Metal plate self-adaptive straightening method and technology based on line laser contourgraph

Abstract

According to the metal plate self-adaptive straightening method and technology based on the line laser contourgraph, the laser scanning contourgraph is arranged above a feeding part of a straightening machine, a line laser transmitter and an image sensor are arranged in the laser scanning contourgraph, and the line laser transmitter projects laser lines to a metal plate; the image sensor is used for capturing a plate image with a laser reflection light strip to assist the straightening control system to adjust the pressing roller, straightening of the metal plate can be adjusted in real time, and the straightening precision is improved; image data collected by an image sensor is transmitted to a data processing module, and the data processing module analyzes an image to obtain actual contour data of a plate before straightening; the actual contour data are compared with a preset ideal straightened plate contour model, the deviation value of each point is calculated, and a deviation matrix is generated; the straightening machine control system controls the position conditions of all the pressing rollers independently according to the deviation matrix, the accuracy of plate straightening can be greatly optimized, and continuous adjustment can be achieved.

Description

Technical Field

[0001] The invention relates to the field of metal straightening, and in particular to a method and technology for self-adaptive straightening of metal plates based on a line laser profiler. Background Art

[0002] In the production process of metal sheets, the straightening process is indispensable. Its purpose is to eliminate the residual deformation of the sheets caused by rolling, transportation, storage and other links, so that the sheets can reach the specified flatness and straightness standards. Traditional straightening methods mostly rely on experience to set the amount of pressure of the straightening machine, which is difficult to accurately adapt to the actual deformation of each sheet. Due to the huge differences in the initial deformation degree of metal sheets of different batches and materials, this straightening method with preset parameters is prone to insufficient or excessive straightening, and can no longer meet the current needs of high-precision and high-efficiency metal processing.

[0003] In addition, during the straightening process, dirt on the surface of the metal sheet often affects the straightening effect. After investigating the prior art, it was found that the existing method of cleaning the surface of the straightened sheet is often to add a brush roller to the straightening machine and use a fan to suck away the dirt on the surface of the sheet. However, in actual use, since the surface of the sheet is often stained with oil or water, this method often cannot clean the surface of the sheet well. Summary of the invention

[0004] The purpose of the present invention is to provide a metal sheet adaptive straightening method and technology based on a line laser profiler to solve the above problems.

[0005] The present invention discloses a system for self-adaptive straightening of metal plates, comprising a straightening machine and a laser scanning profiler installed above the feed of the straightening machine;

[0006] The laser scanning profilometer is composed of the line laser transmitter and the image sensor;

[0007] The straightening machine comprises a plate conveying device and a straightening device;

[0008] The plate conveying device comprises an introduction roller and a plurality of conveying rollers, and the conveying rollers are driven by a power assembly to rotate in the same direction;

[0009] A fixed platform is fixed between the side plates, a straightening device is installed on the fixed platform, the straightening device includes a control box fixed to the fixed platform, a lifting mechanism fixed to the fixed platform is provided on one side of the control box, a fixed bracket is fixed at the end of the telescopic rod controlled by the lifting mechanism, and a pressing roller is rotatably installed on the bracket through a third rotating shaft;

[0010] The control box includes a data processing module and a straightening machine control system. The data module is used to receive image data and feed back to the straightening machine control system.

[0011] Preferably, a plurality of slideways are provided on the side panels, and slide bars are slidably installed in the slideways, and the slide bars are fixed to the brackets.

[0012] Preferably, the straightening machine also includes a cleaning assembly installed on the front side of the laser scanning profilometer, the cleaning assembly includes two adjustment assemblies, the adjustment assembly includes a fixed plate fixed on the side panel, a No. 2 motor is fixedly installed on the fixed plate, a winding drum is fixed on the motor shaft of the No. 2 motor, a guide rail is also fixed on the side panel, a slider is slidably installed in the guide rail, a threaded shaft is provided through the guide rail and the slider, the threaded shaft is rotatably connected to the guide rail, a thread is provided on the threaded shaft and is threadedly connected to the slider, a handle is fixed at the end of the threaded shaft, a pair of vertical rods are fixed on the slider, and a No. 1 guide rod and a No. 2 guide rod are fixedly installed between the vertical rods.

[0013] Preferably, the cleaning assembly also includes a pair of fixed frames fixed on the side panels, wherein a movable groove is penetrated through the fixed frames, a movable block is slidably mounted on the movable groove, the movable block is fixed to the inner wall of the movable groove by a spring, and a No. 3 guide rod is fixedly mounted between the movable blocks.

[0014] Preferably, the two winding drums of the cleaning assembly respectively wind up one end of the cleaning cloth, and the cleaning cloth starts from one of the winding drums, passes between the No. 1 guide rod and the No. 2 guide rod of one of the adjusting assemblies, bypasses the No. 3 guide rod, then passes between the No. 1 guide rod and the No. 2 guide rod of the other adjusting assembly, and then goes to the other winding drum, and the cleaning cloth is divided into two layers, upper and lower layers.

[0015] Preferably, the two adjustment components are staggered so that the cleaning cloth can cross when being pulled by the No. 1 guide rod and the No. 2 guide rod, thereby being able to fully fit and cover the upper and lower surfaces of the plate.

[0016] The present invention also discloses a metal sheet self-adaptive straightening method and technology based on a line laser profiler, comprising the following steps:

[0017] Step 1: Use the laser scanning profilometer to scan and measure the metal sheet before straightening, and the line laser emitter projects a laser line onto the metal sheet. The image sensor is used to capture the image of the sheet with the laser reflected light strip and generate image data;

[0018] Step 2: The image data collected by the image sensor is transmitted to the data processing module, which first uses a filtering algorithm to remove abnormal signals, and then analyzes the image based on the principle of laser triangulation and combined with pre-calibrated system geometric parameters to obtain the actual contour data of the plate before straightening;

[0019] Step 3: Compare the actual contour data with the preset ideal straightened plate contour model, calculate the deviation value of each point, and generate a deviation matrix;

[0020] Step 4: The deviation matrix is ​​transmitted to the straightening machine control system. The control system generates a depression adjustment instruction for each depression roller of the straightening machine based on the deviation matrix through a built-in intelligent algorithm, and drives the depression roller to perform the adjustment action. During the continuous conveying process of the metal sheet, the above scanning measurement, data processing, comparison, and adjustment steps are cyclically executed until the metal sheet reaches the ideal straightening standard.

[0021] Preferably, the deviation matrix generated by the data processing module includes at least the height deviation and curvature deviation parameters of each point, so as to accurately reflect the degree and direction of deformation of different areas of the plate.

[0022] Preferably, the lifting mechanism is a hydraulic actuator, which can complete the pressing amount adjustment action within a specified time and ensure accuracy.

[0023] In summary, the present invention has the following beneficial effects:

[0024] 1. The present application discloses a laser scanning profiler above the feed of a straightening machine. The laser scanning profiler has a built-in line laser emitter and an image sensor. The line laser emitter projects laser lines onto the metal sheet. The image sensor is used to capture the image of the sheet with the laser reflected light strip to assist the straightening control system in adjusting the pressure roller. The straightening of the metal sheet can be adjusted in real time to improve the straightening accuracy.

[0025] 2. The image data collected by the image sensor is transmitted to the data processing module. The data processing module first uses a filtering algorithm to remove abnormal signals, and then analyzes the image based on the principle of laser triangulation and combined with the pre-calibrated system geometric parameters to obtain the actual contour data of the plate before straightening;

[0026] Compare the actual contour data with the preset ideal straightened plate contour model, calculate the deviation value of each point, and generate a deviation matrix;

[0027] The straightening machine control system controls the position conditions of each pressing roller individually according to the deviation matrix, which can greatly optimize the accuracy of plate straightening and can be adjusted continuously for better straightening effects.

[0028] 3. The deviation matrix contains at least the height deviation and curvature deviation parameters of each point, which is used to accurately reflect the degree and direction of deformation in different areas of the plate.

[0029] 4. A cleaning assembly is arranged at the front side of the laser scanning profiler. The cleaning assembly includes two adjustment assemblies. The adjustment assembly includes a winding drum. A guide rail is also fixed on the side panel. A slider is slidably installed in the guide rail. A threaded shaft is arranged through the guide rail and the slider. The threaded shaft is rotatably connected with the guide rail. A thread is arranged on the threaded shaft and is threadedly connected with the slider. A handle is fixed at the end of the threaded shaft. A pair of vertical rods are fixed on the slider. A guide rod No. 1 and a guide rod No. 2 are fixedly installed between the vertical rods. The two winding drums are respectively wound around one end of the cleaning cloth. The cleaning cloth starts from one of the winding drums, passes between the guide rod No. 1 and the guide rod No. 2 of one of the adjustment assemblies, bypasses the guide rod No. 3, and then passes between the guide rod No. 1 and the guide rod No. 2 of the other adjustment assembly, and then reaches the other winding drum, as shown in the figure. As shown, the cleaning cloth is divided into two layers, the upper and lower layers; the metal sheet is put in and inserted between the upper and lower layers of the cleaning cloth. At this time, the control slider is moved closer to the metal sheet, and the upper layer of the cleaning cloth is completely fitted with the upper surface of the metal sheet, and the lower layer of the cleaning cloth is completely fitted with the lower surface of the metal sheet through the pulling of the No. 1 guide rod and the No. 2 guide rod. In this way, when the metal sheet is being transported, the cleaning cloth can wipe the upper and lower surfaces of the metal sheet at the same time, effectively removing stains and water stains on the surface of the metal sheet, thereby optimizing the straightening effect. After the set time, the two No. 2 motors are started at the same time, one No. 2 motor reels in the cleaning cloth, and the other No. 2 motor releases the cleaning cloth, thereby pulling out a section of the unused cleaning cloth to replace the cleaning cloth that is already stained with stains, which is very convenient.

[0030] 5. The two adjustment components are staggered so that the cleaning cloth can cross when being pulled by the No. 1 guide rod and the No. 2 guide rod, thereby being able to fully cover the upper and lower surfaces of the plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 is a first schematic diagram of the appearance of an embodiment of the present invention;

[0033] Figure 2 is a second schematic diagram of the appearance of an embodiment of the present invention;

[0034] Figure 3 yes Figure 2 The enlarged schematic diagram at A in the middle;

[0035] Figure 4 This is a structural diagram showing an embodiment of the present invention after one of the side panels 12 is removed;

[0036] Figure 5 This is a structural diagram showing an embodiment of the present invention after removing another side panel 12;

[0037] Figure 6 It is a diagram for explaining the working principle of the laser scanning profiler 26;

[0038] Figure 7 This is a structural diagram showing an embodiment of the present invention without the introduction roller 13;

[0039] Figure 8 yes Figure 7 The enlarged schematic diagram of point B in the middle;

[0040] Fig. 9 It is a schematic diagram of the internal structure of the transmission box 22;

[0041] Fig.10 is a cross-sectional view of the position of the adjustment assembly 50;

[0042] Fig.11 yes Fig.10 The enlarged schematic diagram at C in the middle;

[0043] Fig.12 It is a state display diagram of the cleaning cloth 23 covering the plate.

[0044] In the figure: 12, side plate; 13, introduction roller; 14, No. 1 motor; 16, fixed table; 18, control box; 19, lifting mechanism; 20, slideway; 21, slide bar; 22, transmission box; 23, cleaning cloth; 24, conveyor roller; 25, No. 1 rotating shaft; 26, laser scanning profiler; 27, bracket; 28, No. 3 rotating shaft; 29, pressing roller; 30, telescopic rod; 31, line laser transmitter; 32, Figure Image sensor; 33. Gear No. 1; 34. Gear No. 2; 35. Rotating shaft No. 2; 36. Fixed frame; 37. Movable slot; 38. Spring; 39. Movable block; 40. Guide rod No. 3; 50. Adjustment assembly; 51. Fixed plate; 52. Motor No. 2; 53. Winding drum; 54. Handle; 55. Threaded shaft; 57. Slider; 58. Guide rail; 59. Vertical pole; 60. Guide rod No. 1; 61. Guide rod No. 2. DETAILED DESCRIPTION

[0045] Figure 1-Figure 12 A system for adaptive straightening of metal sheets is provided, comprising a straightener and a laser scanning profiler 26 mounted above the straightener feed;

[0046] The laser scanning profiler 26 has a built-in line laser emitter 31 and an image sensor 32. The line laser emitter 31 projects a laser line onto the metal sheet, and the image sensor 32 is used to capture the image of the sheet with the laser reflected light strip and generate image data.

[0047] The straightening machine comprises a plate conveying device and a straightening device;

[0048] The plate conveying device includes an introduction roller 13 and a plurality of conveying rollers 24, the conveying rollers 24 are rotatably installed between the two side plates 12 through a No. 1 rotating shaft 25, the No. 1 rotating shaft 25 is inserted into a transmission box 22 fixed to the side plate 12, a No. 1 gear 33 is fixed on the No. 1 rotating shaft 25 in the transmission box 22, a No. 2 gear 34 is meshed between the No. 1 gears 33, the No. 2 gears 34 are rotatably arranged in the transmission box 22 through the No. 2 rotating shaft 35, due to the staggered meshing arrangement between the No. 1 gear 33 and the No. 2 gear 34, each of the No. 1 gears 33 rotates in the same direction, so that each of the No. 1 rotating shafts 25 fixed to the No. 1 gear 33 can rotate in the same direction and at the same speed, thereby realizing the transportation of the plate, one of the No. 1 rotating shaft 25 or the No. 2 rotating shaft 35 is fixed to the motor shaft of the No. 1 motor 14, and the No. 1 motor 14 is fixed to the transmission box 22;

[0049] A fixed platform 16 is fixed between the side plates 12, and a straightening device is installed on the fixed platform 16. The straightening device includes a control box 18 fixed to the fixed platform 16, and a lifting mechanism 19 fixed to the fixed platform 16 is provided on one side of the control box 18. A bracket 27 is fixed at the end of a telescopic rod 30 controlled by the lifting mechanism 19, and a pressing roller 29 is rotatably installed on the bracket 27 through a third rotating shaft 28;

[0050] The control box 18 includes a data processing module and a straightening machine control system. The data module is used to receive image data and feed it back to the straightening machine control system, and then control the operation of each lifting mechanism 19 after processing. The lifting mechanism 19 controls the position of each pressing roller 29, so as to achieve different straightening effects.

[0051] The line laser transmitter 31 uses a high-power laser with a specific wavelength to ensure that the projected laser line is clear and stable.

[0052] The transmission line of the data processing module has high-speed and stable data transmission capabilities, ensuring real-time and accurate transmission of deviation data.

[0053] In order to enhance stability, a plurality of slideways 20 are provided on the side panels 12 . Slide bars 21 are slidably installed in the slideways 20 . The slide bars 21 are fixed to the brackets 27 .

[0054] The straightening machine also includes a cleaning assembly installed on the front side of the laser scanning profiler 26, and the cleaning assembly includes two adjustment assemblies 50. The adjustment assembly 50 includes a fixed plate 51 fixed on the side plate 12, and a No. 2 motor 52 is fixedly installed on the fixed plate 51. A winding drum 53 is fixed on the motor shaft of the No. 2 motor 52. A guide rail 58 is also fixed on the side plate 12, and a slider 57 is slidably installed in the guide rail 58. A threaded shaft 55 is provided through the guide rail 58 and the slider 57. The threaded shaft 55 is rotatably connected to the guide rail 58, and a thread is provided on the threaded shaft 55 and is threadedly connected to the slider 57. A handle 54 is fixed at the end of the threaded shaft 55, and a pair of vertical rods 59 are fixed on the slider 57. A No. 1 guide rod 60 and a No. 2 guide rod 61 are fixedly installed between the vertical rods 59;

[0055] The cleaning assembly further includes a pair of fixing frames 36 fixed on the side plate 12, wherein a movable groove 37 is formed through the fixing frames 36, and a movable block 39 is slidably mounted on the movable groove 37, wherein the movable block 39 is fixed to the inner wall of the movable groove 37 by a spring 38, and a third guide rod 40 is fixedly mounted between the movable blocks 39;

[0056] The two winding drums 53 of the cleaning assembly are respectively wound around one end of the cleaning cloth 23. The cleaning cloth 23 starts from one of the winding drums 53, passes between the first guide rod 60 and the second guide rod 61 of one of the adjusting assemblies 50, bypasses the third guide rod 40, and then passes between the first guide rod 60 and the second guide rod 61 of the other adjusting assemblies 50, and then reaches the other winding drum 53. Fig.10 As shown, the cleaning cloth 23 is divided into two layers, an upper layer and a lower layer.

[0057] After the metal sheet is put in, it is inserted between the upper and lower layers of the cleaning cloth 23. At this time, the two handles 54 are manually rotated to drive the threaded shaft 55 to rotate. The rotation of the threaded shaft 55 drives the slider 57 to move closer to the metal sheet. The No. 1 guide rod 60 and the No. 2 guide rod 61 are pulled so that the upper layer of the cleaning cloth 23 is completely in contact with the upper surface of the metal sheet, and the lower layer of the cleaning cloth 23 is completely in contact with the lower surface of the metal sheet. In this way, when the metal sheet is transported, the cleaning cloth 23 can wipe the upper and lower surfaces of the metal sheet at the same time, effectively removing stains and water stains on the surface of the metal sheet, thereby optimizing the straightening effect. After a set time, the two No. 2 motors 52 are started at the same time, one No. 2 motor 52 reels the cleaning cloth 23, and the other No. 2 motor 52 releases the cleaning cloth 23, thereby pulling out a section of the unused cleaning cloth 23 to replace the cleaning cloth 23 that is already stained with stains, which is very convenient.

[0058] It should be particularly noted that the two adjustment components 50 are staggered so that the cleaning cloth 23 can form a cross when being pulled by the first guide rod 60 and the second guide rod 61, thereby being able to completely fit the upper and lower surfaces of the plate (refer to Fig.12 ).

[0059] The present invention also discloses a metal sheet self-adaptive straightening method and technology based on a line laser profiler, comprising the following steps:

[0060] Step 1: Use the laser scanning profiler 26 to scan and measure the metal sheet before straightening. The laser scanning profiler 26 is installed above the feed of the straightening machine. The line laser emitter 31 projects a laser line to the metal sheet. The image sensor 32 is used to capture the image of the sheet with the laser reflection light strip and generate image data.

[0061] Step 2: The image data collected by the image sensor is transmitted to the data processing module, which first uses a filtering algorithm to remove abnormal signals, and then analyzes the image based on the principle of laser triangulation and combined with pre-calibrated system geometric parameters to obtain the actual contour data of the plate before straightening;

[0062] Step 3: Compare the actual contour data with the preset ideal straightened plate contour model, calculate the deviation value of each point, and generate a deviation matrix;

[0063] Step 4: The deviation matrix is ​​transmitted to the straightening machine control system. The control system generates a depression adjustment instruction for each depression roller 29 of the straightening machine based on the deviation matrix through a built-in intelligent algorithm, and drives the depression roller to perform the adjustment action. During the continuous conveying process of the metal sheet, the above-mentioned scanning measurement, data processing, comparison, and adjustment steps are cyclically executed until the metal sheet reaches the ideal straightening standard.

[0064] The image sensor 32 must have a high frame rate and a high resolution to ensure intensive and high-precision scanning of the plate surface.

[0065] The deviation matrix generated by the data processing module at least includes the height deviation and curvature deviation parameters of each point, and is used to accurately reflect the degree and direction of deformation of different areas of the plate.

[0066] The lifting mechanism 19 is a hydraulic actuator, which can complete the pressing amount adjustment action within a specified time and ensure accuracy.

[0067] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology in this field to understand the content of the present invention and implement it, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A system for adaptive straightening of metal sheets, comprising a straightening machine and a laser scanning profiler (26) installed above the straightening machine feed, wherein the laser scanning profiler (26) is composed of the line laser emitter (31) and the image sensor (32), and is characterized in that: The straightening machine comprises a plate conveying device and a straightening device; The plate conveying device comprises an introduction roller (13) and a plurality of conveying rollers (24), wherein the conveying rollers (24) are driven by a power assembly to rotate in the same direction; A fixed platform (16) is fixed between the side plates (12), and a straightening device is installed on the fixed platform (16), wherein the straightening device comprises a control box (18) fixed to the fixed platform (16), and a lifting mechanism (19) fixed to the fixed platform (16) is provided on one side of the control box (18), and a bracket (27) is fixed at the end of a telescopic rod (30) controlled by the lifting mechanism (19), and a pressing roller (29) is rotatably installed on the bracket (27) via a third rotating shaft (28); The control box (18) comprises a data processing module and a straightening machine control system, wherein the data module is used to receive image data and feed back the image data to the straightening machine control system.

2. A system for adaptive straightening of metal sheets according to claim 1, characterized in that: A plurality of slideways (20) are provided on the side plate (12), and a slide bar (21) is slidably installed in the slideway (20), and the slide bar (21) is fixed to the bracket (27).

3. A system for adaptive straightening of metal sheets according to claim 2, characterized in that: The straightening machine also includes a cleaning assembly installed on the front side of the laser scanning profiler (26), the cleaning assembly includes two adjustment assemblies (50), the adjustment assembly (50) includes a fixing plate (51) fixed on the side plate (12), a second motor (52) is fixedly installed on the fixing plate (51), a winding drum (53) is fixed on the motor shaft of the second motor (52), and a guide rail (58) is also fixed on the side plate (12), and a winding drum (53) is slidably mounted in the guide rail (58). A slider (57) is movably installed, a threaded shaft (55) is provided through the guide rail (58) and the slider (57), the threaded shaft (55) is rotatably connected to the guide rail (58), the threaded shaft (55) is provided with threads and is threadedly connected to the slider (57), a handle (54) is fixed at the end of the threaded shaft (55), a pair of vertical rods (59) are fixed on the slider (57), and a first guide rod (60) and a second guide rod (61) are fixedly installed between the vertical rods (59).

4. A system for adaptive straightening of metal sheets according to claim 3, characterized in that: The cleaning assembly also includes a pair of fixed frames (36) fixed on the side plate (12), a movable groove (37) is provided through the fixed frame (36), a movable block (39) is slidably mounted on the movable groove (37), the movable block (39) is fixed to the inner wall of the movable groove (37) by a spring (38), and a third guide rod (40) is fixedly mounted between the movable blocks (39).

5. A system for adaptive straightening of metal sheets according to claim 4, characterized in that: The two winding drums (53) of the cleaning component are respectively wound around one end of the cleaning cloth (23). The cleaning cloth (23) starts from one of the winding drums (53), passes between the first guide rod (60) and the second guide rod (61) of one of the adjusting components (50), bypasses the third guide rod (40), then passes between the first guide rod (60) and the second guide rod (61) of the other adjusting component (50), and then reaches the other winding drum (53). The cleaning cloth (23) is divided into two layers, an upper layer and a lower layer.

6. A system for adaptive straightening of metal sheets according to claim 5, characterized in that: The two adjustment components (50) are arranged in a staggered manner, so that the cleaning cloth (23) can form a cross when being pulled by the first guide rod (60) and the second guide rod (61), thereby being able to completely cover the upper and lower surfaces of the plate.

7. The straightening method and technology of the metal sheet adaptive straightening system of the line laser profiler according to any one of claims 1 to 6 comprises the following steps: Step 1: Using the laser scanning profilometer (26) to scan and measure the metal sheet before straightening, the line laser emitter (31) projects a laser line onto the metal sheet, and the image sensor (32) is used to capture an image of the sheet with the laser reflected light strip and generate image data; Step 2: The image data collected by the image sensor is transmitted to the data processing module, which first uses a filtering algorithm to remove abnormal signals, and then analyzes the image based on the principle of laser triangulation and combined with pre-calibrated system geometric parameters to obtain the actual contour data of the plate before straightening; Step 3: Compare the actual contour data with the preset ideal straightened plate contour model, calculate the deviation value of each point, and generate a deviation matrix; Step 4: The deviation matrix is ​​transmitted to the straightening machine control system. The control system generates a depression adjustment instruction for each depression roller (29) of the straightening machine based on the deviation matrix through a built-in intelligent algorithm, and drives the depression roller to perform the adjustment action. During the continuous conveying process of the metal sheet, the above scanning measurement, data processing, comparison, and adjustment steps are cyclically executed until the metal sheet reaches the ideal straightening standard.

8. The straightening method and technique according to claim 7, characterized in that: The deviation matrix generated by the data processing module at least includes the height deviation and curvature deviation parameters of each point, which is used to accurately reflect the deformation degree and direction of different areas of the plate.

9. The straightening method and technique according to claim 7, characterized in that: The lifting mechanism (19) is a hydraulic actuator, which can complete the pressing amount adjustment action within a specified time and ensure accuracy.

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