CN114643290B - Manipulator deviation correcting device and method for hot rolled steel strip - Google Patents
Manipulator deviation correcting device and method for hot rolled steel strip Download PDFInfo
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- CN114643290B CN114643290B CN202210348093.1A CN202210348093A CN114643290B CN 114643290 B CN114643290 B CN 114643290B CN 202210348093 A CN202210348093 A CN 202210348093A CN 114643290 B CN114643290 B CN 114643290B
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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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
Technical Field
The invention relates to the technical field of hot rolled steel, in particular to a manipulator deviation correcting device and a deviation correcting method for a hot rolled steel strip.
Background
On a hot rolling production line, a hot rolled steel strip enters a flat conveying chain through a serpentine oscillator, and the steel strip swings left and right after oscillation, so that the whole steel strip is conveyed forwards on the flat conveying chain in an S shape, naturally cooled in the conveying process, then passes through a roller way, and then is coiled later. In the conveying process, the head of the steel belt is subjected to the action of swinging force, so that the head of the steel belt is excessively bent, and different postures such as head-body fitting, head bending back and head fitting on the side wall of a flat conveying chain can possibly occur, so that the steel belt cannot automatically enter a roller way inlet, and the automatic coiling of the steel belt is affected.
At present, mainly rely on the workman to get into the dull and stereotyped conveying chain, carry out the centre gripping operation with the clip to the steel band head, make the steel band head correct for forward gesture, and drag and get into the roller crossing with drawing the steel band, the operational environment is abominable, there is very big potential safety hazard, can't satisfy the safety in production requirement, need use steel band traction robot, be provided with hot rolled steel band grabbing device 1 on the manipulator of steel band traction robot in the prior art, as shown in fig. 1, the parallel open and close gas claw 14 both sides piston rod is fixed with support 10 respectively in hot rolled steel band grabbing device 1, be provided with bearing bedplate 11 on the support 10, bearing bedplate 11 is connected with roller tongs 13 through bearing frame 12, support 10, bearing frame 11 and roller tongs 13 symmetry set up, the symmetrical plane is hot rolled steel band grabbing device 1's intermediate face 7, the piston rod of parallel open and close gas claw 14 both sides stretches out or is retracted and is driven both sides support 10 to be moved, two roller tongs 13 keep away from or are close to realize the operation to hot rolled steel band grabbing, after grabbing, hot rolled steel band grabbing device 1's intermediate face 7 aligns with the roll table central line, the robot removal is sent into the roll table with the head of hot rolled steel band, because intermediate face 7 position is not known, it is the symmetry plane on the theoretical plane is the two when two robot take into the roll table problem: firstly, the middle surface is not easy to align, so that the alignment of the middle surface and the central line of the roller way is difficult; although the hot rolled steel strip is also positioned on the center line of the roller way in theory, the head of the grabbed hot rolled steel strip is offset from the center line of the roller way to a certain extent due to certain flexibility of the steel strip in a high temperature state, so that the roller way cannot be smoothly carried out, and the correction of the steel strip is required.
Disclosure of Invention
In view of the above, the invention aims to provide a manipulator deviation correcting device for hot rolled steel strips, which can solve the technical problems that the middle surface is not easy to align and the head of the hot rolled steel strips deviates from the center line of a roller way after being grabbed by a manipulator and is not easy to enter the roller way in the prior art.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
a manipulator deviation correcting device for hot rolled steel strip includes control module, data processing module, laser rangefinder and demarcation module:
the calibration module comprises two fixing plates, a clamp assembly and a calibration plate, wherein the two fixing plates are respectively 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 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 rays and receive the laser rays to perform ranging, receives ranging signals and sends the ranging signals to the data processing module to perform calculation, and controls a mechanism in the calibration assembly to drive the calibration plate to move to perform actions.
Further, the fixture assembly comprises a motor, a screw rod, a guide rail, a moving block, an air cylinder mounting plate, a fixture and a sliding plate, wherein the screw rod and the guide rail are arranged in parallel, two ends of the screw rod and the guide rail are respectively and rotatably connected with the lower parts of the fixing plates, the motor is in driving connection with one end of the screw rod, the moving block is sleeved on the screw rod and the guide rail simultaneously and is in threaded connection with the screw rod, the moving block is in sliding connection with the guide rail, the air cylinder mounting plate is fixedly arranged at the lower part of the moving block, the air cylinder is fixedly arranged below the air cylinder mounting plate, a piston rod of the air cylinder is fixedly connected with the sliding plate, the sliding plate is fixedly arranged below the sliding plate, and the fixture is fixedly connected with the calibration plate.
Further, the lower surface of the cylinder fixing plate is provided with a guide block in a protruding mode, the upper surface of the sliding plate is provided with a guide groove, and the guide block is inserted into the guide groove and is in sliding connection with the guide groove.
Further, a clamping groove is formed in the lower portion of 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 is made of float glass, scale marks are arranged on the surface of one side of the calibration plate, one side of each scale mark faces the laser range finder, and the scale marks are formed by aluminum oxide spraying.
Further, 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 arranged perpendicular to the fixing plates, and the calibration plate is arranged in parallel with the fixing plates.
Further, a manipulator deviation rectifying method for hot rolled steel strip, which is used for any one of the manipulator deviation rectifying devices for hot rolled steel strip, comprises the following steps:
s1: the roller grippers are detached from the hot rolled steel strip grabbing device, the upper ends of the two fixing plates are respectively fixed on bearing seat plates of the two brackets, and the clamp assembly and the calibration plate are sequentially installed; the surface of the side, provided with the scale marks, of the calibration plate faces the laser range finder;
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, the laser range finders respectively measure 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 grabbing device and the deflection angle of the laser line emitted by the laser range finders;
s3: sequentially disassembling the clamp assembly, the calibration plate and the fixing plate, and installing the roller grippers on bearing seat plates of the two brackets;
s4: moving the manipulator of the hot rolled steel strip to the position above the hot rolled steel strip production line, so that the middle surfaces of the two roller grippers are aligned with the center line of the roller way;
s5: the hot-rolled steel strip grabbing device acts, and two roller grippers grab the hot-rolled steel strip;
s6: the control module controls the laser range finder to measure the distance on the left side of the head of the hot rolled steel strip, and transmits a distance measurement 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 to the middle surface of the hot-rolled steel strip grabbing device according to the deflection angle of the laser rays emitted by the laser range finder, judges the offset direction of the head of the hot-rolled steel strip, and performs position compensation on the offset distance and the offset direction by the manipulator of the hot-rolled steel strip.
Further, in the step 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 rangefinder ranges at the two positions of the calibration plate respectively, and 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 rangefinder, and the specific method is as follows:
s21: the control module controls the motor to act and drive the screw rod to rotate, the moving block drives the calibration plate to move leftwards, and meanwhile, the piston rod of the air cylinder stretches out to push the sliding plate to move leftwards, so that the surface of one side of the calibration plate with scale marks is aligned with the plane on which the surface of the left bearing seat plate is positioned;
s22: a laser emission point on the laser range finder is taken as an origin O, a direction perpendicular to a bearing seat plate of the bracket is taken as a Y direction, and a vertical direction is taken as a Z direction, so that a space rectangular coordinate system is established;
s23: the control module controls the laser range finder to emit laser rays to the calibration plate, a light spot A is punched on the calibration plate and marked, and the distance of the laser range finder for measuring the OA is L 1 ；
S24: the control module controls the motor to act and drive the screw rod to reversely rotate, the moving block drives the calibration plate to move rightwards, and meanwhile, the piston rod of the air cylinder retracts and pulls the sliding plate to move rightwards, so that the surface of one side of the calibration plate with scale marks is aligned with the plane of the surface of the right bearing seat plate;
s25: the control module controls the laser range finder to emit laser rays to the calibration plate, a light spot B is punched on the calibration plate and marked, and the distance of the laser range finder to be measured OB is L 2 ；
S26: the control module controls the data processing module to process the data, establishes a projection model of deviation correction of the hot rolled steel strip, and obtains a deflection angle alpha of the laser rays emitted by the laser rangefinder relative to the ZY plane and a deflection angle beta of the laser rays emitted by the laser rangefinder relative to the XY plane.
Further, in the step S26, a projection model for correcting the deviation of the hot rolled steel strip is established, and the specific algorithm for calculating the deflection angle α of the middle surface of the hot rolled steel strip gripping device and the laser beam emitted by the laser rangefinder relative to the ZY plane and the deflection angle β of the laser beam emitted by the laser rangefinder relative to the XY plane is as follows:
s261: the calibration plates are respectively positioned at the left side and the right side and are simultaneously placed on the clamp assembly, one side surface of each calibration plate with the scale marks faces the laser range finder, the laser lines emitted by the laser range finder are simultaneously marked on the two calibration plates, and the intersection point of the laser lines and the two calibration plates is a point A and a point B;
s262: the projection of the point A on the right calibration plate along the Y-axis direction is taken as a point D, the point B and the point D respectively make straight lines on the right 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 taken as 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 taken as E, the included angle between the line segment AD and the line segment AC is the deflection angle alpha of the laser range finder emitting laser rays relative to the ZY plane, and the included angle between the line segment AC and the line segment AB is the deflection angle beta of the laser range finder emitting laser rays relative to the XY plane;
s263: knowing the length of line segment AD as L, i being the distance between the two bearing plates on the support, the length of line segment AB as L, l=l 2 -L 1 The lengths of the line segment CD and the line segment CB can be obtained by scale marks on the calibration plate and are respectively marked as d and h; since tan α=d/l, the magnitude of α can be found; since sin β=h/L, the magnitude of β can be found;
s264: taking the midpoints OF line segments AB, AC, AD and AE respectively, and marking the midpoints as points F, I, H and G, wherein a 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 length OF line segment OF is L 3 ，L 3 ＝(L 1 +L 2 )/2。
Further, in step S7, the control module controls the data processing module to perform data calculation, calculates a distance between the head of the hot-rolled steel strip and the middle surface of the hot-rolled steel strip 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 deviation distance and the deviation direction by the manipulator of the hot-rolled steel strip is as follows:
s71: the known laser range finder is driven to the left side of the head of the steel belt and recorded as a point N, and the ON distance L of a line segment is measured 4 Calculating the head offset distance Deltal, deltal= (L) of the hot rolled steel strip on the XY plane 4 -L 3 )cosβ；
S72: calculating the head offset distance delta L of the hot rolled steel strip on the ZY plane, delta l=delta lcos alpha= (L) 4 -L 3 )cosβcosα；
S73: due to the influence of the thickness of the steel strip, errors occur in the head offset distance DeltaL of the hot rolled steel strip on the ZY plane, the thickness t of the steel strip is counted when DeltaL is calculated, and finally the head offset distance DeltaL' = (L) of the steel strip on the ZY plane 4 -L 3 )cosβcosα-t/2；
S74: when DeltaL '>0, the head of the hot-rolled steel strip deviates to the right of the middle surface, the manipulator of the hot-rolled steel strip drives the hot-rolled steel strip grabbing device to deviate to the left of the center line of the roller way by DeltaL', and when DeltaL '<0, the head of the hot-rolled steel strip deviates to the left of the middle surface, the manipulator of the hot-rolled steel strip drives the hot-rolled steel strip grabbing device to deviate to the right of the center line of the roller way by DeltaL'.
Compared with the prior art, the manipulator deviation correcting device and the deviation correcting method for the hot rolled steel strip have the following advantages:
(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 bracket and aligned with the surfaces of the left bearing seat plate and the right bearing seat plate of the bracket, the motor is used for driving the screw rod to move during calibration, the air cylinder is used for driving the sliding plate to conduct fine adjustment, 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 needed, and only the laser range finder of the hot rolled steel strip grabbing device is needed to complete measurement of the whole deviation correcting process, so that 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, a projection model of the hot-rolled steel strip deviation rectifying is established through geometric analysis, the middle surface of a hot-rolled steel strip grabbing 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 grabbing device is compensated, so that a traction robot smoothly sends the hot-rolled steel strip into a roller way.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a schematic view of a hot rolled steel strip gripping device on a manipulator of a steel strip traction robot according to the background art of the invention;
FIG. 2 is a schematic view showing the position of a calibration plate on a right bearing seat plate in a manipulator deviation rectifying device for hot rolled steel strips according to the embodiment of the invention;
FIG. 3 is an enlarged view of the portion M in FIG. 2 according to an embodiment of the present invention;
FIG. 4 is a partially exploded view of a calibration assembly according to an embodiment of the present invention;
FIG. 5 is a schematic view showing the position of the calibration plate on the left bearing seat plate according to the embodiment of the invention;
FIG. 6 is a schematic view of a projected model of a hot rolled strip deviation correcting in accordance with an embodiment of the present invention;
FIG. 7 is a schematic view of a projected model and a middle position of a deviation correcting of a hot rolled steel strip according to an embodiment of the present invention;
FIG. 8 is a schematic view showing the hot rolled strip according to the embodiment of the invention from the XY plane when it is grabbed;
FIG. 9 is a schematic view showing the hot rolled strip according to the embodiment of the invention from the plane of the point A, B, C;
fig. 10 is a left side view of a manipulator deviation rectifying device for hot rolled steel strip according to an embodiment of the invention.
Reference numerals illustrate:
1. a hot rolled steel strip gripping device; 10. a bracket; 11. a bearing seat plate; 12. a bearing seat; 13. a roller gripper; 2. a laser range finder; 3. a calibration plate; 4. a clamp assembly; 41. a motor; 42. a screw rod; 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 a middle surface.
Detailed Description
It should be noted that the descriptions of "first," "second," "upper," "lower," "left," "right," etc. in this disclosure are for descriptive purposes only and are not to be construed as indicating or implying a relative importance or as implicitly indicating the number of technical features indicated. Thus, a definition of "a first", "a second" feature may include at least one such feature explicitly or implicitly. The "upper", "lower", "left", "right" and the like are marked in the drawings, and in addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the combination, and the technical solutions of the embodiments are all within the scope of protection claimed by the present invention.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
1-9, a manipulator deviation rectifying device for hot rolled steel strips comprises a control module, a data processing module, a laser range finder 2 and a calibration module:
the calibration module comprises a fixing plate 5, a clamp assembly 4 and a calibration plate 3, wherein the fixing plate 5 is provided with two fixing plates which are respectively fixed on two brackets 10 of the hot rolled steel strip grabbing device 1, two ends of the clamp assembly 4 are arranged below the two fixing plates 5, and the calibration plate 3 is arranged below the clamp assembly 4 and can move left and right along the clamp assembly 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 away from the bearing seat plate 11, so that the laser range finder 2 can be ensured to strike light on the surface of the calibration plate 3; the ends of the long sides of the fixing plates 5 are fixed on the bearing seat plate 11 of the bracket 10, the two fixing plates 5 are arranged in parallel, the clamp assembly 4 is arranged perpendicular to the direction of the fixing plates 5, and the calibration plate 3 is arranged 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 screw rod 42, a guide rail 43, a moving block 44, an air cylinder 46, an air cylinder mounting plate 45, a clamp 48 and a sliding plate 47, wherein the screw rod 42 and the guide rail 43 are arranged in parallel, two guide rails 43 are arranged, the screw rod 42 is arranged between the two guide rails 43, two ends of the screw rod 42 and the guide rail 43 are respectively and rotatably connected with the lower parts of the two fixed plates 5, the motor 41 is in driving connection with one end of the screw rod 42, the moving block 44 is sleeved on the screw rod 42 and the guide rail 43 at the same time, a ball nut 441 is arranged in the middle of the moving block 44, the ball nut 441 is in threaded connection with the screw rod 42, two sides of the moving block 44 are sleeved on the guide rail 43 and are in sliding connection with the guide rail 43, the whole moving block 44 slides more stably, the movable precision is high, the fixed setting of cylinder mounting panel 45 is in movable block 44 lower part, the cylinder body of cylinder 46 is fixed to be set up in cylinder mounting panel 45 below, the piston rod and the sliding plate 47 fixed connection of cylinder 46, sliding plate 47 and cylinder mounting panel 45 slidable connection, preferably, fix the end department at cylinder mounting panel 45, be difficult for deviating from when sliding plate 47 slides, the fixed anchor clamps 48 that are provided with in sliding plate 47 below, anchor clamps 48 and calibration board 3 fixed connection, the setting of cylinder 46, sliding plate 47 can finely tune the position of calibration board 3, make calibration board 3 and bearing bedplate 11 surface can the parallel and level, the follow-up laser range finder 2 emission received light of being convenient for carries out the range finding, and calculate the medial surface according to range finding information.
Further, the lower surface of the cylinder mounting plate 45 is provided with a guide block 451 in a protruding manner, the upper surface of the sliding plate 47 is provided with a guide groove 471, the guide block 451 is inserted into the guide groove 471 and is slidably connected with the guide groove 471, the 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, clamp groove 482 has been seted up to anchor clamps 48 below, and mark board 3 upper end is inserted and is established in clamp groove 482 plays the locate function when connecting, anchor clamps 48 and mark board 3 pass through staple 481 fastening connection, are provided with the rubber pad in the clamp groove 482, make mark board 3 and clamp groove 482 be connected more tightly, be difficult for droing during the location.
The material of the calibration plate 3 is float glass, the surface of one side of the calibration plate 3 is provided with scale marks, one side 3 of the scale marks faces the laser range finder 2, the scale marks are aluminum oxide spraying, diffuse reflection cannot occur when the light source is directly irradiated, the fixture 48, the cylinder mounting plate 45, the sliding plate 47, the guide rail 43, the lead screw 42 and the fixing plate 5 are all made of aluminum alloy materials, and the processing precision is that ± 0.01mm, ensuring good parallelism of each surface.
Further, the laser range finder 2 is fixed above the left side of the hot rolled steel strip grabbing device 1, forms an included angle with the middle surface, emits laser lines to the calibration plate, receives the laser lines for ranging, sends ranging signals to the control module, and 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 rays and receive the laser rays for ranging, receives ranging signals and sends the ranging signals to the data processing module for calculation, controls a mechanism in the calibration assembly for driving the calibration plate 3 to move to act, and controls the motor 41 and the air cylinder 46 to act.
Further, a manipulator deviation rectifying method for hot rolled steel strip, which is used for any one of the manipulator deviation rectifying devices for hot rolled steel strip, comprises the following steps:
s1: the roller grippers 13 are detached from the hot rolled steel strip grabbing device 1, the upper ends of the two fixing plates 5 are respectively fixed on the bearing seat plates 11 of the two brackets 10, and the clamp assembly 4 and the calibration plate 3 are sequentially installed; the surface of the side with the scale marks of the calibration plate 3 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 the surface of one side of the calibration plate 3 with scale marks is level with the surface of the bearing seat plate 11 for installing the bearing seat 12, the laser range finder 2 measures the distance at the left position and the right position of the calibration plate 3 respectively, and the control module controls the data processing module to calibrate the deflection angles of the laser lines emitted by the laser range finder 2 and the middle surface 7 of the hot rolled steel strip grabbing device 1;
s3: sequentially disassembling the clamp assembly 4, the calibration plate 3 and the fixed plate 5, and installing the roller grippers 13 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, so that the middle surface of the hot rolled steel strip grabbing device 1 is aligned with the center line of a roller way;
s5: the hot-rolled steel strip grabbing device 1 acts, and two roller grippers 13 grab the hot-rolled steel strip;
s6: the control module controls the laser range finder 2 to measure the distance on the left side of the head of the hot rolled steel strip, and transmits a distance measurement signal to the control module;
s7: the control module controls the data processing module to perform data calculation, calculates the distance of the hot-rolled steel strip head to 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 offset direction of the hot-rolled steel strip head, and performs position compensation on the offset distance and the offset direction by the manipulator of the hot-rolled steel strip.
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 positions of the left bearing seat plate 11 and the right bearing seat plate 11, the laser rangefinder 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 angle of the laser line emitted by the laser rangefinder 2 and the middle surface 7 of the hot rolled steel strip gripping device 1, specifically, the method comprises the following steps:
s21: the control module controls the motor to act and drives the screw rod 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 leftwards, and meanwhile, the piston rod of the cylinder 46 stretches out to push the sliding plate 47 to move leftwards, so that one side surface of the calibration plate 3 with scale marks is flush with the surface of the left bearing seat plate 11 for mounting the bearing seat 12;
s22: as shown, a space rectangular coordinate system is established by taking a laser emission point on the laser range finder 2 as an origin O, taking a direction perpendicular to the surface of the bearing seat plate 11 of the bracket 10 for installing the bearing seat 12 as a Y direction and taking the vertical direction as a Z direction;
s23: the control module controls the laser range finder 2 to emit laser rays to the calibration plate 3, a light spot A is punched on the calibration plate 3 and marked, and the distance of the OA measured by the laser range finder 2 is L 1 ；
S24: the control module controls the motor 41 to act so as to drive the screw rod 42 to reversely 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 rightward, and simultaneously, the piston rod of the cylinder 46 retracts to pull the sliding plate 47 to move rightward, 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 seat plate 11 for mounting the bearing seat 12;
s25: the control module controls the laser range finder 2 to emit laser rays to the calibration plate 3, a light spot B is punched on the calibration plate 3 and marked, and the distance of the laser range finder 2 for measuring OB is L 2 ；
S26: the control module controls the data processing module to process the data, and establishes a projection model of deviation correction of the hot rolled steel strip, wherein the projection model is a projection model of laser rays emitted by the laser range finder 2 at positions of the calibration plate 3 on the left bearing seat plate 11 and the right bearing seat plate 11 respectively, and obtains deflection angles alpha of laser rays emitted by the laser range finder 2 and the middle surface 7 of the hot rolled steel strip grabbing device 1 relative to a ZY plane and deflection angles beta of laser rays emitted by the laser range finder 2 relative to an XY plane.
Further, in the step S26, a projection model for correcting the deviation of the hot rolled steel strip is established, and the specific algorithm for calculating the deflection angle α of the laser line emitted by the laser rangefinder 2 and the middle plane 7 of the hot rolled steel strip gripping device 1 relative to the ZY plane, and the deflection angle β of the laser line emitted by the laser rangefinder 2 relative to the XY plane is as follows:
s261: the positions of the calibration plates 3 at the left bearing seat plate 11 and the right bearing seat plate 11 are regarded as simultaneously placing two identical calibration plates 3 on the clamp assembly 4, one side surface of each calibration plate 3 with graduation marks faces the laser range finder 2, and the laser lines emitted by the laser range finder 2 are regarded as simultaneously striking on the two calibration plates 3, and the intersection point between the laser lines and the two calibration plates is a point A and a point B;
s262: the projection of the point A on the right calibration plate along the Y-axis direction is taken as a point D, the point B and the point D respectively make straight lines on the right 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 taken as 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 taken as E, the included angle of the line segment AD and the line segment AC is the deflection angle alpha of the laser line emitted by the laser range finder 2 relative to the 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;
since the plane in which the point A, D, C is located is parallel to the XY plane, and the plane in which the point A, D, E is located is parallel to the ZY plane, the angle β between the line segment AB and the line segment AC is denoted as the deflection angle of the laser line emitted by the laser range finder 2 relative to the XY plane, and the angle between the line segment AC and the line segment AD is denoted as the deflection angle of the laser line emitted by the laser range finder 2 relative to the ZY plane;
s263: let L be the distance between the two bearing plates 11 on the bracket 10, L be the length of line segment AD L, l=l 2 -L 1 The lengths of the line segment CD and the line segment CB can be obtained by scale marks on the calibration plate and are respectively marked as d and h; since tan α=d/l, the magnitude of α can be found; since sin β=h/L, the magnitude of β can be found;
s264: taking the midpoints OF line segments AB, AC, AD and AE respectively, and marking the midpoints as points F, I, H and G, wherein a plane HIGF formed by the points F, I, H and G is the middle plane 7 OF the hot rolled steel strip grabbing device 1, and the length OF line segment OF is L 3 ，L 3 ＝(L 1 +L 2 )/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 of the hot-rolled steel strip head portion to the middle surface 7 of the hot-rolled steel strip gripping device 1 according to the deflection angle of the laser range finder 2, and determines the offset direction of the hot-rolled steel strip head portion, and the specific method for performing position compensation on the offset distance and the offset direction by the manipulator of the hot-rolled steel strip is as follows:
s71: the known laser distance measuring instrument 2 is driven to the left side of the head of the steel belt and is marked as a point N to measure the ON distance L of a line segment 4 Calculate the head offset distance Δl, Δl= (L) of the hot rolled steel strip 6 on the XY plane 4 -L 3 ) cos beta; because the laser range finder 2 has a certain position, according to the established deviation-correcting projection model of the hot rolled steel strip 6, the line segment ON passes through the F point and projects the point N to the XY plane to obtain the point Q, the intersection point of the line segment OQ and the middle plane 7 is the point P, and the line segment OQ is parallel to the line segment AC, so that the included angle between the line segment OQ and the line segment ON is beta, the line segment OP is perpendicular to the line segment FP, the delta l is the length of the line segment PQ, and the length is recorded as the head deviation distance delta l of the hot rolled steel strip 6 ON the XY plane;
s72: calculating the head offset distance deltal of the hot rolled steel strip 6 on the ZY plane, deltal=deltalcosα= (L) 4 -L 3 ) cos β cos α; the projection of the point P to the ZY plane is the point W, the projection of the point Q to the ZY plane is the point U, the line segment OU is parallel to the line segment AD, so the included angle between the line segment OQ and the line segment AD is alpha, the length of the line segment WU is DeltaL, the distance between the point Q and the intermediate plane 7 is recorded as the head offset distance of the hot rolled steel strip 6 on the ZY plane, and the distance between the head offset of the hot rolled steel strip 6 and the roller way center line is based on the head offset distance DeltaL of the hot rolled steel strip 6 on the ZY plane because the ZY plane is perpendicular to the roller way center line;
s73: due to the thickness of the hot rolled steel strip 6, the head offset distance Δl of the hot rolled steel strip 6 in the ZY plane will be subject to error, and the thickness t of the strip is calculated by taking the Δl into account, and finally the head offset distance Δl' = (L) of the strip in the ZY plane 4 -L 3 ) cos beta cos alpha-t/2; in actual production, the thickness range of the steel strip of the hot rolled steel strip production line is 1.2mm-6.5mm, and the intermediate value t=3.85 mm is taken as a compensation base number;
s74: when DeltaL '>0, the head of the hot-rolled steel strip 6 deviates to the right of the middle surface 7, the manipulator of the hot-rolled steel strip 6 drives the hot-rolled steel strip grabbing device 1 to deviate DeltaL' to the left of the center line of the roller way, and when DeltaL '<0, the head of the hot-rolled steel strip 6 deviates to the left of the middle surface 7, the manipulator of the hot-rolled steel strip 6 drives the hot-rolled steel strip grabbing device 1 to deviate DeltaL' to the right of the center 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 grip 13 to the lower end of the bearing seat plate 11 is n, n is known, and the length is obtained by direct measurement, when the laser rangefinder 2 is used for ranging the hot rolled steel strip 6, the laser line is beaten at the point of the head of the hot rolled steel strip 6 and is approximately 20cm 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 that, during calibration, the laser line of the laser rangefinder 2 can be beaten in the range of the calibration plate 3, the length from the lower end of the fixed plate 5 to the lower end of the bearing seat plate 11 is also n, the distance from the axis of the roller grip 13 to the extending end of the fixed plate 5 away from the bearing seat plate 11 is approximately 20cm, and the fixture assembly 4 is connected below the extending end of the fixed plate 5 away from the bearing seat plate 11.
The above-described embodiments represent only a few embodiments of the present invention, which are described in more detail and are not to be construed as limiting the scope of the invention.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (8)
1. A manipulator deviation correcting device for hot rolled steel strip is applied to hot rolled steel strip grabbing device, which is characterized by comprising a control module, a data processing module, a laser range finder and a calibration module:
the calibration module comprises two fixing plates, a clamp assembly and a calibration plate, wherein the two fixing plates are respectively 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 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, and is used for controlling the laser ranging module to emit laser rays and receive the laser rays for ranging, receiving ranging signals and sending the ranging signals to the data processing module for calculation, and controlling a mechanism in the calibration assembly for driving the calibration plate to move to act;
the fixture assembly comprises a motor, a screw rod, a guide rail, a moving block, an air cylinder mounting plate, fixtures and a sliding plate, wherein the screw rod and the guide rail are arranged in parallel, two ends of the screw rod and the guide rail are respectively and rotatably connected with the lower parts of the two fixing plates, one end of the motor is in driving connection with one end of the screw rod, the moving block is sleeved on the screw rod and the guide rail at the same time and is in threaded connection with the screw rod, the moving block is in sliding connection with the guide rail, the air cylinder mounting plate is fixedly arranged at the lower part of the moving block, the air cylinder is fixedly arranged below the air cylinder mounting plate, a piston rod of the air cylinder is fixedly connected with the sliding plate, the sliding plate is in sliding connection with the air cylinder mounting plate, and the fixtures are fixedly arranged below the sliding plate and are fixedly connected with the calibration plate;
the cylinder fixed plate is characterized in that a guide block is arranged on the protrusion of the lower surface of the cylinder fixed plate, a guide groove is formed in the upper surface of the sliding plate, and the guide block is inserted into the guide groove and is slidably connected with the guide groove.
2. The robot arm deviation correcting device for hot rolled steel strip as claimed in claim 1, wherein: the clamp is characterized in that a clamping groove is formed in the lower portion of 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.
3. The robot arm deviation correcting device for hot rolled steel strip as claimed in claim 2, wherein: the calibration plate is made of float glass, scale marks are arranged on the surface of one side of the calibration plate, one side of each scale mark faces the laser range finder, and the scale marks are formed by aluminum oxide spraying.
4. A manipulator correction device for hot rolled steel strip as claimed in claim 3 wherein: the upper ends of the fixing plates are fixed on a bearing seat plate of the bracket, the two fixing plates are arranged in parallel, the screw rod and the guide rail are arranged perpendicular to the fixing plates, and the calibration plate is arranged in parallel with the fixing plates.
5. A method for correcting a deviation of a manipulator for hot rolled steel strip, applied to the device for correcting a deviation of a manipulator for hot rolled steel strip as claimed in claim 4, characterized by comprising the steps of:
s1: the roller grippers are detached from the hot rolled steel strip grabbing device, the upper ends of the two fixing plates are respectively fixed on bearing seat plates of the two brackets, and the clamp assembly and the calibration plate are sequentially installed; the surface of the side, provided with the scale marks, of the calibration plate faces the laser range finder;
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, the laser range finders respectively measure 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 grabbing device and the deflection angle of the laser line emitted by the laser range finders;
s3: sequentially disassembling the clamp assembly, the calibration plate and the fixing plate, and installing the roller grippers on bearing seat plates of the two brackets;
s4: moving the manipulator of the hot rolled steel strip to the position above the hot rolled steel strip production line, so that the middle surfaces of the two roller grippers are aligned with the center line of the roller way;
s5: the hot-rolled steel strip grabbing device acts, and two roller grippers grab the hot-rolled steel strip;
s6: the control module controls the laser range finder to measure the distance on the left side of the head of the hot rolled steel strip, and transmits a distance measurement 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 to the middle surface of the hot-rolled steel strip grabbing device according to the deflection angle of the laser rays emitted by the laser range finder, judges the offset direction of the head of the hot-rolled steel strip, and performs position compensation on the offset distance and the offset direction by the manipulator of the hot-rolled steel strip.
6. The method for robot arm deflection correction for hot rolled steel strip as claimed in claim 5 wherein: in step 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 rangefinder ranges at the two positions of the calibration plate respectively, and 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 rangefinder, and the specific method is as follows:
s21: the control module controls the motor to act and drive the screw rod to rotate, the moving block drives the calibration plate to move leftwards, and meanwhile, the piston rod of the air cylinder stretches out to push the sliding plate to move leftwards, so that the surface of one side of the calibration plate with scale marks is aligned with the plane on which the surface of the left bearing seat plate is positioned;
s22: a laser emission point on the laser range finder is taken as an origin O, a direction perpendicular to a bearing seat plate of the bracket is taken as a Y direction, and a vertical direction is taken as a Z direction, so that a space rectangular coordinate system is established;
s23: the control module controls the laser range finder to emit laser rays to the calibration plate, a light spot A is punched on the calibration plate and marked, and the distance of the laser range finder for measuring the OA is L 1 ；
S24: the control module controls the motor to act and drive the screw rod to reversely rotate, the moving block drives the calibration plate to move rightwards, and meanwhile, the piston rod of the air cylinder retracts and pulls the sliding plate to move rightwards, so that the surface of one side of the calibration plate with scale marks is aligned with the plane of the surface of the right bearing seat plate;
s25: the control module controls the laser range finder to emit laser rays to the calibration plate, a light spot B is punched on the calibration plate and marked, and the distance of the laser range finder to be measured OB is L 2 ；
S26: the control module controls the data processing module to process the data, establishes a projection model for correcting the deviation of the hot rolled steel strip, and obtains the deflection angle alpha of the middle plane 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.
7. The method for robot arm deflection correction for hot rolled steel strip as claimed in claim 6 wherein: in the step S26, a projection model for correcting the deviation of the hot rolled steel strip is established, and the specific algorithm for calculating 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 are simultaneously placed on the clamp assembly, one side surface of each calibration plate with the scale marks faces the laser range finder, the laser lines emitted by the laser range finder are simultaneously marked on the two calibration plates, and the intersection point of the laser lines and the two calibration plates is a point A and a point B;
s262: the projection of the point A on the right calibration plate along the Y-axis direction is taken as a point D, the point B and the point D respectively make straight lines on the right 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 taken as 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 taken as E, the included angle between the line segment AD and the line segment AC is the deflection angle alpha of the laser line of the laser range finder relative to the ZY plane, and the included angle between 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: knowing the length of line segment AD as L, i being the distance between the two bearing plates on the support, the length of line segment AB as L, l=l 2 -L 1 The lengths of the line segment CD and the line segment CB can be obtained by scale marks on the calibration plate and are respectively marked as d and h; since tan α=d/l, the magnitude of α can be found; since sin β=h/L, the magnitude of β can be found;
s264: taking the midpoints OF line segments AB, AC, AD and AE respectively, and marking the midpoints as points F, I, H and G, wherein a 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 length OF line segment OF is L 3 ，L 3 ＝(L 1 +L 2 )/2。
8. The method for robot arm deflection correction 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 the distance of the hot rolled steel strip head portion to the middle surface of the hot rolled steel strip gripping device according to the deflection angle of the laser line emitted by the laser range finder, and judges the offset direction of the hot rolled steel strip head portion, and the specific method for performing position compensation on the offset distance and the offset direction by the manipulator of the hot rolled steel strip is as follows:
s71: the known laser range finder is driven to the left side of the head of the steel belt and recorded as a point N, and the ON distance L of a line segment is measured 4 Calculating the head offset distance Deltal, deltal= (L) of the hot rolled steel strip on the XY plane 4 -L 3 )cosβ；
S72: calculating the head offset distance delta L of the hot rolled steel strip on the ZY plane, delta l=delta lcos alpha= (L) 4 -L 3 )cosβcosα；
S73: due to the influence of the thickness of the steel strip, errors occur in the head offset distance DeltaL of the hot rolled steel strip on the ZY plane, the thickness t of the steel strip is counted when DeltaL is calculated, and finally the head offset distance DeltaL' = (L) of the steel strip on the ZY plane 4 -L 3 )cosβcosα-t/2；
S74: when DeltaL '>0, the head of the hot-rolled steel strip deviates to the right of the middle surface, the manipulator of the hot-rolled steel strip drives the hot-rolled steel strip grabbing device to deviate to the left of the center line of the roller way by DeltaL', and when DeltaL '<0, the head of the hot-rolled steel strip deviates to the left of the middle surface, the manipulator of the hot-rolled steel strip drives the hot-rolled steel strip grabbing device to deviate to the right of the center line of the roller way by DeltaL'.
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| WO1998058871A1 (en) * | 1997-06-24 | 1998-12-30 | Autefa Maschinenfabrik Gmbh | Bale gripper loader for strapped compressed bales |
| CN102658294A (en) * | 2012-05-09 | 2012-09-12 | 永鑫精密材料（无锡）有限公司 | Low-carbon cold-rolled precision ultrathin steel strip for toy industry, and process method and application thereof |
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