line emitted by the laser range finder, and the specific method is as follows:
s21: the control module controls the motor to act to drive the lead screw to rotate, the moving block drives the calibration plate to move to the left side, and meanwhile, the piston rod of the air cylinder extends out to push the sliding plate to move to the left side, so that the surface of one side, provided with the scale marks, of the calibration plate is aligned with the plane of the surface of the left bearing pedestal plate;
s22: establishing a space rectangular coordinate system by taking a laser emitting point on a laser range finder as an original point O, taking a direction perpendicular to a bearing seat plate of the support as a Y direction and taking a vertical direction as a Z direction;
s23: the control module controls the laser range finder to emit laser lines to the calibration plate, a light spot A is formed on the calibration plate and marked, and the distance for measuring OA by the laser range finder is L1；
S24: the control module controls the motor to act to drive the lead screw to rotate reversely, the moving block drives the calibration plate to move towards the right side, meanwhile, the piston rod of the air cylinder retracts, and the sliding plate is pulled to move towards the right side, so that the surface of one side of the calibration plate, which is provided with the scale marks, is aligned with the plane of the surface of the right bearing pedestal plate;
s25: the control module controls the laser range finder to emit laser lines to the calibration plate, a light spot B is formed on the calibration plate and marked, and the distance of OB measured by the laser range finder is L2；
S26: the control module controls the data processing module to process data, a projection model for deviation correction of the hot rolled steel strip is established, and the deflection angle alpha of the middle surface of the hot rolled steel strip grabbing device, the deflection angle beta of a laser line emitted by the laser range finder relative to the ZY plane and the deflection angle beta of the laser line emitted by the laser range finder relative to the XY plane are obtained.
Further, the specific algorithm for establishing the projection model for deviation rectification of the hot rolled steel strip in S26 to obtain the deflection angle α of the middle surface of the hot rolled steel strip gripping device and the laser range finder emission laser line with respect to the ZY plane and the deflection angle β of the laser range finder emission laser line with respect to the XY plane is as follows:
s261: the calibration plates are respectively positioned at the left side and the right side, and two identical calibration plates are simultaneously placed on the clamp assembly, one side surfaces of the two calibration plates, which are provided with scale marks, face to the laser range finder, laser lines emitted by the laser range finder are simultaneously printed on the two calibration plates, and the intersection points of the laser lines and the two calibration plates are a point A and a point B;
s262: the projection of a point A on a right side calibration plate along a Y-axis direction is taken as a point D, the point B and the point D are respectively made into straight lines on the right side calibration plate along a Z-axis direction and an X-axis direction, the intersection point of the straight line of the point B along the Z-axis direction and the straight line of the point D along the X-axis direction is C, the intersection point of the straight line of the point B along the X-axis direction and the straight line of the point D along the Z-axis direction is E, the included angle of a line segment AD and a line segment AC is the deflection angle alpha of a laser line emitted by a laser range finder relative to a ZY plane, and the included angle of the line segment AC and the line segment AB is the deflection angle beta of the laser line emitted by the laser range finder relative to the XY plane;
s263: the length of the line segment AD is L, i is the distance between the two bearing plates on the bracket, the length of the line segment AB is L, and L is L2-L1The lengths of the line segment CD and the line segment CB can be obtained from scale marks on the calibration plate and are respectively marked as d and h; the value of α can be obtained by tan α ═ d/l; since sin β is h/L, the size of β can be found;
s264: respectively taking the middle points OF segments AB, AC, AD and AE, marking as points F, I, H and G, the plane HIGF formed by the points F, I, H and G is the middle plane OF the hot rolled steel strip gripping device, and the segment OF has the length L3，L3＝(L1+L2)/2。
Further, in step S7, the control module controls the data processing module to perform data calculation, calculates a distance that the head of the hot-rolled steel strip deviates from a middle surface of the gripping device according to a deflection angle of a laser line emitted by the laser range finder, and determines a deviation direction of the head of the hot-rolled steel strip, and the specific method for performing position compensation on the manipulator of the hot-rolled steel strip according to the deviation distance and the deviation direction includes:
s71: the known laser range finder strikes the left side of the head of the steel strip, the left side is recorded as a point N, and the distance L of the line segment ON is measured4And calculating the offset distance delta L of the head of the hot rolled steel strip on the XY plane, wherein delta L is (L)4-L3)cosβ；
S72: calculating the offset distance delta L of the head of the hot-rolled steel strip on the ZY plane, wherein the offset distance delta L is delta lcos alpha (L is L)4-L3)cosβcosα；
S73: due to the influence of the thickness of the steel strip, the offset distance delta L of the head of the hot-rolled steel strip on the ZY plane generates errors, the thickness t of the steel strip is counted when the offset distance delta L is calculated, and finally the offset distance delta L' of the head of the steel strip on the ZY plane is equal to (L)4-L3)cosβcosα-t/2；
S74: when the delta L 'is larger than 0, the head of the hot rolled steel strip deflects to the right side of the middle surface, the manipulator of the hot rolled steel strip drives the gripping device of the hot rolled steel strip to deflect delta L' to the left side of the central line of the roller way, when the delta L 'is smaller than 0, the head of the hot rolled steel strip deflects to the left side of the middle surface, and the manipulator of the hot rolled steel strip drives the gripping device of the hot rolled steel strip to deflect delta L' to the right side of the central line of the roller way.
Compared with the prior art, the manipulator deviation rectifying device and the manipulator deviation rectifying method for the hot rolled steel strip have the following advantages that:
(1) according to the manipulator deviation correcting device for the hot rolled steel strip, the calibration plates are respectively placed on the left side and the right side of the support and are aligned with the surfaces of the left bearing seat plate and the right bearing seat plate of the support to calibrate, the motor is adopted to drive the screw rod to move during calibration, and the cylinder drives the sliding plate to finely adjust, so that the defect of poor positioning effect caused by manual placement of the calibration plates is avoided, the position is accurate, the calibration result is more accurate, an acquisition component is not required to be additionally arranged, only the laser distance meter of the hot rolled steel strip grabbing device is required to complete measurement of the whole deviation correcting process, and the manipulator deviation correcting device is simple and easy to implement;
(2) according to the manipulator deviation rectifying method for the hot rolled steel strip, disclosed by the invention, a projection model for hot rolled steel strip deviation rectifying is established through geometric analysis, the middle surface of a hot rolled steel strip gripping device is aligned and positioned, the offset of the hot rolled steel strip on a ZY plane is calculated, and the position of the hot rolled steel strip gripping device is compensated, so that a traction robot can smoothly convey the hot rolled steel strip into a roller way.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a hot-rolled steel strip gripping device arranged on a manipulator of a steel strip traction robot according to the background art of the invention;
FIG. 2 is a schematic structural diagram of a position of a bearing seat plate with a positioning plate on the right side in the manipulator deviation correcting device for hot-rolled steel strips according to the embodiment of the present invention;
FIG. 3 is an enlarged view of the embodiment of the present invention at M in FIG. 2;
FIG. 4 is a partially exploded view of a calibration assembly in accordance with an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a position of a bearing seat plate with a calibration plate located on the left side according to the embodiment of the present invention;
FIG. 6 is a schematic view of a projection model for hot rolled steel strip deviation correction according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a projection model for deviation correction of a hot-rolled steel strip and a position of a middle surface according to an embodiment of the present invention;
FIG. 8 is a schematic view showing the gripping of a hot rolled steel strip from the XY plane according to the embodiment of the present invention;
FIG. 9 is a schematic view of a plane where a hot rolled strip of the present invention is gripped from the point A, B, C;
FIG. 10 is a left side view of a robot deviation correcting device for hot rolled steel strip according to an embodiment of the present invention.
Description of reference numerals:
1. a hot-rolled steel strip gripping device; 10. a support; 11. a bearing seat plate; 12. a bearing seat; 13. a roller gripper; 2. a laser range finder; 3. calibrating the plate; 4. a clamp assembly; 41. a motor; 42. a lead screw; 43. a guide rail; 44. a moving block; 441. a ball nut; 45. a cylinder mounting plate; 451. a guide block; 471. a guide groove; 46. a cylinder; 47. a sliding plate; 48. a clamp; 481. fixing nails; 482. a clamping groove; 5. a fixing plate; 6. hot rolling the steel strip; 7. and (4) a middle surface.
Detailed Description
It should be noted that the descriptions relating to "first", "second", "upper", "lower", "left", "right", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, the definition of "first" or "second" feature may explicitly or implicitly include at least one such feature. The terms "upper", "lower", "left", "right", etc. are used as the standard in the drawings, and the technical solutions between the embodiments can be combined with each other, but must be based on the realization of the technical solutions by those skilled in the art, and when the technical solutions between the embodiments can be combined, the technical solutions are within the protection scope required by the present invention.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Detailed description of the preferred embodimentsfor the fig. 1 to 9, a manipulator deviation rectifying device for hot rolled steel strip comprises a control module, a data processing module, a laser distance measuring instrument 2 and a calibration module:
the calibration module comprises two fixed plates 5, two clamp assemblies 4 and two calibration plates 3, the two fixed plates 5 are respectively fixed on two supports 10 of the hot-rolled steel strip gripping device 1, two ends of each clamp assembly 4 are arranged below the two fixed plates 5, and the calibration plates 3 are arranged below the clamp assemblies 4 and can move left and right along the clamp assemblies 4;
specifically, the fixing plate 5 is L-shaped, and the clamp assembly 4 is connected below the extending end of the fixing plate 5, which is far away from the bearing seat plate 11, so that the laser range finder 2 can be ensured to hit light onto the surface of the calibration plate 3; the end heads of the long edges of the fixing plates 5 are fixed on a bearing seat plate 11 of the support 10, the two fixing plates 5 are arranged in parallel, the clamp assembly 4 is arranged in a direction perpendicular to the fixing plates 5, and the calibration plate 3 is arranged in parallel to the fixing plates 5, so that the calibration plate 3 is parallel to the middle surface, and the middle surface can be conveniently found out according to subsequent calculation;
further, the clamp assembly 4 comprises a motor 41, a lead screw 42, guide rails 43, a moving block 44, an air cylinder 46, an air cylinder mounting plate 45, a clamp 48 and a sliding plate 47, the lead screw 42 and the guide rails 43 are arranged in parallel, the guide rails 43 are arranged in two, the lead screw 42 is arranged between the two guide rails 43, two ends of the lead screw 42 and the guide rails 43 are respectively rotatably connected with the lower parts of the two fixing plates 5, the motor 41 is in driving connection with one end of the lead screw 42, the moving block 44 is simultaneously sleeved on the lead screw 42 and the guide rails 43, the middle part of the moving block 44 is provided with a ball nut 441, the ball nut 441 is in threaded connection with the lead screw 42, two sides of the moving block 44 are sleeved on the guide rails 43 and are in slidable connection with the guide rails 43, the whole moving block 44 slides more stably, the moving precision is high, the air cylinder mounting plate 45 is fixedly arranged on the lower part of the moving block 44, the air cylinder 46 is fixedly arranged below the air cylinder mounting plate 45, and the piston rod of the air cylinder 46 is fixedly connected with the sliding plate 47, but sliding plate 47 and cylinder mounting panel 45 sliding connection, it is preferred, fix in the end department of cylinder mounting panel 45, sliding plate 47 is difficult for deviating from when sliding, sliding plate 47 below is fixed and is provided with anchor clamps 48, anchor clamps 48 and calibration plate 3 fixed connection, cylinder 46, sliding plate 47 set up and to finely tune calibration plate 3's position, make calibration plate 3 and bearing seat board 11 surface can the parallel and level, be convenient for follow-up laser range finder 2 transmission receiving light carries out the range finding, and calculate the mid-plane according to range finding information.
Further, a guide block 451 is convexly arranged on the lower surface of the cylinder mounting plate 45, a guide groove 471 is formed in the upper surface of the sliding plate 47, the guide block 451 is inserted into the guide groove 471 and is slidably connected with the guide groove 471, the cross sections of the guide block 451 and the guide groove 471 are dovetail-shaped, and the guide block 451 and the guide groove 471 are not easy to fall off after being inserted.
Further, a clamping groove 482 is formed below the clamp 48, the upper end of the calibration plate 3 is inserted into the clamping groove 482 and plays a role in positioning when in connection, the clamp 48 and the calibration plate 3 are fixedly connected through fixing nails 481, and a rubber pad is arranged in the clamping groove 482, so that the calibration plate 3 and the clamping groove 482 are connected more firmly and are not easy to fall off when in positioning.
The calibration plate 3 is made of float glass, scale marks are arranged on the surface of one side of the calibration plate 3, the scale marks face the laser range finder 2 from one side 3, the scale marks are sprayed by aluminum oxide, diffuse reflection cannot occur when a light source directly irradiates, the clamp 48, the cylinder mounting plate 45, the sliding plate 47, the guide rail 43, the lead screw 42 and the fixing plate 5 are made of aluminum alloy materials, and the processing precision is that±0.01mm, and ensures good parallelism of all surfaces.
Further, a laser range finder 2 is fixed above the left side of the hot rolled steel strip grabbing device 1 and arranged at an included angle with the middle part, and is used for emitting laser lines to the calibration plate, receiving the laser lines for ranging and sending ranging signals to the control module, wherein the direction of the laser lines is inclined downwards;
the control module is respectively connected with the data processing module, the laser ranging module and the calibration assembly, controls the laser ranging module to emit laser lines and receive the laser lines for ranging, sends ranging signals to the data processing module for calculation, controls a mechanism which drives the calibration plate 3 to move in the calibration assembly to act, and controls the motor 41 and the air cylinder 46 to act.
Further, a manipulator deviation rectifying method for hot rolled steel strips is used for any one of the manipulator deviation rectifying devices for hot rolled steel strips, and comprises the following steps:
s1: detaching the roller gripper 13 from the hot-rolled steel strip gripping device 1, respectively fixing the upper ends of the two fixing plates 5 on the bearing seat plates 11 of the two brackets 10, and sequentially installing the clamp assembly 4 and the calibration plate 3; the surface of one side of the calibration plate 3 with the scale marks faces the laser range finder 2;
s2: the control module controls the calibration plate 3 to move to the positions of the left bearing seat plate 11 and the right bearing seat plate 11 respectively, so that one side surface of the calibration plate 3 with scale marks is flush with the surface of the bearing seat plate 11 for mounting the bearing seat 12, the laser range finders 2 respectively perform range finding at the left position and the right position of the calibration plate 3, and the control module controls the data processing module to calibrate the deflection angles of the middle surface 7 of the hot-rolled steel strip grabbing device 1 and laser lines emitted by the laser range finders 2;
s3: the clamp assembly 4, the calibration plate 3 and the fixing plate 5 are disassembled in sequence, and the roller hand grips 13 are installed on the bearing seat plates 11 of the two brackets 10;
s4: moving a manipulator of the hot-rolled steel strip to the position above a hot-rolled steel strip production line, and aligning the middle surface of the hot-rolled steel strip grabbing device 1 with the central line of the roller way;
s5: the hot rolled steel strip gripping device 1 acts, and the two roller grippers 13 grip the hot rolled steel strip;
s6: the control module controls the laser range finder 2 to perform range finding on the left side of the head of the hot rolled steel strip and transmits a range finding signal to the control module;
s7: the control module controls the data processing module to perform data calculation, calculates the distance of the head of the hot rolled steel strip from the middle surface 7 of the hot rolled steel strip grabbing device 1 according to the deflection angle of the laser range finder 2, judges the deflection direction of the head of the hot rolled steel strip, and performs position compensation on the manipulator of the hot rolled steel strip according to the deflection distance and the deflection direction.
Further, as shown in fig. 2, 5, 6, and 7, in step S2, the control module controls the calibration plate 3 to move to the left bearing block 11 and the right bearing block 11, the laser range finder 2 measures the distance at two positions of the calibration plate 3, and the control module controls the data processing module to calibrate the deflection angles of the middle surface 7 of the hot-rolled steel strip gripping device 1 and the laser line emitted by the laser range finder 2, which includes:
s21: the control module controls the motor to act, drives the screw rod 42 to rotate, the moving block 44 drives the air cylinder mounting plate 45, the air cylinder 46, the sliding plate 47, the clamp 48 and the calibration plate 3 to move to the left, and simultaneously, a piston rod of the air cylinder 46 extends out to push the sliding plate 47 to move to the left, so that the surface of one side, provided with scale marks, of the calibration plate 3 is flush with the surface of the left bearing seat plate 11, which is used for mounting the bearing seat 12;
s22: as shown, a space rectangular coordinate system is established by taking a laser emitting point on the laser range finder 2 as an original point O, taking a direction perpendicular to the surface of the bearing seat plate 11 of the bracket 10 for mounting the bearing seat 12 as a Y direction, and taking a vertical direction as a Z direction;
s23: the control module controls the laser range finder 2 to emit laser lines to the calibration plate 3, a light spot A is formed on the calibration plate 3 and marked, and the distance for measuring OA by the laser range finder 2 is L1；
S24: the control module controls the motor 41 to act, drives the lead screw 42 to rotate reversely, the moving block 44 drives the cylinder mounting plate 45, the cylinder 46, the sliding plate 47, the clamp 48 and the calibration plate 3 to move to the right side, and simultaneously, the piston rod of the cylinder 46 retracts, and pulls the sliding plate 47 to move to the right side, so that the surface of one side of the calibration plate 3 with the scale marks is aligned with the plane of the surface of the right bearing pedestal 11 for mounting the bearing pedestal 12;
s25: the control module controls the laser range finder 2 to emit laser lines to the calibration plate 3, a light spot B is formed on the calibration plate 3 and marked, and the distance between OB and the laser range finder 2 is L2；
S26: the control module controls the data processing module to process data, a projection model for deviation correction of the hot rolled steel strip is established, the projection model is a projection model in which the laser range finder 2 emits laser lines at the positions of the calibration plate 3, which are respectively located on the left bearing seat plate 11 and the right bearing seat plate 11, and the deflection angle alpha of the laser line emitted by the middle surface 7 of the hot rolled steel strip grabbing device 1 and the laser range finder 2 relative to the ZY plane and the deflection angle beta of the laser line emitted by the laser range finder 2 relative to the XY plane are obtained.
Further, the specific algorithm for establishing the projection model for deviation rectification of the hot rolled steel strip in S26 to obtain the deflection angle α of the middle surface 7 of the hot rolled steel strip gripping device 1 and the laser line emitted by the laser range finder 2 with respect to the ZY plane and the deflection angle β of the laser line emitted by the laser range finder 2 with respect to the XY plane is as follows:
s261: the calibration plates 3 are respectively positioned at the left bearing seat plate 11 and the right bearing seat plate 11, and are regarded as two identical calibration plates 3 are simultaneously placed on the clamp assembly 4, one side surfaces of the two calibration plates 3 with scale marks face the laser range finder 2, laser lines emitted by the laser range finder 2 are regarded as being simultaneously printed on the two calibration plates 3, and the intersection points of the laser lines and the two calibration plates are point A and point B;
s262: the projection of a point A on a right side calibration plate along the Y-axis direction is taken as a point D, the point B and the point D are respectively made into straight lines on the right side calibration plate along the Z-axis direction and the X-axis direction, the intersection point of the straight line of the point B along the Z-axis direction and the straight line of the point D along the X-axis direction is C, the intersection point of the straight line of the point B along the X-axis direction and the straight line of the point D along the Z-axis direction is E, the included angle of a line segment AD and a line segment AC is the deflection angle alpha of a laser line emitted by the laser range finder 2 relative to a ZY plane, and the included angle of the line segment AC and the line segment AB is the deflection angle beta of the laser line emitted by the laser range finder 2 relative to the XY plane;
because the plane of the point A, D, C is parallel to the XY plane and the plane of the point A, D, E is parallel to the ZY plane, the included angle beta between the line segment AB and the line segment AC is recorded as the deflection angle of the laser line emitted by the laser range finder 2 relative to the XY plane, and the included angle between the line segment AC and the line segment AD is recorded as the deflection angle of the laser line emitted by the laser range finder 2 relative to the ZY plane;
s263: the length of the line segment AD is L, which is the distance between the two bearing blocks 11 on the carrier 10, and the length of the line segment AB is L, which is L ═ L2-L1The lengths of the line segment CD and the line segment CB can be obtained from the scale marks on the calibration plate and are respectively marked as dAnd h; since tan α is d/l, the magnitude of α can be obtained; since sin β is h/L, the size of β can be found;
s264: respectively taking the middle points OF segments AB, AC, AD and AE, recording as points F, I, H and G, the plane HIGF formed by the points F, I, H and G is the middle plane 7 OF the hot rolled steel strip gripping device 1, and the length OF the segment OF is L3，L3＝(L1+L2)/2。
Further, as shown in fig. 8 and 9, in the step S7, the control module controls the data processing module to perform data calculation, calculates the distance from the hot rolled strip head to the middle surface 7 of the hot rolled strip gripping device 1 according to the deflection angle of the laser range finder 2, and determines the offset direction of the hot rolled strip head, and the specific method for the manipulator of the hot rolled strip to perform position compensation for the offset distance and the offset direction is as follows:
s71: the known laser range finder 2 hits the left side of the head of the steel strip, is recorded as a point N, and measures the distance L of the line segment ON4The head offset distance Δ L, Δ L ═ L (L) of the hot-rolled steel strip 6 on the XY plane is calculated4-L3) cos β; because the position of the laser range finder 2 is fixed, according to the established projection model for correcting the deviation of the hot rolled steel strip 6, a line segment ON passes through a point F, a point N is projected to an XY plane to obtain a point Q, the intersection point of the line segment OQ and the middle plane 7 is a point P, and the line segment OQ is parallel to a line segment AC, so that the included angle between the line segment OQ and the line segment ON is also beta, the line segment OP is vertical to the line segment FP, and delta l is the length of the line segment PQ and is recorded as the offset distance delta l of the head of the hot rolled steel strip 6 ON the XY plane;
s72: calculating the offset distance delta L of the head of the hot-rolled steel strip 6 on the ZY plane, wherein the offset distance delta L is delta lcos alpha (L)4-L3) cos β cos α; the projection of the point P to the ZY plane is a point W, the projection of the point Q to the ZY plane is a point U, the line OU is parallel to the line AD, so the included angle between the line OQ and the line AD is also alpha, the length of the line WU is delta L, the distance from the point Q to the middle plane 7 is also recorded as the offset distance of the head of the hot rolled steel strip 6 on the ZY plane, and the offset distance of the head of the hot rolled steel strip 6 to the center line of the roller way is based on the offset distance delta L of the head of the hot rolled steel strip 6 on the ZY plane because the ZY plane is vertical to the center line of the roller way;
s73: due to the influence of the thickness of the hot rolled strip 6The deviation distance delta L of the head of the hot-rolled steel strip 6 on the ZY plane generates errors, the thickness t of the steel strip is counted when the deviation delta L is calculated, and finally the deviation distance delta L' of the head of the steel strip on the ZY plane is equal to (L)4-L3) cos beta cos alpha-t/2; in actual production, the steel strip thickness range of a hot-rolled steel strip production line is 1.2mm-6.5mm, and the intermediate value t is 3.85mm as a compensation base number;
s74: when the delta L '> 0 is obtained, the head of the hot-rolled steel strip 6 deflects to the right side of the middle surface 7, the manipulator of the hot-rolled steel strip 6 drives the hot-rolled steel strip grabbing device 1 to deflect delta L' to the left side of the central line of the roller way, when the delta L '< 0 is obtained, the head of the hot-rolled steel strip 6 deflects to the left side of the middle surface 7, and the manipulator of the hot-rolled steel strip 6 drives the hot-rolled steel strip grabbing device 1 to deflect delta L' to the right side of the central line of the roller way.
It should be noted that, as shown in fig. 1 and 10, since the length from the lower end of the roller gripper 13 to the lower end of the bearing seat plate 11 is n, where n is known and can be obtained by direct measurement, when the laser range finder 2 measures the distance of the hot rolled steel strip 6, the point where the laser line is hit on the head of the hot rolled steel strip 6 is approximately 20cm from the axis of the roller gripper 13, the axis of the roller gripper 13 is located in the middle of the bearing seat plate 11, so that the laser line of the laser range finder 2 can be hit in the range where the calibration plate 3 has the scale lines during calibration, the length from the lower end of the fixing plate 5 to the lower end of the bearing seat plate 11 is also n, the distance from the axis of the roller gripper 13 to the extending end of the fixing plate 5 away from the bearing seat plate 11 is m, the value of m is approximately 20cm, and the clamp assembly 4 is connected below the extending end of the fixing plate 5 away from the bearing seat plate 11.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the invention.
Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements may be made based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. The utility model provides a manipulator deviation correcting device for hot rolling steel band, is applied to hot rolling steel band grabbing device which characterized in that, includes control module, data processing module, laser range finder and calibration module:
the calibration module comprises two fixed plates, a clamp assembly and a calibration plate, the two fixed plates are respectively fixed on two supports of the hot-rolled steel strip gripping device, two ends of the clamp assembly are arranged below the two fixed plates, and the calibration plate is arranged below the clamp assembly and can move left and right along the clamp assembly;
the laser range finder is fixed above the left side of the hot-rolled steel strip grabbing device, emits laser lines to the calibration plate, receives the laser lines for ranging, and sends ranging signals to the control module;
the control module is respectively connected with the data processing module, the laser ranging module and the calibration assembly, controls the laser ranging module to emit laser lines and receive the laser lines for ranging, receives ranging signals and sends the ranging signals to the data processing module for calculation, and controls a mechanism which drives the calibration plate to move in the calibration assembly to act.
2. The manipulator deviation rectification device for hot rolled steel strip as claimed in claim 1, wherein: the clamp assembly comprises a motor, a lead screw, a guide rail, a moving block, a cylinder mounting plate, a clamp and a sliding plate, wherein the lead screw and the guide rail are arranged in parallel, two ends of the lead screw and the guide rail are respectively rotatably connected with the lower portion of the fixed plate, the motor is in driving connection with one end of the lead screw, the moving block is sleeved on the lead screw and the guide rail at the same time, the moving block is in threaded connection with the lead screw, the moving block is in sliding connection with the guide rail, the cylinder mounting plate is fixedly arranged on the lower portion of the moving block, the cylinder is fixedly arranged below the cylinder mounting plate, a piston rod of the cylinder is fixedly connected with the sliding plate, the sliding plate is in sliding connection with the cylinder mounting plate, the clamp is fixedly arranged below the sliding plate, and the clamp is fixedly connected with the calibration plate.
3. The manipulator deviation rectification device for hot rolled steel strip according to claim 2, wherein: the cylinder fixing plate is characterized in that a guide block is convexly arranged on the surface of the lower portion of the cylinder fixing plate, a guide groove is formed in the surface of the upper portion of the sliding plate, and the guide block is inserted in the guide groove and is slidably connected with the guide groove.
4. The manipulator deviation rectification device for hot rolled steel strip as claimed in claim 3, wherein: the clamp is characterized in that a clamping groove is formed below the clamp, the upper end of the calibration plate is inserted into the clamping groove, the clamp is fixedly connected with the calibration plate through a fixing nail, and a rubber pad is arranged in the clamping groove.
5. The manipulator deviation rectification device for hot rolled steel strip as claimed in claim 4, wherein: the calibration plate material is float glass, the surface of one side of the calibration plate is provided with scale marks, one side of each scale mark faces the laser range finder, and the scale marks are sprayed by aluminum oxide.
6. The manipulator deviation rectification device for hot rolled steel strip as claimed in claim 5, wherein: the upper end of each fixing plate is fixed on a bearing seat plate of the support, the two fixing plates are arranged in parallel, the screw rod and the guide rail are perpendicular to the fixing plates, and the calibration plates are arranged in parallel to the fixing plates.
7. A manipulator deviation rectifying method for hot rolled steel strips is applied to the manipulator deviation rectifying device for the hot rolled steel strips as claimed in any one of claims 1 to 6, and is characterized by comprising the following steps of:
s1: detaching the roller gripper from the hot-rolled steel strip gripping device, fixing the upper ends of the two fixing plates on bearing seat plates of the two supports respectively, and sequentially installing the clamp assembly and the calibration plate; the surface of one side of the calibration plate, which is provided with the scale marks, faces the laser range finder;
s2: the control module controls the calibration plate to move to the positions of the left bearing plate and the right bearing plate respectively, the laser range finders respectively perform range finding at the two positions of the calibration plate, and the control module controls the data processing module to calibrate the middle surface of the hot-rolled steel strip gripping device and the deflection angle of a laser line emitted by the laser range finders;
s3: sequentially disassembling the clamp assembly, the calibration plate and the fixed plate, and installing the roller gripper on bearing seat plates of the two brackets;
s4: moving a manipulator of the hot-rolled steel strip to the position above a hot-rolled steel strip production line, and aligning the middle surfaces of the two roller grippers with the central line of the roller way;
s5: the hot rolled steel strip grabbing device acts, and the two roller grippers grab the hot rolled steel strip;
s6: the control module controls the laser range finder to perform range finding on the left side of the head of the hot rolled steel strip and transmits a range finding signal to the control module;
s7: the control module controls the data processing module to perform data calculation, calculates the distance of the head of the hot-rolled steel strip from the middle surface of the hot-rolled steel strip grabbing device according to the deflection angle of the laser line emitted by the laser range finder, judges the deflection direction of the head of the hot-rolled steel strip, and performs position compensation on the manipulator of the hot-rolled steel strip according to the deflection distance and the deflection direction.
8. The manipulator deviation rectification method for hot rolled steel strip as claimed in claim 7 wherein: in step S2, the control module controls the calibration plate to move to the left bearing plate and the right bearing plate, the laser range finder measures the distance at the two positions of the calibration plate, and the control module controls the data processing module to calibrate the middle surface of the hot-rolled steel strip gripping device and the deflection angle of the laser line emitted by the laser range finder, and the specific method is as follows:
s21: the control module controls the motor to act to drive the lead screw to rotate, the moving block drives the calibration plate to move to the left side, and meanwhile, the piston rod of the air cylinder extends out to push the sliding plate to move to the left side, so that the surface of one side, provided with the scale marks, of the calibration plate is aligned with the plane of the surface of the left bearing pedestal plate;
s22: establishing a space rectangular coordinate system by taking a laser emitting point on a laser range finder as an original point O, taking a direction perpendicular to a bearing seat plate of the support as a Y direction and taking a vertical direction as a Z direction;
s23: the control module controls the laser range finder to emit laser lines to the calibration plate, a light spot A is formed on the calibration plate and marked, and the distance for measuring OA by the laser range finder is L1；
S24: the control module controls the motor to act to drive the lead screw to rotate reversely, the moving block drives the calibration plate to move towards the right side, meanwhile, the piston rod of the air cylinder retracts, and the sliding plate is pulled to move towards the right side, so that the surface of one side of the calibration plate, which is provided with the scale marks, is aligned with the plane of the surface of the right bearing pedestal plate;
s25: the control module controls the laser range finder to emit laser lines to the calibration plate, a light spot B is formed on the calibration plate and marked, and the distance of OB measured by the laser range finder is L2；
S26: the control module controls the data processing module to process data, a projection model for deviation correction of the hot rolled steel strip is established, and the deflection angle alpha of the middle surface of the hot rolled steel strip grabbing device and the laser line of the laser range finder relative to the ZY plane and the deflection angle beta of the laser line of the laser range finder relative to the XY plane are obtained.
9. The manipulator deviation rectification method for hot rolled steel strip as claimed in claim 8, wherein: the specific algorithm for establishing the projection model for deviation rectification of the hot rolled steel strip in the S26 and solving the deflection angle alpha of the middle surface of the hot rolled steel strip grabbing device and the laser line of the laser range finder relative to the ZY plane and the deflection angle beta of the laser line of the laser range finder relative to the XY plane is as follows:
s261: the calibration plates are respectively positioned at the left side and the right side, and two identical calibration plates are simultaneously placed on the clamp assembly, one side surfaces of the two calibration plates, which are provided with scale marks, face to the laser range finder, laser lines emitted by the laser range finder are simultaneously printed on the two calibration plates, and the intersection points of the laser lines and the two calibration plates are a point A and a point B;
s262: the projection of a point A on a right side calibration plate along a Y-axis direction is taken as a point D, the point B and the point D are respectively made into straight lines on the right side calibration plate along a Z-axis direction and an X-axis direction, the intersection point of the straight line of the point B along the Z-axis direction and the straight line of the point D along the X-axis direction is C, the intersection point of the straight line of the point B along the X-axis direction and the straight line of the point D along the Z-axis direction is E, the included angle of a line segment AD and a line segment AC is the deflection angle alpha of a laser line of a laser range finder relative to a ZY plane, and the included angle of the line segment AC and the line segment AB is the deflection angle beta of the laser line of the laser range finder relative to the XY plane;
s263: the length of the line segment AD is L, i is the distance between the two bearing plates on the bracket, the length of the line segment AB is L, and L is L2-L1The lengths of the line segment CD and the line segment CB can be obtained from scale marks on the calibration plate and are respectively marked as d and h; since tan α is d/l, the magnitude of α can be obtained; since sin β is h/L, the size of β can be found;
s264: respectively taking the middle points OF segments AB, AC, AD and AE, marking as points F, I, H and G, the plane HIGF formed by the points F, I, H and G is the middle plane OF the hot rolled steel strip gripping device, and the segment OF has the length L3，L3＝(L1+L2)/2。
10. The manipulator deviation rectification method for hot rolled steel strip as claimed in claim 7 wherein: in step S7, the control module controls the data processing module to perform data calculation, calculates a distance from the head of the hot rolled strip to the middle surface of the gripping device of the hot rolled strip according to a deflection angle of a laser beam emitted by the laser range finder, and determines a deflection direction of the head of the hot rolled strip, and the specific method for performing position compensation on the manipulator of the hot rolled strip with respect to the deflection distance and the deflection direction is as follows:
s71: the known laser range finder strikes the left side of the head of the steel strip, the left side is recorded as a point N, and the distance L of the line segment ON is measured4And calculating the offset distance delta L of the head of the hot rolled steel strip on the XY plane, wherein delta L is (L)4-L3)cosβ；
S72: calculating the offset distance delta L of the head of the hot-rolled steel strip on the ZY plane, wherein the offset distance delta L is delta lcos alpha (L is L)4-L3)cosβcosα；
S73: due to the influence of the thickness of the steel strip, the offset distance delta L of the head of the hot-rolled steel strip on the ZY plane generates errors, the thickness t of the steel strip is counted when the offset distance delta L is calculated, and finally the offset distance delta L' of the head of the steel strip on the ZY plane is equal to (L)4-L3)cosβcosα-t/2；
S74: when the delta L 'is larger than 0, the head of the hot rolled steel strip deflects to the right side of the middle surface, the manipulator of the hot rolled steel strip drives the gripping device of the hot rolled steel strip to deflect delta L' to the left side of the central line of the roller way, when the delta L 'is smaller than 0, the head of the hot rolled steel strip deflects to the left side of the middle surface, and the manipulator of the hot rolled steel strip drives the gripping device of the hot rolled steel strip to deflect delta L' to the right side of the central line of the roller way.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115055958A (en) * | 2022-08-19 | 2022-09-16 | 上海泽丰半导体科技有限公司 | Automatic deviation rectifying system for needle implantation |
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