CN114643290B - Device and method for correcting deviation of manipulator for hot-rolled steel strip - Google Patents

Abstract

The invention provides a manipulator deviation correcting device for hot rolled steel strips, which comprises a control module, a data processing module, a laser range finder and a calibration module, wherein the control module is used for controlling the deviation correcting device to be used for hot rolled steel strips: two fixing plates in the calibration module are fixed on two supports of the hot rolled steel strip grabbing device, two ends of the clamp assembly are arranged below the two fixing 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 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 controls the laser ranging module to range, receives a ranging signal and sends the ranging signal to the data processing module for calculation, controls a mechanism in the calibration assembly for driving the calibration plate to move to act, and also provides a manipulator deviation rectifying method for hot rolled steel strips. The device is used for correcting the offset distance between the head of the hot rolled steel strip grasped by the manipulator and the central line of the roller way, and is beneficial to the head of the hot rolled steel strip to smoothly enter the roller way.

Description

Device and method for correcting deviation of manipulator for hot-rolled steel strip

technical field

The invention relates to the technical field of hot-rolled steel, in particular to a manipulator deviation correction device and a deviation correction method for hot-rolled steel strips.

Background technique

In the hot-rolled steel production line, the hot-rolled steel strip enters the flat conveyor chain through the serpentine oscillator. Since the steel strip oscillates left and right after oscillation, it is conveyed forward on the flat conveyor chain in an S shape as a whole, and is naturally cooled during the conveying process. , and then pass through the roller table for subsequent coiling. During the conveying process, the head of the steel belt is affected by the swinging force, which causes the head of the steel belt to bend excessively, and there may be different postures such as head-to-body fit, head back bending, and head fit on the side wall of the flat conveyor chain, making the steel belt The belt cannot automatically enter the entrance of the roller table, which affects the automatic coiling of the steel strip.

At present, workers mainly rely on workers to enter the flat conveyor chain, clamp the head of the steel belt with clips, correct the head of the steel belt to a forward posture, and drag the steel belt into the roller mouth. The working environment is harsh and there are many problems. Potential safety hazards, unable to meet the requirements of safe production, need to use the steel strip traction robot, the manipulator of the steel strip traction robot in the prior art is provided with a hot-rolled steel strip grasping device 1, as shown in Figure 1, the hot-rolled steel strip grasps The piston rods on both sides of the parallel opening and closing air claws 14 in the fetching device 1 are respectively fixed with brackets 10, the bracket 10 is provided with a bearing seat plate 11, the bearing seat plate 11 is connected with a roller gripper 13 through the bearing seat 12, the bracket 10, and the bearing seat 11 Set symmetrically with the roller gripper 13, the symmetrical plane is the middle surface 7 of the hot-rolled steel strip gripping device 1, the piston rods on both sides of the parallel opening and closing air gripper 14 stretch out or retract to drive the brackets 10 on both sides to move, and the two roller grippers The hand 13 moves away from or approaches to realize the grasping operation of the hot-rolled steel strip. After grasping, the middle surface 7 of the hot-rolled steel strip grasping device 1 is aligned with the center line of the roller table, and the robot moves to send the head of the hot-rolled steel strip into the For the roller table, since the position of the middle surface 7 is not known, it is only a theoretical symmetry plane, so there are two problems when the robot grabs the hot-rolled steel strip and sends it to the roller table: one is that the middle surface is not easy to align, so it is not consistent with the roller table. There are difficulties in aligning the center line. Second, although the hot-rolled steel strip is theoretically located on the center line of the roller table, due to the flexibility of the steel strip in a high-temperature state, there is a gap between the head of the hot-rolled steel strip and the center line of the roller table. If there is a certain deviation, the roller table cannot be smoothly carried out, and steel belt deviation correction is required.

Contents of the invention

In view of this, the present invention aims to propose a manipulator deflection correction device for hot-rolled steel strip, which can solve the difficulty in aligning the middle surface in the prior art and the deviation between the head of the hot-rolled steel strip and the centerline of the roller table after the manipulator grabs it. Move, not easy to enter the technical problem of the roller table.

In order to achieve the above object, technical solution of the present invention is achieved in that way:

A manipulator deflection correction device for hot-rolled steel strips, including a control module, a data processing module, a laser rangefinder and a calibration module:

The calibration module includes a fixed plate, a fixture assembly and a calibration plate. There are two fixed plates, which are respectively fixed on the two supports of the hot-rolled steel strip grabbing device. The two ends of the clamp assembly are arranged on two Below the fixed plate, the calibration plate is arranged below the clamp assembly and can move left and right along the clamp assembly;

The laser rangefinder is fixed on the upper left side of the hot-rolled steel strip grabbing device, emits laser lines to the calibration plate and receives laser lines for distance measurement, and sends the distance measurement signal to the control module;

The control module is respectively connected with the data processing module, the laser ranging module and the calibration component, controls the laser ranging module to emit the laser line and receives the laser line to measure the distance, receives the ranging signal and sends it to the data processing module for calculation, and controls the calibration component The mechanism that drives the calibration plate to move takes place.

Further, the fixture assembly includes a motor, a lead screw, a guide rail, a moving block, a cylinder, a cylinder mounting plate, a clamp and a sliding plate, the lead screw and the guide rail are arranged in parallel, and the two ends of the lead screw and the guide rail are connected to the two ends respectively. The bottom of the two fixed plates can be rotatably connected, the motor is driven and connected to 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 screwed to the lead screw, and the moving block is connected to the lead screw. The guide rail can be slidably connected, the cylinder mounting plate is fixedly arranged at the lower part of the moving block, the cylinder is fixedly arranged under the cylinder mounting plate, the piston rod of the cylinder is fixedly connected with the sliding plate, and the sliding plate and the cylinder mounting plate can slide connected, a fixture is fixedly arranged under the sliding plate, and the fixture is fixedly connected with the calibration plate.

Further, the lower surface of the cylinder fixing plate is protrudingly provided with a guide block, and the upper surface of the sliding plate is provided with a guide groove, the guide block is inserted in the guide groove, and is slidably connected with the guide groove .

Further, a clamping groove is opened under the clamp, the upper end of the calibration plate is inserted into the clamping groove, the clamp and the calibration plate are fastened and connected by fixing nails, and a rubber pad is arranged in the clamping groove .

Further, the material of the calibration plate is float glass, one side surface of the calibration plate is provided with a scale line, and the side of the scale line faces the laser rangefinder, and the scale line is sprayed with alumina.

Further, the upper end of the fixed plate is fixed on the bearing seat plate of the bracket, the two fixed plates are arranged in parallel, the screw and the guide rail are arranged perpendicular to the fixed plate, and the calibration plate is connected to the fixed plate The plates are arranged in parallel.

Further, a manipulator deviation correction method for hot-rolled steel strip is used for any one of the above-mentioned manipulator deviation correction devices for hot-rolled steel strip, the steps are as follows:

S1: Remove the roller gripper from the hot-rolled steel strip grabbing device, respectively fix the upper ends of the two fixing plates on the bearing seat plates of the two brackets, and install the clamp assembly and the calibration plate in sequence ; The side surface of the calibration plate with the scale marks faces the laser rangefinder;

S2: The control module controls the calibration plate to move to the positions of the left bearing seat plate and the right bearing seat plate respectively, and the laser rangefinder performs distance measurement at the two positions of the calibration plate respectively, and the control module The control data processing module calibrates the middle surface of the hot-rolled steel strip grabbing device and the deflection angle of the laser line emitted by the laser rangefinder;

S3: Disassemble the fixture assembly, the calibration plate and the fixing plate in sequence, and install the roller gripper on the bearing seat plates of the two brackets;

S4: Move the manipulator of the hot-rolled steel strip to the top of the hot-rolled steel strip production line, so that the middle surface of the two roller grippers is aligned with the center line of the roller table;

S5: The hot-rolled steel strip grabbing device operates, and the two roller grippers grab the hot-rolled steel strip;

S6: the control module controls the laser rangefinder to perform distance measurement on the left side of the head of the hot-rolled steel strip, and transmits the distance measurement signal to the control module;

S7: The control module controls the data processing module to perform data calculation, and calculates the distance of the head of the hot-rolled steel strip from the middle surface of the hot-rolled steel strip grasping device according to the deflection angle of the laser line emitted by the laser range finder, and judges the hot-rolled strip The offset direction of the steel strip head, the manipulator of the hot-rolled steel strip performs position compensation for the offset distance and offset direction.

Further, in the step S2, the control module controls the calibration plate to move to the positions of the left bearing seat plate and the right bearing seat plate, respectively, and the laser rangefinder is respectively carried out at the two positions of the calibration plate. Ranging, the control module controls the data processing module to calibrate the middle surface of the hot-rolled steel strip grabbing device and the deflection angle of the laser line emitted by the laser range finder, the specific method is:

S21: the control module controls the action of the motor to drive the screw to rotate, the moving block drives the calibration plate to move to the left, and the piston rod of the cylinder extends to push the sliding plate to move to the left, so that the calibration plate has a scale line One side of the surface is aligned with the plane of the surface of the left bearing seat plate;

S22: taking the laser emission point on the laser rangefinder as the origin O, taking the direction perpendicular to the bearing seat plate of the bracket as the Y direction, and the vertical direction as the Z direction, establish a space Cartesian coordinate system;

S23: the control module controls the laser rangefinder to emit a laser line to the calibration plate, and marks the light point A on the calibration plate, and the distance of the laser rangefinder to measure OA is L ₁ ;

S24: The control module controls the action of the motor, drives the lead screw to rotate in reverse, the moving block drives the calibration plate to move to the right, and at the same time, the piston rod of the cylinder retracts, pulling the sliding plate to move to the right, so that the calibration plate The surface of one side with scale marks is aligned with the plane of the surface of the right bearing seat plate;

S25: the control module controls the laser rangefinder to emit laser lines to the calibration board, and marks the spot B on the calibration board, and the distance of the laser rangefinder to measure OB is L ₂ ;

S26: The control module controls the data processing module to process the data, establishes a projection model for hot-rolled steel strip correction, and obtains the distance between the middle plane of the hot-rolled steel strip grabbing device and the laser line emitted by the laser rangefinder relative to the ZY plane Deflection angle α, deflection angle β of the laser line emitted by the laser rangefinder relative to the XY plane.

Further, in said S26, a projection model for rectifying the hot-rolled steel strip is established, and the middle plane of the hot-rolled steel strip grasping device and the deflection angle α of the laser line emitted by the laser rangefinder relative to the ZY plane, and the deflection angle α of the laser rangefinder The specific algorithm for the deflection angle β of the emitted laser line relative to the XY plane is:

S261: The calibration plates located on the left and right sides are regarded as placing two identical calibration plates on the fixture assembly at the same time. The side surfaces of the two calibration plates with the scale lines face the laser rangefinder, and the laser rangefinder The emitted laser line is regarded as hitting two calibration boards at the same time, and the intersection with the two calibration boards is point A and point B;

S262: The projection of point A along the Y-axis direction on the right calibration plate is point D, point B and point D are respectively drawn as a straight line along the Z-axis direction and the X-axis direction on the right calibration plate, and point B is along the Z-axis direction The intersection point of the straight line and point D along the X-axis direction is C, the intersection point of the straight line along the X-axis direction of point B and the straight line along the Z-axis direction of point D is E, and the angle between the line segment AD and the line segment AC is the laser rangefinder emission. The deflection angle α of the laser line relative to the ZY plane, the angle between the line segment AC and the line segment AB is the deflection angle β of the laser line emitted by the laser rangefinder relative to the XY plane;

S263: The length of line segment AD is known as l, l is the distance between the two bearing seat plates on the bracket, the length of line segment AB is L, L=L ₂ -L ₁ , the length of line segment CD and line segment CB can be obtained from the calibration board The scale line is obtained, which are recorded as d and h respectively; since tanα=d/l, the size of α can be obtained; since sinβ=h/L, the size of β can be obtained;

S264: Take the midpoints of line segments AB, AC, AD and AE respectively, and record them as points F, point I, point H and point G, and the plane HIGF formed by point F, point I, point H and point G is a hot-rolled steel strip The length of the line segment OF on the middle surface of the grabbing device is L ₃ , where L ₃ =(L ₁ +L ₂ )/2.

Further, in the step S7, the control module controls the data processing module to perform data calculation, and calculates the offset of the head of the hot-rolled steel strip from the middle surface of the hot-rolled steel strip grasping device according to the deflection angle of the laser line emitted by the laser rangefinder distance, and judge the offset direction of the head of the hot-rolled steel strip. The specific method for the position compensation of the manipulator of the hot-rolled steel strip for the offset distance and offset direction is as follows:

S71: It is known that the laser rangefinder hits the left side of the steel strip head, which is recorded as point N, and the ON distance L ₄ of the line segment is measured, and the offset distance Δl of the hot-rolled steel strip head on the XY plane is calculated, Δl=(L ₄ -L ₃ ) cosβ;

S72: Calculate the head offset distance ΔL of the hot-rolled steel strip on the ZY plane, ΔL=Δlcosα=(L ₄ -L ₃ )cosβcosα;

S73: Due to the influence of the thickness of the steel strip, the offset distance ΔL of the head of the hot-rolled steel strip on the ZY plane will produce errors. When calculating ΔL, the thickness t of the steel strip will be included, and the final offset distance of the strip head on the ZY plane ΔL'=( L ₄ -L ₃ )cosβcosα-t/2;

S74: When ΔL'>0, the head of the hot-rolled steel strip deviates to the right of the middle surface, and the manipulator of the hot-rolled steel strip drives the hot-rolled steel strip grabbing device to deviate ΔL' to the left of the center line of the roller table. When ΔL When '<0, the head of the hot-rolled steel strip deviates to the left of the middle surface, and the manipulator of the hot-rolled steel strip drives the hot-rolled steel strip grabbing device to shift to the right of the center line of the roller table by ΔL'.

A manipulator deviation correction device and deviation correction method for hot-rolled steel strip according to the present invention has the following advantages compared with the prior art:

(1) A manipulator correction device for hot-rolled steel strip according to the present invention adopts a calibration plate to be respectively placed on the left and right sides of the bracket, and is aligned with the surfaces of the left and right bearing seat plates of the bracket for calibration. The motor drives the screw to move, and the cylinder drives the sliding plate for fine adjustment, which avoids the disadvantage of poor positioning effect caused by manually placing the calibration plate. The position is accurate and the calibration result is more accurate. The laser rangefinder that comes with the device can complete the measurement of the entire correction process, which is simple and easy;

(2) A kind of manipulator correction method for hot-rolled steel strip according to the present invention, through geometric analysis, set up the projection model of hot-rolled steel strip correction, carry out alignment and positioning to the middle plane of hot-rolled steel strip grasping device , and calculate the offset of the hot-rolled steel strip in the ZY plane, and perform position compensation on the hot-rolled steel strip grabbing device, so that the traction robot can smoothly send the hot-rolled steel strip into the roller table.

Description of drawings

The drawings constituting a part of the present invention are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

Fig. 1 is the structural representation of the hot-rolled steel strip grasping device that is arranged on the manipulator of the strip traction robot described in the background technology of the present invention;

Fig. 2 is a schematic diagram of the position of the calibration plate located on the right bearing seat plate in the manipulator deviation correction device for hot-rolled steel strip according to the embodiment of the present invention;

Fig. 3 is the enlarged view at M place in Fig. 2 of the embodiment of the present invention;

Fig. 4 is a partial exploded schematic diagram of the calibration assembly of the embodiment of the present invention;

Fig. 5 is a schematic diagram of the position of the calibration plate in the embodiment of the present invention at the position of the bearing seat plate on the left side;

Fig. 6 is the schematic diagram of the projection model of the deviation correction of the hot-rolled steel strip according to the embodiment of the present invention;

Fig. 7 is a schematic diagram of the projection model and the position of the middle plane of the hot-rolled steel strip deflection correction according to the embodiment of the present invention;

Fig. 8 is a schematic diagram showing from the XY plane when grabbing the hot-rolled steel strip according to the embodiment of the present invention;

Fig. 9 is a schematic diagram showing the plane where points A, B, and C are located when grabbing the hot-rolled steel strip according to the embodiment of the present invention;

Fig. 10 is a left view of the manipulator deflection correction device for hot-rolled steel strip according to the embodiment of the invention.

Explanation of reference signs:

1. Hot-rolled steel strip grabbing device; 10. Bracket; 11. Bearing seat plate; 12. Bearing seat; 13. Roller gripper; 2. Laser range finder; 3. Calibration plate; 4. Fixture assembly; 41. Motor; 42, lead screw; 43, guide rail; 44, moving block; 441, ball nut; 45, cylinder mounting plate; 451, guide block; 471, guide groove; 46, cylinder; 47, sliding plate; 48, fixture; 481, fixed nail; 482, clip groove; 5, fixed plate; 6, hot-rolled steel strip; 7, middle surface.

Detailed ways

It should be noted that the descriptions in the present invention involving "first", "second", "upper", "lower", "left", "right" etc. Implying their relative importance or implying the number of technical features indicated. Thus, the definition of "first" and "second" features may explicitly or implicitly include at least one of these features. "Up", "Down", "Left", "Right", etc. are subject to the marks in the figure. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art. When the technical solutions among the embodiments can be combined, they all fall within the scope of protection required by the present invention.

The present invention will be described in detail below with reference to the accompanying drawings and examples.

As shown in Fig. 1-Fig. 9, a kind of manipulator deflection correction device for hot-rolled steel strip includes a control module, a data processing module, a laser range finder 2 and a calibration module:

The calibration module includes a fixed plate 5, a clamp assembly 4 and a calibration plate 3. There are two fixed plates 5, which are respectively fixed on the two supports 10 of the hot-rolled steel strip grabbing device 1. The two ends of the clamp assembly 4 are arranged on two Below the fixed plate 5, the calibration plate 3 is arranged below the fixture assembly 4, and can move left and right along the fixture assembly 4;

Specifically, the fixed plate 5 is L-shaped, and the clamp assembly 4 is connected below the extension end of the fixed plate 5 away from the bearing seat plate 11, so that the laser rangefinder 2 can be guaranteed to hit the light on the surface of the calibration plate 3; the fixed plate 5 is long The end of the side is fixed on the bearing seat plate 11 of the bracket 10, the two fixed plates 5 are arranged in parallel, the clamp assembly 4 is arranged perpendicular to the direction of the fixed plate 5, and the calibration plate 3 is arranged parallel to the fixed plate 5, so that the calibration plate 3 and the fixed plate 5 are arranged. The middle plane is parallel, which is convenient to find out the middle plane according to the subsequent calculation;

Further, the fixture assembly 4 includes a motor 41, a leading screw 42, a guide rail 43, a moving block 44, a cylinder 46, a cylinder mounting plate 45, a clamp 48 and a slide plate 47, the leading screw 42 and the guide rail 43 are arranged in parallel, and the guide rail 43 is provided with two root, the lead screw 42 is arranged between the two guide rails 43, the two ends of the lead screw 42 and the guide rail 43 are respectively rotatably connected to the bottom of the two fixed plates 5, the motor 41 is connected to one end of the lead screw 42 by driving, and the moving block 44 is sleeved on the lead screw 42 and the guide rail 43 at the same time, the middle part of the moving block 44 is provided with a ball nut 441, the ball nut 441 is screwed with the lead screw 42, the two sides of the moving block 44 are sleeved on the guide rail 43, and the guide rail 43 can slide connected, the entire moving block 44 slides more smoothly, and the moving accuracy is high. The cylinder mounting plate 45 is fixedly arranged on the lower part of the moving block 44, the cylinder body of the cylinder 46 is fixedly arranged below the cylinder mounting plate 45, and the piston rod of the cylinder 46 is fixed to the sliding plate 47. Connection, the sliding plate 47 is slidably connected with the cylinder mounting plate 45, preferably, fixed on the end of the cylinder mounting plate 45, the sliding plate 47 is not easy to come out when sliding, and a clamp 48 is fixedly arranged below the sliding plate 47, and the clamp 48 is connected with the calibration The plate 3 is fixedly connected, and the setting of the cylinder 46 and the sliding plate 47 can fine-tune the position of the calibration plate 3, so that the surface of the calibration plate 3 and the bearing seat plate 11 can be flush, which is convenient for the subsequent laser rangefinder 2 to emit and receive light for distance measurement , and calculate the midplane based on the ranging information.

Further, the lower surface of the cylinder mounting plate 45 protrudes and is provided with a guide block 451, the upper surface of the sliding plate 47 is provided with a guide groove 471, the guide block 451 is inserted in the guide groove 471, and is slidably connected with the guide groove 471, and the guide block 451 and the guide groove 471 have a dovetail-shaped section, and the guide block 451 is not easy to fall off after being plugged into the guide groove 471 .

Further, a clamping groove 482 is opened below the clamp 48, and the upper end of the calibration plate 3 is inserted in the clamping groove 482, which plays a positioning role during connection. The clamp 48 and the calibration plate 3 are fastened and connected by fixing nails 481, and the clamping groove 482 is provided with a rubber pad, so that the connection between the calibration plate 3 and the clamping groove 482 is tighter, and it is not easy to fall off during positioning.

The material of the calibration plate 3 is float glass, and one side of the calibration plate 3 is provided with a scale line. The side 3 of the scale line faces the laser rangefinder 2. The scale line is sprayed with alumina. When the light source is directly irradiated, there will be no diffuse reflection. , The fixture 48, the cylinder mounting plate 45, the sliding plate 47, the guide rail 43, the screw 42 and the fixing plate 5 are all processed by aluminum alloy materials, and the machining accuracy is _± 0.01mm to ensure that the parallelism of each surface is good.

Further, the laser rangefinder 2 is fixed on the upper left side of the hot-rolled steel strip grabbing device 1, and is set at an angle with the middle surface, emits laser lines to the calibration plate and receives laser lines for distance measurement, and transmits the distance measurement signal Sent to the control module, the direction of the laser line is inclined downward;

The control module is respectively connected with the data processing module, the laser ranging module and the calibration component, controls the laser ranging module to emit laser lines and receive laser lines for ranging, receives the ranging signal and sends it to the data processing module for calculation, and controls the drive in the calibration component The moving mechanism of the calibration plate 3 is activated, and the motor 41 and the cylinder 46 are controlled to operate.

Further, a manipulator deviation correction method for hot-rolled steel strip is used for any one of the above-mentioned manipulator deviation correction devices for hot-rolled steel strip, the steps are as follows:

S1: Remove the roller gripper 13 from the hot-rolled steel strip grabbing device 1, fix the upper ends of the two fixing plates 5 on the bearing seat plates 11 of the two brackets 10 respectively, and install the clamp assembly 4 and the calibration plate in sequence 3. The side surface of the calibration plate 3 with the scale marks faces the laser rangefinder 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 the side surface of the calibration plate 3 with the scale line and the bearing seat plate 11 are used to install the bearing seat 12 The surface is even, and the laser range finder 2 performs distance measurement at two positions on the left and right of the calibration plate 3 respectively. The deflection angle of the laser line is calibrated;

S3: Disassemble the fixture assembly 4, the calibration plate 3 and the fixed plate 5 in sequence, and install the roller handle 13 on the bearing seat plates 11 of the two brackets 10;

S4: Move the manipulator of the hot-rolled steel strip to the top of the hot-rolled steel strip production line, so that the middle surface of the hot-rolled steel strip grasping device 1 is aligned with the center line of the roller table;

S5: The hot-rolled steel strip grasping device 1 operates, and the two roller grippers 13 grasp the hot-rolled steel strip;

S6: the control module controls the laser range finder 2 to perform distance measurement on the left side of the head of the hot-rolled steel strip, and transmits the distance measurement signal to the control module;

S7: the control module controls the data processing module to perform data calculation, and calculates the distance of the head of the hot-rolled steel strip offset from the middle surface 7 of the hot-rolled steel strip grasping device 1 according to the deflection angle of the laser rangefinder 2, and judges the head of the hot-rolled steel strip The manipulator of the hot-rolled steel strip performs position compensation for the offset distance and offset direction.

Further, as shown in Figure 2 and Figure 5, Figure 6, and Figure 7, in the step 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 , the laser rangefinder 2 performs distance measurement at two positions of the calibration plate 3 respectively, and the control module controls the data processing module for the middle surface 7 of the hot-rolled steel strip grabbing device 1 and the laser rangefinder 2. The deflection angle of the laser line is calibrated, the specific method is:

S21: The control module controls the action of the motor, drives the screw 42 to rotate, 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 left, and at the same time the piston rod of the cylinder 46 extends Push the sliding plate 47 to move to the left, so that the side surface of the calibration plate 3 with the scale line is flush with the surface of the left bearing seat plate 11 for installing the bearing seat 12;

S22: As shown, take the laser emission point on the laser rangefinder 2 as the origin O, take the direction perpendicular to the surface of the bearing seat plate 11 of the bracket 10 for mounting the bearing seat 12 as the Y direction, and the vertical direction as the Z direction, Establish a space Cartesian coordinate system;

S23: the control module controls the laser rangefinder 2 to emit a laser line to the calibration plate 3, and marks the light point A on the calibration plate 3, and the distance of the laser rangefinder 2 to measure OA is L ₁ ;

S24: the control module controls the action of the motor 41 to drive the screw 42 to rotate in reverse, and 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, Simultaneously, the piston rod of the cylinder 46 is retracted, and the sliding plate 47 is pulled to move to the right, so that the side surface of the calibration plate 3 with the scale line is aligned with the plane where the bearing seat plate 11 on the right side is used to install the surface of the bearing seat 12;

S25: the control module controls the laser rangefinder 2 to emit a laser line to the calibration plate 3, and marks the light point B on the calibration plate 3, and the distance of the laser rangefinder 2 to measure OB is L ₂ ;

S26: The control module controls the data processing module to process the data, and establishes a projection model for correcting the hot-rolled steel strip. The projection model is that the laser rangefinder 2 is respectively located on the left bearing seat plate 11 and the right bearing on the calibration plate 3 The projection model of the laser line emitted at the position of the seat plate 11 is to obtain the deflection angle α of the laser line emitted by the middle plane 7 of the hot-rolled steel strip grabbing device 1 and the laser rangefinder 2 relative to the ZY plane, and the laser rangefinder 2 The deflection angle β of the emitted laser line relative to the XY plane.

Further, in said S26, a projection model for rectifying the hot-rolled steel strip is established, and the deflection angle α, The specific algorithm of the deflection angle β of the laser line emitted by the laser rangefinder 2 relative to the XY plane is:

S261: The calibration plates 3 are respectively located at the positions of the left bearing seat plate 11 and the right bearing seat plate 11 as placing two identical calibration plates 3 on the fixture assembly 4 at the same time, and the two calibration plates 3 have a scale line The side surface is facing the laser range finder 2, and the laser line emitted by the laser range finder 2 is regarded as hitting two calibration plates 3 at the same time, and the intersection with the two calibration plates is point A and point B;

S262: The projection of point A along the Y-axis direction on the right calibration plate is point D, point B and point D are respectively drawn as a straight line along the Z-axis direction and the X-axis direction on the right calibration plate, and point B is along the Z-axis direction The intersection point of the straight line and the point D along the X-axis direction is C, the intersection point of the straight line along the X-axis direction of point B and the point D along the Z-axis direction is E, and the angle between the line segment AD and the line segment AC is the laser rangefinder 2 The deflection angle α of the emitted laser line relative to the ZY plane, the angle between the line segment AC and the line segment AB is the deflection angle β of the laser line emitted by the laser rangefinder 2 relative to the XY plane;

Since the planes where points A, D, and C are located are parallel to the XY plane, and the planes where points A, D, and E are located are parallel to the ZY plane, the angle β between line segment AB and line segment AC is recorded as the laser line emitted by the laser rangefinder 2 relative to The deflection angle of the XY plane, the 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 known line segment AD is l, l is the distance between the two bearing seat plates 11 on the bracket 10, the length of the line segment AB is L, L=L ₂ -L ₁ , the length of the line segment CD and the line segment CB can be calibrated The scale marks on the board are obtained, which are recorded as d and h respectively; since tanα=d/l, the size of α can be obtained; since sinβ=h/L, the size of β can be obtained;

S264: Take the midpoints of line segments AB, AC, AD and AE respectively, and record them as points F, point I, point H and point G, and the plane HIGF formed by point F, point I, point H and point G is a hot-rolled steel strip The length of the line segment OF on the middle surface 7 of the gripping device 1 is L ₃ , where L ₃ =(L ₁ +L ₂ )/2.

Further, as shown in Figures 8 and 9, in the step S7, the control module controls the data processing module to perform data calculation, and calculates the head offset of the hot-rolled steel strip according to the deflection angle of the laser rangefinder 2 to grab the hot-rolled steel strip The distance between the middle surface 7 of the device 1 and the offset direction of the head of the hot-rolled steel strip are judged. The specific method for the position compensation of the manipulator of the hot-rolled steel strip for the offset distance and the offset direction is as follows:

S71: It is known that the laser range finder 2 hits the left side of the head of the steel strip, which is recorded as point N, and the ON distance _L4 of the line segment is measured, and the offset distance Δl of the head of the hot-rolled steel strip 6 on the XY plane is calculated, Δl=(L ₄ -L ₃ ) cosβ; because the position of the laser rangefinder 2 is fixed, according to the above-mentioned projection model for correcting the deviation of the hot-rolled steel strip 6, the line segment ON passes through the point F, and the point N is projected to the XY plane to obtain the point Q, The intersection of the line segment OQ and the middle plane 7 is point P, and the line segment OQ is parallel to the line segment AC, so the angle between the line segment OQ and the line segment ON is also β, the line segment OP is perpendicular to the line segment FP, and Δl is the length of the line segment PQ, recorded as the XY plane The head offset distance Δl of the upper hot-rolled steel strip 6;

S72: Calculate the head offset distance ΔL of the hot-rolled steel strip 6 on the ZY plane, ΔL=Δlcosα=(L ₄ -L ₃ )cosβcosα; the projection of point P on the ZY plane is point W, and the projection of point Q to the ZY plane is the point U, the line segment OU is parallel to the line segment AD, so the angle between the line segment OQ and the line segment AD is also α, the length of the line segment WU is ΔL, which is also the distance from the point Q to the middle plane 7, recorded as the hot rolled steel on the ZY plane The offset distance of the head of the strip 6, and since the ZY plane is perpendicular to the centerline of the roller table, the distance of the offset distance of the head of the hot-rolled steel strip 6 from the centerline of the roller table is equal to the offset distance of the head of the hot-rolled steel strip 6 on the ZY plane ΔL prevail;

S73: Due to the influence of the thickness of the hot-rolled steel strip 6, the offset distance △L of the head of the hot-rolled steel strip 6 on the ZY plane will produce an error. Moving distance ΔL'=(L ₄ -L ₃ )cosβcosα-t/2; in actual production, the steel strip thickness range of the hot-rolled steel strip production line is 1.2mm-6.5mm, then take the middle value t=3.85mm as compensation base;

S74: When ΔL'>0, the head of the hot-rolled steel strip 6 deviates to the right of the middle surface 7, and the manipulator of the hot-rolled steel strip 6 drives the hot-rolled steel strip grasping device 1 to deviate to the left of the center line of the roller table ΔL', when ΔL'<0, the head of the hot-rolled steel strip 6 deviates to the left of the middle surface 7, and the manipulator of the hot-rolled steel strip 6 drives the hot-rolled steel strip grasping device 1 to the right of the center line of the roller table Shift ΔL'.

It is worth noting that, as shown in Figure 1 and Figure 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, n is known and can be obtained by direct measurement, while the laser rangefinder 2 When measuring the distance of the hot-rolled steel strip 6, the point where the laser line hits the head of the hot-rolled steel strip 6 is roughly 20 cm away from the axis of the roller grip 13, and the axis of the roller grip 13 is located in the middle of the bearing seat plate 11, so in order to During calibration, the laser line of the laser range finder 2 can be marked within the range of the calibration plate 3 with the scale line, the length of the lower end of the fixed plate 5 from the lower end of the bearing seat plate 11 is also n, and the axis position of the roller gripper 13 reaches the fixed position. The distance from the extension end of the plate 5 away from the bearing seat plate 11 is m, and the value of m is approximately 20 cm. The clamp assembly 4 is connected below the extension end of the fixing plate 5 away from the bearing seat plate 11 .

The above-mentioned embodiments only express several implementing devices of the present invention, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the patent scope of the invention.

Although the present invention has been described in detail with general descriptions and specific examples above, it is obvious to those skilled in the art that some modifications or improvements can be made on the basis of the present invention. Therefore, the modifications or improvements made on the basis of not departing from the spirit of the present invention all belong to the protection scope of the present invention.

Claims (8)

1. A manipulator correction device for hot-rolled steel strip, applied to hot-rolled steel strip grasping device, is characterized in that, comprises control module, data processing module, laser distance meter and calibration module: The calibration module includes a fixed plate, a fixture assembly and a calibration plate. There are two fixed plates, which are respectively fixed on the two supports of the hot-rolled steel strip grabbing device. The two ends of the clamp assembly are arranged on two Below the fixed plate, the calibration plate is arranged below the clamp assembly and can move left and right along the clamp assembly; The laser rangefinder is fixed on the upper left side of the hot-rolled steel strip grabbing device, emits laser lines to the calibration plate and receives laser lines for distance measurement, and sends the distance measurement signal to the control module; The control module is respectively connected with the data processing module, the laser ranging module and the calibration component, controls the laser ranging module to emit the laser line and receives the laser line to measure the distance, receives the ranging signal and sends it to the data processing module for calculation, and controls the calibration component The mechanism that drives the movement of the calibration plate in the middle moves; The fixture assembly includes a motor, a leading screw, a guide rail, a moving block, a cylinder, a cylinder mounting plate, a clamp and a slide plate, the leading screw and the guide rail are arranged in parallel, and the two ends of the leading screw and the guide rail are respectively connected to the two described The bottom of the fixed plate is rotatably connected, the motor is driven and connected to 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 screwed to the lead screw, and the moving block and the guide rail are slidable connected, 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, the piston rod of the cylinder is fixedly connected with the sliding plate, and the sliding plate and the cylinder mounting plate are slidably connected. A fixture is fixedly arranged under the sliding plate, and the fixture is fixedly connected with the calibration plate; The lower surface of the cylinder fixing plate protrudes and is provided with a guide block, and the upper surface of the sliding plate is provided with a guide groove, and the guide block is inserted in the guide groove and is slidably connected with the guide groove. 2. The manipulator deviation correcting device for hot-rolled steel strip according to claim 1, characterized in that: a clamping groove is opened under the clamp, the upper end of the calibration plate is inserted in the clamping groove, and the clamp It is fastened with the calibration plate through fixing nails, and a rubber pad is arranged in the clamping groove. 3. The manipulator correction device for hot-rolled steel strip according to claim 2, characterized in that: the material of the calibration plate is float glass, and one side surface of the calibration plate is provided with a scale line, and the scale line one Side facing laser rangefinder, the scale line is aluminum oxide sprayed. 4. The manipulator deflection correction device for hot-rolled steel strip according to claim 3, characterized in that: the upper end of the fixing plate is fixed on the bearing seat plate of the bracket, the two fixing plates are arranged in parallel, and the wire The bar and the guide rail are arranged perpendicular to the fixed plate, and the calibration plate is arranged parallel to the fixed plate. 5. A manipulator deviation correction method for hot-rolled steel strip, applied to the manipulator deviation correction device for hot-rolled steel strip according to claim 4, characterized in that, the steps are as follows: S1: Remove the roller gripper from the hot-rolled steel strip grabbing device, respectively fix the upper ends of the two fixing plates on the bearing seat plates of the two brackets, and install the fixture assembly and the calibration plate in sequence; The side surface of the board with the scale marks faces the laser rangefinder; S2: The control module controls the calibration plate to move to the positions of the left bearing seat plate and the right bearing seat plate respectively, and the laser rangefinder performs distance measurement at the two positions of the calibration plate respectively, and the control module The control data processing module calibrates the middle surface of the hot-rolled steel strip grabbing device and the deflection angle of the laser line emitted by the laser rangefinder; S3: Disassemble the fixture assembly, the calibration plate and the fixing plate in sequence, and install the roller gripper on the bearing seat plates of the two brackets; S4: Move the manipulator of the hot-rolled steel strip to the top of the hot-rolled steel strip production line, so that the middle surface of the two roller grippers is aligned with the center line of the roller table; S5: The hot-rolled steel strip grabbing device operates, and the two roller grippers grab the hot-rolled steel strip; S6: the control module controls the laser rangefinder to perform distance measurement on the left side of the head of the hot-rolled steel strip, and transmits the distance measurement signal to the control module; S7: The control module controls the data processing module to perform data calculation, and calculates the distance between the head of the hot-rolled steel strip and the middle surface of the hot-rolled steel strip grasping device according to the deflection angle of the laser line emitted by the laser rangefinder, and judges the distance of the hot-rolled steel strip With the offset direction of the head, the manipulator of the hot-rolled steel strip performs position compensation for the offset distance and offset direction. 6. The manipulator correction method for hot-rolled steel strip according to claim 5, characterized in that: in step S2, the control module controls the calibration plate to move to the left bearing seat plate and the right bearing seat respectively At the position of the plate, the laser rangefinder performs distance measurement at the two positions of the calibration plate, and the control module controls the data processing module to measure the middle surface of the hot-rolled steel strip grabbing device and the laser line emitted by the laser rangefinder. The deflection angle is calibrated, the specific method is: S21: the control module controls the action of the motor to drive the screw to rotate, the moving block drives the calibration plate to move to the left, and the piston rod of the cylinder extends to push the sliding plate to move to the left, so that the calibration plate has a scale line One side of the surface is aligned with the plane of the surface of the left bearing seat plate; S22: taking the laser emission point on the laser rangefinder as the origin O, taking the direction perpendicular to the bearing seat plate of the bracket as the Y direction, and the vertical direction as the Z direction, establish a space Cartesian coordinate system; S23: the control module controls the laser rangefinder to emit a laser line to the calibration plate, and marks the light point A on the calibration plate, and the distance of the laser rangefinder to measure OA is L ₁ ; S24: The control module controls the action of the motor, drives the lead screw to rotate in reverse, the moving block drives the calibration plate to move to the right, and at the same time, the piston rod of the cylinder retracts, pulling the sliding plate to move to the right, so that the calibration plate The surface of one side with scale marks is aligned with the plane of the surface of the right bearing seat plate; S25: the control module controls the laser rangefinder to emit laser lines to the calibration board, and marks the spot B on the calibration board, and the distance of the laser rangefinder to measure OB is L ₂ ; S26: The control module controls the data processing module to process the data, establishes a projection model for hot-rolled steel strip correction, and obtains the distance between the middle plane of the hot-rolled steel strip grabbing device and the laser line of the laser rangefinder relative to the ZY plane Deflection angle α, deflection angle β of the laser line of the laser rangefinder relative to the XY plane. 7. The manipulator deviation correction method for hot-rolled steel strip according to claim 6, characterized in that: set up a projection model of hot-rolled steel strip deviation correction in said S26, and obtain the middle plane of the hot-rolled steel strip grasping device The specific algorithm of the deflection angle α of the laser line of the laser rangefinder relative to the ZY plane and the deflection angle β of the laser line of the laser rangefinder relative to the XY plane is: S261: The calibration plates located on the left and right sides are regarded as placing two identical calibration plates on the fixture assembly at the same time. The side surfaces of the two calibration plates with the scale lines face the laser rangefinder, and the laser rangefinder The emitted laser line is regarded as hitting two calibration boards at the same time, and the intersection with the two calibration boards is point A and point B; S262: The projection of point A along the Y-axis direction on the right calibration plate is point D, point B and point D are respectively drawn as a straight line along the Z-axis direction and the X-axis direction on the right calibration plate, and point B is along the Z-axis direction The intersection point of the straight line and the point D along the X-axis direction is C, the intersection point of the straight line along the X-axis direction of point B and the point D along the Z-axis direction is E, and the angle between the line segment AD and the line segment AC is the laser rangefinder. The deflection angle α of the laser line relative to the ZY plane, the angle between the line segment AC and the line segment AB is the deflection angle β of the laser line of the laser rangefinder relative to the XY plane; S263: The length of line segment AD is known as l, l is the distance between the two bearing seat plates on the bracket, the length of line segment AB is L, L=L ₂ -L ₁ , the length of line segment CD and line segment CB can be obtained from the calibration board The scale line is obtained, which are recorded as d and h respectively; since tanα=d/l, the size of α can be obtained; since sinβ=h/L, the size of β can be obtained; S264: Take the midpoints of line segments AB, AC, AD and AE respectively, and record them as points F, point I, point H and point G, and the plane HIGF formed by point F, point I, point H and point G is a hot-rolled steel strip The length of the line segment OF on the middle surface of the grabbing device is L ₃ , where L ₃ =(L ₁ +L ₂ )/2. 8. The manipulator correction method for hot-rolled steel strip according to claim 7, characterized in that: in step S7, the control module controls the data processing module to perform data calculation, according to the deflection of the laser line emitted by the laser rangefinder Calculate the distance of the hot-rolled strip head offset from the middle surface of the hot-rolled strip grabbing device, and judge the offset direction of the hot-rolled strip head, and the manipulator of the hot-rolled strip performs position compensation for the offset distance and offset direction The specific method is: S71: It is known that the laser rangefinder hits the left side of the steel strip head, which is recorded as point N, and the ON distance L ₄ of the line segment is measured, and the offset distance Δl of the hot-rolled steel strip head on the XY plane is calculated, Δl=(L ₄ -L ₃ ) cosβ; S72: Calculate the head offset distance ΔL of the hot-rolled steel strip on the ZY plane, ΔL=Δlcosα=(L ₄ -L ₃ )cosβcosα; S73: Due to the influence of the thickness of the steel strip, the offset distance ΔL of the head of the hot-rolled steel strip on the ZY plane will produce errors. When calculating ΔL, the thickness t of the steel strip will be included, and the final offset distance of the strip head on the ZY plane ΔL'=( L ₄ -L ₃ )cosβcosα-t/2; S74: When ΔL'>0, the head of the hot-rolled steel strip deviates to the right of the middle surface, and the manipulator of the hot-rolled steel strip drives the hot-rolled steel strip grabbing device to deviate ΔL' to the left of the center line of the roller table. When ΔL When '<0, the head of the hot-rolled steel strip deviates to the left of the middle surface, and the manipulator of the hot-rolled steel strip drives the hot-rolled steel strip grabbing device to shift to the right of the center line of the roller table by ΔL'.