CN115837544B - Automatic contact position regulating and controlling system for assembling machine abdomen pressing plate - Google Patents
Automatic contact position regulating and controlling system for assembling machine abdomen pressing plate Download PDFInfo
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- CN115837544B CN115837544B CN202211525597.2A CN202211525597A CN115837544B CN 115837544 B CN115837544 B CN 115837544B CN 202211525597 A CN202211525597 A CN 202211525597A CN 115837544 B CN115837544 B CN 115837544B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides an automatic regulation and control system for the contact position of an assembly machine abdomen pressing plate, which comprises a server, steel, a clamping module, a sampling module and a position adjusting module, wherein the server is respectively connected with the clamping module, the regulation and control module and the position adjusting module; the clamping module is used for contacting with steel to clamp and limit the steel, the sampling module is used for collecting the position of the steel and evaluating the position of the steel according to collected data so as to trigger the adjustment of the clamping position of the position adjustment module, and the position adjustment module is used for adjusting the position of the clamping module. According to the invention, through the cooperation of the sampling unit and the evaluation unit, the position of the steel on the conveying roller can be detected, the clamping precision of the clamping module on the steel is triggered, and the stability and reliability of the whole system on the clamping of the steel are improved.
Description
Technical Field
The invention relates to the technical field of workpiece fixing or positioning, in particular to an automatic contact position regulating and controlling system for an assembly machine abdomen pressing plate.
Background
The key to the performance of the assemblers is the accuracy and speed of web centering of the wing panels, and various assemblers exist which have more or less defects or deficiencies in both aspects.
If CN203018948U prior art discloses a novel pterygoid lamina and web automatic centering clamping mechanism of H shaped steel assemblage machine, in the aspect of pterygoid lamina web positioning clamp, mainly there are two types of structural style: one is unable to self-center, one side is pre-positioned, the other side is used for clamping the wing plate and the web plate, when the wing plate width or the web plate thickness of the assembly machine called single side positioning is changed, the assembly machine needs to be adjusted and set in size, and the efficiency is general, but the assembly machine can be suitable for heavy workpieces; the other is an assembly machine capable of automatically centering, and the principle of automatic centering is that a positive and negative screw rod is adopted to realize bilateral synchronous action, and the assembly machine has strict requirements on the size specifications of wing plates and web plates, because the screw rod can be self-locked, namely, the centering clamping roller cannot be stressed to rebound after being in place, when the width of the wing plates is changed, the centering clamping roller can be clamped to the wing plates, and when the wing plates are conveyed to be forcibly fed, the centering clamping mechanism can be excessively worn or deformed. When using splice webs, the weld seam can also exhibit galling if not polished smooth.
Another typical welding device of an H-section steel assembly machine disclosed in the prior art such as CN212371509U is to directly splice the transverse plate and the web plate together when welding the transverse plate and the web plate of the H-section steel together, and then weld the transverse plate and the web plate by using a welding pliers, but in this process, positional deviation easily occurs between the transverse plate and the web plate of the H-section steel, which affects the welding effect.
The invention is designed for solving the problems that the alignment precision is poor, the locking cannot be carried out, the locking effect is poor, the clamping position is fixed, the offset is very easy to generate and the like in the prior art.
Disclosure of Invention
The invention aims to provide an automatic control system for the contact position of an assembling machine abdomen pressing plate, aiming at the defects existing at present.
In order to overcome the defects in the prior art, the invention adopts the following technical scheme:
the automatic regulation and control system comprises a server, steel, a clamping module, a sampling module and a position adjustment module, wherein the server is respectively connected with the clamping module, the regulation and control module and the position adjustment module;
the clamping module is used for contacting the steel to clamp and limit the steel, the sampling module is used for collecting the position of the steel and evaluating the position of the steel according to the collected data to trigger the adjustment of the clamping position of the position adjustment module, and the position adjustment module is used for adjusting the position of the clamping module;
the sampling module comprises a sampling unit and an evaluation unit, wherein the sampling unit is used for collecting the position of the steel material to obtain sampling data, and the evaluation unit evaluates the position of the steel material according to the sampling data.
The sampling unit comprises at least one sampling probe, a sampling sleeve, a data storage and at least one position marker, wherein at least one sampling probe is used for sensing the transportation position of the steel, the sampling sleeve is used for supporting the sampling probe to form a sampling part, the sampling part is arranged on the transportation path of the steel, the at least one position marker is used for marking the area where each sampling probe is arranged and hiding the marking area which is arranged in the sampling sleeve to form different positions on the sampling sleeve, and when the sampling probe is used for sampling the steel, the marking area data of the current position and the sampling data of the sampling probe are stored in the data storage together, and the data storage is used for storing the sampling data of at least one sampling probe;
the sampling probes and the position markers are distributed at equal intervals along the length direction of the sampling sleeve, and the sampling sleeve is nested on the conveying roller of the steel.
Optionally, the evaluation unit acquires data of the sampling probe and position mark data of at least one of the position markers, and calculates an offset index MOVE of the steel material at the ith position in one sampling period i ：
MOVE i ＝η·ln(1+|Pre j -Pre 0 |)
Wherein, pre 0 For the initial sampling value of the sampling probe, pre j For the final sampling value of the sampling probe, eta is the load distribution coefficient of the conveying roller, and the value of eta is directly obtained by the inherent characteristic of the conveying roller;
if the offset index MOVE of the ith position i And if the preset monitoring threshold ZOOM is exceeded, triggering the clamping module to clamp and adjust the steel in the marking area corresponding to the ith position.
Optionally, the position adjustment module includes a position adjustment unit and a support unit, where the support unit is used to support the clamping module, and the position adjustment unit is used to adjust the position of the support unit;
the supporting unit comprises a supporting underframe, a supporting gantry and an auxiliary deviation rectifying component, wherein the auxiliary deviation rectifying component is used for carrying out auxiliary deviation rectifying on the position of the steel, the supporting underframe is used for supporting the auxiliary deviation rectifying component, and the supporting gantry is used for supporting the clamping module;
the clamping module is arranged on the supporting unit, and the positions of the supporting unit and the clamping module are adjusted through the position adjusting unit.
Optionally, the position adjusting unit further includes an adjusting rail, an adjusting seat, an adjusting driving mechanism, a locking member, and at least one position positioning member, where the adjusting seat is used to support the supporting gantry, and the adjusting seat is slidably connected with the adjusting rail, the adjusting driving mechanism is disposed on the adjusting seat and drives the adjusting seat to slide along the extending direction of the adjusting rail, and the at least one position positioning member is disposed on the adjusting rail to position the clamping position;
the locking component is used for locking the adjusting seat so as to limit the offset of the adjusting seat.
Optionally, the clamping module comprises a clamping unit and a rebound unit, wherein the clamping unit is used for clamping the steel, and the rebound unit is used for adjusting the contact angle of the clamping unit;
the clamping unit comprises at least two clamping rollers, a shrinkage spring, a vertical seat and at least two clamping plates, wherein the two clamping plates respectively support the at least two clamping rollers to form a contact part, so that the at least two clamping rollers contact the steel when contacting the steel, the at least two clamping rollers are used for contacting the steel so as to limit the steel, two ends of the shrinkage spring are respectively connected with a first contact part, the contact part can be contacted with the steel, and the vertical seat is used for supporting the contact part and is hinged with a body of the vertical seat.
Optionally, the resilience unit includes telescopic member, double-end air suspension pole, at least one adjusting spring and at least one spacing seat, telescopic member is used for right the position of spacing seat is adjusted, adjusting spring's one end with spacing seat is connected, adjusting spring's the other end with the grip block is kept away from the one side terminal surface of steel contact is connected, double-end air suspension pole's one end with limiting plate vertical fixed connection connects, double-end air suspension pole's the other end with the body coupling of stand.
Optionally, the locking member includes a locking block, a locking rod, a locking driving mechanism, and a locking track, where the locking rod is used to adjust a position of the locking block, one end of the locking rod is fixedly connected with the adjusting seat vertically, and the other end of the locking rod extends toward one side of the locking track;
the locking track is arranged on the adjusting track and is parallel to the direction of the adjusting track, limiting grooves are formed in the locking track at equal intervals along the extending direction, and the locking driving mechanism is in driving connection with the locking rod so as to drive the locking rod to adjust the position of the locking block, so that the locking block is in limiting clamping connection with the limiting grooves of the locking track.
The beneficial effects obtained by the invention are as follows:
1. the position of the steel on the transport roller can be detected through the cooperation of the sampling unit and the evaluation unit, the clamping adjustment of the clamping module on the steel is triggered, and the stability and reliability of the whole system on the clamping of the steel are improved;
2. the position adjusting unit and the supporting unit are matched with each other, so that the contact position of steel can be adjusted, the contact position of the abdomen pressing plate of the whole system is accurately controlled, and the whole system is improved to have the advantages of high intelligent degree and dynamic position adjustment;
3. the position of the adjusting seat is locked through the locking component, so that the position of the adjusting seat can be locked, the stability of the adjusting seat, the supporting gantry and the adjusting base is ensured, the stability of the clamping module in clamping steel is ensured, and the accuracy of the clamping module on the contact position of the steel is improved;
4. through the mutual matching of the rebound unit and the clamping unit, the type of steel is wider, the clamping position can be adjusted, meanwhile, the clamping stagnation phenomenon caused by welding seams of the steel is prevented to the greatest extent, and the whole system has the advantages of wide applicable steel transportation range, accurate steel position positioning and good steel positioning effect;
5. the sampling module is used for sampling the steel position, so that the steel position can be accurately controlled, the steel position can be automatically adjusted, and the steel position can be automatically adjusted by the whole system.
Drawings
The invention will be further understood from the following description taken in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
Fig. 1 is a schematic block diagram of the overall structure of the present invention.
Fig. 2 is a schematic diagram of an evaluation flow of the sampling unit and the evaluation unit according to the present invention.
FIG. 3 is a schematic diagram of the analysis flow of the detection unit and the analysis unit of the present invention.
Fig. 4 is a schematic diagram of the structure of the sampling unit and the transport roller of the present invention.
Fig. 5 is a schematic top view of the steel material and the auxiliary deviation rectifying member and position adjusting unit of the present invention.
Fig. 6 is an enlarged schematic view at a in fig. 5.
Fig. 7 is a schematic side view of the support gantry, clamping module of the present invention.
Fig. 8 is a schematic structural view of the support chassis of the present invention.
Fig. 9 is a schematic view of the structure of the clamping unit, the rebound unit and the steel material of the present invention.
Fig. 10 is a schematic diagram of analysis of transport rollers and steel in image data acquired by the invention.
Reference numerals illustrate: 1. a transport roller; 2. marking the area; 3. a sampling sleeve; 4. a steel material; 5. a deviation correcting seat; 6. a deviation rectifying rod; 7, supporting a gantry; 8. an adjusting seat; 9. a frame; 10. a support chassis; 11. clamping rollers; 12. an adjusting spring; 13. a limit seat; 14. a telescopic rod; 15. a double-ended air suspension rod; 16. a retraction spring; 17. a vertical seat; 18. the track is adjusted.
Detailed Description
The following embodiments of the present invention are described in terms of specific examples, and those skilled in the art will appreciate the advantages and effects of the present invention from the disclosure herein. The invention is capable of other and different embodiments and its several details are capable of modification and variation in various respects, all without departing from the spirit of the present invention. The drawings of the present invention are merely schematic illustrations, and are not intended to be drawn to actual dimensions. The following embodiments will further illustrate the related art content of the present invention in detail, but the disclosure is not intended to limit the scope of the present invention.
Embodiment one.
According to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, the present embodiment provides an automatic control system for a contact position of an assembled belly pressure plate, where the automatic control system includes a server and a steel 4, and the automatic control system further includes a clamping module, a sampling module and a position adjustment module, where the server is connected to the clamping module, the control module and the position adjustment module respectively;
the clamping module is used for contacting the steel 4 to clamp and limit the steel 4, the sampling module is used for collecting the position of the steel 4 and evaluating the position of the steel 4 machine according to the collected data so as to trigger the adjustment of the clamping position of the position adjustment module, and the position adjustment module is used for adjusting the position of the clamping module;
the automatic regulation and control system further comprises a central processor, wherein the central processor is respectively connected with the server, the clamping module, the sampling module and the position adjustment module, and is used for carrying out centralized control on the clamping module, the sampling module and the position adjustment module based on the central processor;
the sampling module comprises a sampling unit and an evaluation unit, wherein the sampling unit is used for collecting the position of the steel 4 to obtain sampling data, and the evaluation unit evaluates the position of the steel 4 according to the sampling data;
the sampling unit comprises at least one sampling probe, a sampling sleeve 3, a data memory and at least one position marker, wherein at least one sampling probe is used for sensing the transportation position of the steel 4, the sampling sleeve 3 is used for supporting the sampling probe to form a sampling part, the sampling part is arranged on the transportation path of the steel 4, the at least one position marker is used for marking the area where each sampling probe is arranged and concealing the marking area which is arranged in the sampling sleeve to form different positions on the sampling sleeve, when the sampling probe is used for sampling the steel 4, the marking area 2 data of the current position and the sampling data of the sampling probe are stored in the data memory together, and the data memory is used for storing the sampling data of at least one sampling probe;
the sampling probes and the position markers are distributed at equal intervals along the length direction of the sampling sleeve 3, and the sampling sleeve 3 is nested on the conveying roller 1 of the steel 4;
the position of the steel 4 on the transport roller 1 can be detected through the cooperation of the sampling unit and the evaluation unit, the clamping accuracy of the clamping module on the steel 4 is triggered, and the stability and reliability of the whole system on the clamping of the steel 4 are improved;
in this embodiment, the sampling sleeve 3 is made of abrasion-resistant silicone rubber, and the sampling probe and the position marker are both hidden in the sampling sleeve 3; meanwhile, in the using process, the sampling sleeve 3 is nested at the periphery of a rotating roller of the conveying device to form a conveying roller 1; the transport rollers 1 are arranged on the transport path of the steel 4, so that the transport rollers 1 can clamp or limit the steel 4;
the transportation device is used for transporting the steel 4, which is a technical means well known to those skilled in the art, so in this embodiment, a detailed description is omitted;
optionally, the evaluation unit acquires data of the sampling probe and position mark data of at least one of the position markers, and calculates an offset index MOVE of the steel material at the ith position mark in one sampling period i ：
MOVE i ＝η·ln(1+|Pre j -Pre 0 |)
Wherein, pre 0 For the initial sampling value of the sampling probe, pre j For the final sampling value of the sampling probe, eta is the load distribution coefficient of the conveying roller, and the value of eta is directly obtained by the inherent characteristic of the conveying roller;
offset index MOVE for the ith position marker i If the preset monitoring threshold ZOOM is exceeded, triggering the clamping module to adjust the clamping position of the steel in the marking area corresponding to the ith position;
in this embodiment, the set monitoring threshold ZOOM is set by an operator or a monitor, which is a means well known to those skilled in the art, so in this embodiment, a detailed description is omitted;
the position of the steel 4 in the transportation process can be adjusted by the mutual matching of the sampling unit and the evaluation unit, so that the accuracy of position adjustment and the intelligent degree of position adjustment are improved;
optionally, the position adjustment module includes a position adjustment unit and a support unit, where the support unit is used to support the clamping module, and the position adjustment unit is used to adjust the position of the support unit;
the position adjusting unit and the supporting unit are matched with each other, so that the contact position of the steel 4 can be adjusted, the accurate control of the contact position of the abdomen pressing plate of the whole system is ensured, and the whole system is promoted to have the advantages of high intelligent degree and dynamic position adjustment;
optionally, the position adjusting unit further includes an adjusting rail 18, an adjusting seat 8, an adjusting driving mechanism, a locking member, and at least one position positioning member, where the adjusting seat 8 is used to support the supporting gantry 7, and the adjusting seat 8 is slidably connected with the adjusting rail 18, the adjusting driving mechanism is disposed on the adjusting seat 8 and drives the adjusting seat 8 to slide along the extending direction of the adjusting rail, and at least one position positioning member is disposed on the adjusting rail to position the clamping position;
the locking component is used for locking the adjusting seat 8 so as to limit the offset of the adjusting seat 8;
the position adjustment unit further comprises a frame 9, the adjustment track is arranged on the frame 9, and in the embodiment, the frame 9 is parallel to the transportation direction of the steel;
the supporting unit is arranged on the adjusting seat 8 and moves according to the movement of the adjusting seat 8 so that the supporting unit can clamp or support the steel 4 at different positions;
the supporting unit comprises a supporting underframe 10, a supporting gantry 7 and an auxiliary deviation rectifying component, wherein the auxiliary deviation rectifying component is used for carrying out auxiliary deviation rectifying on the position of the steel 4, the supporting underframe 10 is used for supporting the auxiliary deviation rectifying component, and the supporting gantry 7 is used for supporting the clamping module;
the clamping module is arranged on the supporting unit, and positions of the supporting unit and the clamping module are adjusted through the position adjusting unit;
specifically, the supporting chassis 10 and the supporting gantry 7 move following the movement of the adjustment seat 8, so that the contact positions of the supporting gantry 7 and the supporting chassis 10 to the steel material 4 can be adjusted;
wherein, in the process of moving the adjusting seat 8, the adjusting driving mechanism drives the adjusting seat 8 to slide along the adjusting track, thereby realizing the contact of different positions of the steel 4;
the auxiliary deviation correcting component comprises a deviation correcting rod 6, a deviation correcting seat 5, a deviation correcting detecting piece and a deviation correcting driving mechanism, wherein the deviation correcting rod 6 is arranged to be telescopic and is driven by the deviation correcting driving mechanism to realize telescopic action, the deviation correcting detecting piece is used for detecting the telescopic distance of the deviation correcting rod 6, the deviation correcting seat 5 is used for carrying out auxiliary correction on the position of the steel 4, and the accurate control of the position of the steel 4 is promoted;
one end of the deviation rectifying rod 6 is connected with the deviation rectifying seat 5, and the other end of the deviation rectifying rod 6 is vertically and fixedly connected with the inner side wall of the supporting gantry 7; meanwhile, the deviation rectifying driving mechanism is in driving connection with the deviation rectifying rod 6, so that the deviation rectifying rod 6 can perform telescopic action to meet the clamping requirements of steel 4 with different sizes;
in addition, after the adjusting seat 8 moves to a proper position, the positions of the adjusting seat 8, the supporting underframe 10 and the supporting gantry 7 are locked, so that the stability of the supporting gantry 7 is improved, and the stability and reliability of the steel 4 clamped by the clamping module through the steel 4 are improved;
optionally, the locking member includes a locking block, a locking rod, a locking driving mechanism, and a locking track, where the locking rod is used to adjust a position of the locking block, one end of the locking rod is fixedly connected with the adjusting seat 8 vertically, and the other end of the locking rod extends toward one side of the locking track;
the locking track is arranged on the adjusting track and is parallel to the direction of the adjusting track, limiting grooves are formed in the locking track at equal intervals along the extending direction, and the locking driving mechanism is in driving connection with the locking rod so as to drive the locking rod to adjust the position of the locking block, so that the locking block is in limiting clamping connection with the limiting grooves of the locking track;
in this embodiment, the position of the adjustment seat 8 is locked by the locking member, so that the position of the adjustment seat 8 can be locked, and the stability of the adjustment seat 8, the support gantry 7 and the adjustment base is promoted, so that the stability of the clamping module in clamping the steel 4 is prevented, and the accuracy of the contact position of the clamping module to the steel 4 is improved;
optionally, the clamping module includes a clamping unit, and a rebound unit, where the clamping unit is used to clamp the steel 4, and the rebound unit is used to adjust a contact angle of the clamping unit;
as shown in fig. 9, the clamping unit includes at least two clamping rollers 11, a retraction spring 16, a stand, and at least two clamping plates, where the two clamping plates respectively support the at least two clamping rollers to form a first contact portion and a second contact portion, so that the at least two clamping rollers contact the steel 4 when contacting the steel 4, the at least two clamping rollers 11 are used to contact the steel 4 to limit the steel 4, two ends of the retraction spring 16 are respectively connected with the first contact portion and the second contact portion, so that the first contact portion and the second contact portion can contact the steel 4, the stand is used to support the first contact portion and the second contact portion, and the first contact portion and the second contact portion are hinged with the body of the stand;
the clamping unit is used for contacting the clamping roller 11 with the steel 4 in the process of clamping the steel 4, so that the steel 4 can be transported by the transport roller 1;
meanwhile, in the process of clamping the steel 4, the clamping unit enables the clamping rollers 11 to be abutted against the outer walls of the two sides of the steel 4, so that the transportation accuracy of the steel 4 is ensured, and the clamping stagnation phenomenon caused by welding seams of the steel 4 is prevented to the greatest extent;
simultaneously, the rebound unit also provides elasticity for the clamping unit, so that the clamping roller 11 always abuts against the outer wall of the steel 4 under the elasticity of the rebound unit, and the stability of the position of the steel 4 is maintained;
notably, the rebound range set by the rebound unit is based on the range of the allowable error of the steel 4, so as to realize accurate control of the steel 4, improve the limiting or locking effect of the steel 4, and ensure that the steel 4 is not deviated to the maximum extent;
when the contact part is contacted with the joint (the bulge formed by welding exists) of the welding position of the steel 4, the rebound structure of the rebound unit can ensure that the clamping stagnation is not generated when the abdomen pressing plate is contacted with the welding position, so that the steel 4 can be stably transported forwards;
optionally, the rebound unit includes a telescopic member, a double-end air suspension rod 15, at least one adjusting spring 12, and at least one limiting seat 13, where the telescopic member is used to adjust the position of the limiting seat 13, one end of the adjusting spring 12 is connected with the limiting seat 13, the other end of the adjusting spring 12 is connected with an end surface of the clamping plate far away from the steel 4, one end of the double-end air suspension rod 15 is fixedly connected with the limiting plate vertically, and the other end of the double-end air suspension rod 15 is connected with the body of the stand;
the double-head air suspension rod 15 supports the stand so that the position of the stand is not deviated, and the position of the stand is adjusted by the double-head air suspension rod 15 to strengthen the control of the position of the steel 4;
simultaneously, the double-end air suspension rod 15 is matched with the adjusting spring 12 to provide a rebound force for the vertical seat, so that the clamping roller 11 can be always contacted with the outer wall of the steel 4; one end of the telescopic rod 14 is connected with the limiting seat 13, and the other end of the telescopic rod 14 is connected with the inner side wall of the supporting gantry 7;
the telescopic member comprises a telescopic rod 14, a telescopic driving mechanism and a telescopic detection piece, the telescopic rod 14 is used for adjusting the position of the limiting seat 13, and the telescopic driving mechanism is used for driving the telescopic rod 14 to enable the telescopic rod 14 to perform telescopic action;
in the process of adjusting the telescopic member, the telescopic member adjusts the positions of the limiting seat 13 and the adjusting spring 12 connected with the limiting seat 13, so that the position of the vertical seat is changed, and the telescopic member can be suitable for the transportation requirements of the steel materials 4 with different sizes;
in this embodiment, through rebound unit with the mutually supporting of clamping unit for steel 4's type is wider, clamping position also can adjust, has still taken into account furthest simultaneously prevents steel 4's welding seam causes the jamming phenomenon, makes entire system have the wide, steel 4 position location accurate and the good advantage of location effect of the applicable transportation steel 4.
Embodiment two.
This embodiment should be understood to include at least all of the features of any one of the previous embodiments, further modified on the basis of which, as shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, the automatic regulation system further comprises a detection module for acquiring image data of the steel being transported on the transport roller; the detection module comprises a detection unit and an analysis unit, wherein the detection unit is used for collecting images of the transportation of the steel on the transportation roller, the analysis unit analyzes the steel position according to the image data of the detection unit and transmits an analysis result to the auxiliary deviation rectifying component to trigger the auxiliary deviation rectifying component to finely adjust the steel position;
in this embodiment, the detection unit is disposed on the support gantry and toward one side of the auxiliary deviation rectifying member;
the detection unit comprises a sampling probe, a supporting rod and a data memory, wherein the sampling probe is used for collecting image data of the steel transported on the transport roller, the supporting rod is used for supporting the sampling probe, and the data memory is used for storing the image data collected by the sampling probe; the collecting probe is arranged right above the center point of the axle center of the conveying roller;
as shown in fig. 10, the analysis unit acquires the image data and processes the image data, including but not limited to the following: graying, binarizing and edge processing to form an edge region and a corresponding edge pixel point of steel in the image data, and an edge region and a corresponding pixel point of a transport roller;
wherein the coordinates of edge pixel points at two ends of the contact area of the transport roller and the steel material are arbitrarily selected as C 1 (x 3 ，y 3 )，D 1 (x 4 ，y 4 ) And the selected pixel point C 1 、D 1 A first auxiliary line segment formed by connection is parallel to the axis of the transport roller, and the midpoint coordinate of the first auxiliary line segment is (u) 1 ，v 1 ) The method comprises the following steps:
and then the coordinates of another group of edge pixel points at the two ends of the contact area of the transport roller and the steel material are arbitrarily selected to be C 2 (x 5 ，y 5 )，D 2 (x 6 ，y 6 ) And the selected pixel point C 2 、D 2 A second auxiliary line segment formed by connection is parallel to the axis of the transport roller, and the midpoint coordinate of the second auxiliary line segment is (u) 2 ，v 2 ) The method comprises the following steps:
as shown in fig. 10, the analysis unit acquires two edge pixel points E (x 1 ，y 1 )、F(x 2 ，y 2 ) Selecting a line segment formed by connecting edge pixel points E, F to be parallel to the axis of the conveying roller;
the analysis unit calculates a first auxiliary line midpoint coordinate (u 1 ，v 1 ) Distance D to two of the edge pixel points E, F, respectively 1 And D 2 And a second auxiliary line midpoint coordinate (u 2 ，v 2 ) Distance D to two of the edge pixel points E, F, respectively 3 And D 4 ：
If D 1 ＝D 2 And D is 3 ＝D 4 Indicating that the steel is at the very center of the transport roller, wherein the auxiliary deviation correcting component does not need to adjust the position of the steel;
if the conditions are not met, triggering the auxiliary deviation correcting component to correct the steel:
the deviation rectifying operation comprises that deviation rectifying rods on two sides of the steel material synchronously extend out to the middle of the conveying roller, so that the steel material can be positioned at the symmetrical center of the conveying roller, and the accurate control of the steel material position is improved;
in this embodiment, the sampling module samples the steel position, so that the steel position can be accurately controlled, the steel position can be automatically adjusted, and the whole system is ensured to have the capability of automatically adjusting the steel position.
The foregoing disclosure is only a preferred embodiment of the present invention and is not intended to limit the scope of the invention, so that all equivalent technical changes made by applying the description of the present invention and the accompanying drawings are included in the scope of the present invention, and in addition, elements in the present invention can be updated as the technology develops.
Claims (1)
1. The automatic regulation and control system for the contact position of the assembled belly pressure plate comprises a server and steel, and is characterized by further comprising a clamping module, a sampling module and a position adjusting module, wherein the server is respectively connected with the clamping module, the sampling module and the position adjusting module;
the clamping module is used for contacting the steel to clamp and limit the steel, the sampling module is used for collecting the position of the steel and evaluating the position of the steel according to the collected data to trigger the adjustment of the clamping position of the position adjustment module, and the position adjustment module is used for adjusting the position of the clamping module;
the sampling module comprises a sampling unit and an evaluation unit, wherein the sampling unit is used for collecting the position of the steel to obtain sampling data, and the evaluation unit evaluates the position of the steel according to the sampling data;
the sampling unit comprises at least one sampling probe, a sampling sleeve, a data storage and at least one position marker, wherein at least one sampling probe is used for sensing the transportation position of the steel, the sampling sleeve is used for supporting the sampling probe to form a sampling part, the sampling part is arranged on the transportation path of the steel, the at least one position marker is used for marking the area where each sampling probe is arranged and hiding the marking area which is arranged in the sampling sleeve to form different positions on the sampling sleeve, and when the sampling probe is used for sampling the steel, the marking area data of the current position and the sampling data of the sampling probe are stored in the data storage together, and the data storage is used for storing the sampling data of at least one sampling probe;
the sampling probes and the position markers are distributed at equal intervals along the length direction of the sampling sleeve, and the sampling sleeve is nested on the conveying roller of the steel material;
the position adjusting module comprises a position adjusting unit and a supporting unit, wherein the supporting unit is used for supporting the clamping module, and the position adjusting unit is used for adjusting the position of the supporting unit;
the supporting unit comprises a supporting underframe, a supporting gantry and an auxiliary deviation rectifying component, wherein the auxiliary deviation rectifying component is used for carrying out auxiliary deviation rectifying on the position of the steel, the supporting underframe is used for supporting the auxiliary deviation rectifying component, and the supporting gantry is used for supporting the clamping module;
the clamping module is arranged on the supporting unit, and positions of the supporting unit and the clamping module are adjusted through the position adjusting unit;
the position adjusting unit further comprises an adjusting rail, an adjusting seat, an adjusting driving mechanism, a locking member and at least one position locating piece, wherein the adjusting seat is used for supporting the supporting gantry and is in sliding connection with the adjusting rail, the adjusting driving mechanism is arranged on the adjusting seat and drives the adjusting seat to slide along the extending direction of the adjusting rail, and the at least one position locating piece is arranged on the adjusting rail so as to locate the clamping position;
the locking component is used for locking the adjusting seat so as to limit the offset of the adjusting seat;
the clamping module comprises a clamping unit and a rebound unit, wherein the clamping unit is used for clamping the steel, and the rebound unit is used for adjusting the contact angle of the clamping unit;
the clamping unit comprises at least two clamping rollers, a shrinkage spring, a vertical seat and at least two clamping plates, wherein the two clamping plates are used for supporting the at least two clamping rollers respectively to form a contact part, so that the at least two clamping rollers are contacted with the steel when contacting the steel, the at least two clamping rollers are used for contacting the steel so as to limit the steel, two ends of the shrinkage spring are connected with the contact part respectively, the contact part can be contacted with the steel, the vertical seat is used for supporting the contact part, and the contact part is hinged with the body of the vertical seat;
the rebound unit comprises a telescopic member, a double-end air suspension rod, at least one adjusting spring and at least one limiting seat, wherein the telescopic member is used for adjusting the position of the limiting seat, one end of the adjusting spring is connected with the limiting seat, the other end of the adjusting spring is connected with the end face of one side, far away from the steel contact, of the clamping plate, one end of the double-end air suspension rod is fixedly connected with the limiting seat vertically, and the other end of the double-end air suspension rod is connected with the body of the vertical seat;
the locking component comprises a locking block, a locking rod, a locking driving mechanism and a locking track, wherein the locking rod is used for adjusting the position of the locking block, one end of the locking rod is vertically and fixedly connected with the adjusting seat, and the other end of the locking rod extends towards one side of the locking track;
the locking track is arranged on the adjusting track and is parallel to the direction of the adjusting track, limiting grooves are formed in the locking track at equal intervals along the extending direction, and the locking driving mechanism is in driving connection with the locking rod so as to drive the locking rod to adjust the position of the locking block, so that the locking block is in limiting clamping connection with the limiting grooves of the locking track.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211525597.2A CN115837544B (en) | 2022-12-01 | 2022-12-01 | Automatic contact position regulating and controlling system for assembling machine abdomen pressing plate |
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| CN202211525597.2A CN115837544B (en) | 2022-12-01 | 2022-12-01 | Automatic contact position regulating and controlling system for assembling machine abdomen pressing plate |
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| CN115837544A CN115837544A (en) | 2023-03-24 |
| CN115837544B true CN115837544B (en) | 2023-07-28 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210480161U (en) * | 2019-09-16 | 2020-05-08 | 行者科技(沈阳)有限公司 | Intelligent steel rail conveyer |
| CN113601421A (en) * | 2021-07-30 | 2021-11-05 | 南京涵铭置智能科技有限公司 | Robot for detecting bending degree of workpiece and detection method |
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| CN203356791U (en) * | 2013-07-18 | 2013-12-25 | 天津荣辉电子有限公司 | Automatic-locating loading fixture for wire-electrode cutting |
| JP6782646B2 (en) * | 2017-02-03 | 2020-11-11 | 株式会社神戸製鋼所 | Fixing jig, steel material holding device, and steel material holding method |
| CN107283094B (en) * | 2017-08-09 | 2019-03-22 | 苏州阿甘机器人有限公司 | It is a kind of to be automatically positioned and welding robot and its working method |
| CN108838431B (en) * | 2018-04-26 | 2020-09-15 | 中铁武汉电气化局集团科工装备有限公司 | H shaped steel post drilling machine with cooling system |
| CN113655371A (en) * | 2021-08-18 | 2021-11-16 | 湖南省计量检测研究院 | Intelligent monitoring and calibrating system for metering chip |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210480161U (en) * | 2019-09-16 | 2020-05-08 | 行者科技(沈阳)有限公司 | Intelligent steel rail conveyer |
| CN113601421A (en) * | 2021-07-30 | 2021-11-05 | 南京涵铭置智能科技有限公司 | Robot for detecting bending degree of workpiece and detection method |
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