Plate stacking automatic adjustment device and control method

Abstract

The present invention provides an automatic plate stacking adjustment device and control method, characterized by comprising: a stacking trolley, a plate storage tray, two sets of flappers, and a laser rangefinder; the plate storage tray is placed on a platform on top of the stacking trolley, with its edge parallel to a working reference line; at least four laser rangefinders are arranged around the stacking trolley and aligned with the plate storage tray; the two sets of flappers are respectively mounted via fixed beams; the fixed beams are parallel to the working reference line and have a degree of freedom of movement perpendicular to the working reference line; the flappers have a degree of freedom of translation on the fixed beams; each of the fixed beams and flappers is driven by a motor and connected to an encoder; the motor, laser rangefinder, encoder, and flappers are respectively connected to a controller. The device improves the production efficiency of the shearing line and shortens the time required to manually adjust the positions of the plate storage trays and flappers.

Description

Technical Field

[0001] The present invention belongs to the technical field of plate processing, and in particular relates to an automatic plate stacking adjustment device and a control method. Background Art

[0002] The current stacking method of the shearing line is relatively primitive. It requires manual adjustment of the position of the flapper and adjustment of the coil (sheet) storage tray according to the actual position of the flapper. This is time-consuming, labor-intensive and lacks precision, and is prone to product quality defects due to errors such as adjustment misoperation. Summary of the Invention

[0003] In view of the defects and shortcomings of the existing technology, the present invention proposes an automatic adjustment device and control method for plate stacking, which specifically adopts the following technical solutions:

[0004] A plate stacking automatic adjustment device, characterized in that it includes: a stacking trolley, a plate storage tray, two groups of flappers, and a laser rangefinder; the plate storage tray is placed on the platform on the top of the stacking trolley, and the edge is parallel to the working reference line; there are at least four laser rangefinders, which are respectively arranged on the four sides of the stacking trolley and aligned with the plate storage tray; the two groups of flappers are respectively installed through fixed beams; the fixed beam is parallel to the working reference line and has the freedom of movement perpendicular to the working reference line; the flappers have the freedom of translation on the fixed beam; each of the fixed beams and flappers is respectively driven by a motor and connected to an encoder; the motor, laser rangefinder, encoder and flappers are respectively connected to a controller.

[0005] Preferably, the stacking trolley is driven by a motor to move in a direction perpendicular to the working reference line, and is limited by limit switches at the stacking working position and the stacking preparation position respectively.

[0006] Preferably, the controller includes a PLC and a host computer connected to each other.

[0007] Preferably, each group of the beaters includes four beaters.

[0008] Preferably, the flappers P1, P2, P3, and P4 are arranged on the first fixed beam, and the flappers P5, P6, P7, and P8 are arranged on the second fixed beam. With the center point of the stacking trolley as the origin, the coordinates of the flappers in the working state are:

[0009]

[0010] The dimensions of the top platform of the stacking trolley are as follows: the length parallel to the working reference line is L, the length perpendicular to the working reference line is W; the working range of the flapper is Z; W y1 , Lx2 , W y2 , L x1 are the measurement results of each laser rangefinder; ΔX p1 , ΔX p2 , ΔX p3 , ΔX p4 , ΔX p5 , ΔX p6 , ΔX p7 , ΔX p8 are the preset offsets of each beater in the direction of the working reference line according to the specifications of the plate; ΔY p1 , ΔY p2 , ΔY p3 , ΔY p4 , ΔY p5 , ΔY p6 , ΔY p7 , ΔY p8 These are the preset offsets of each beater in the direction perpendicular to the working reference line according to the specifications and models of the plate.

[0011] Preferably, the fixed beam has the freedom of movement horizontally and vertically perpendicular to the working reference line.

[0012] And the control method according to the above device is characterized by comprising the following steps:

[0013] Step S1: placing the plate storage tray and the plates on the platform on top of the stacking trolley at the stacking preparation position, and making the edge of the plate storage tray parallel to the working reference line;

[0014] Step S2: Start the stacking trolley and move it in a direction perpendicular to the working reference line until the limit switch at the stacking working position is triggered;

[0015] Step S3: According to the size specifications of the top platform of the stacking trolley, the working range of the flapper, the measurement results of each laser rangefinder and the specifications and models of the plate, the controller drives the fixed beam and the flapper to move the flapper to the coordinates of the working state;

[0016] Step S4: Start the beater to complete the plate stacking.

[0017] Preferably, the method comprises the following steps: in step S3, the controller adjusts the coordinates of the flapper in the vertical direction by moving the fixed beam according to the height of the stacking trolley.

[0018] The present invention and its preferred embodiment improve the existing stacking system. By adding a laser detector device for detecting the distance from the edge of the stacking trolley to the plate storage pallet, adjusting the flapper grouping control, etc., multi-dimensional information collection and precise control are achieved, so that the position of the stacker flapper can be accurately adjusted through mathematical modeling, and the automatic adjustment function of the flapper can be realized according to the offset set by the HMI client (controller).

[0019] The present invention improves the production efficiency of the shearing line, shortens the time for manually adjusting the positions of the plate storage tray and the flapper, and avoids the occurrence of product quality defects caused by errors such as setting and adjustment misoperations. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0021] Figure 1 This is a schematic diagram of the control principle framework of an embodiment of the present invention;

[0022] Figure 2 The working principle of the embodiment of the present invention is shown as follows Figure 1 ;

[0023] Figure 3 The working principle of the embodiment of the present invention is shown as follows Figure 2 ;

[0024] Figure 4 It is a schematic side view of a device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] To make the features and advantages of this patent more clearly understood, the following embodiments are specifically described in detail as follows:

[0026] like Figures 1-4 As shown, the automatic plate stacking adjustment device solution provided in this embodiment includes: a stacking trolley, a plate storage tray, two sets of flappers, and a laser rangefinder.

[0027] The plate storage tray is placed on the platform on top of the stacking trolley, with its edge parallel to the working reference line. Each set of flappers includes four flappers. There are four laser rangefinders, which are respectively arranged on the four sides of the stacking trolley and aligned with the plate storage tray. The two sets of flappers are installed through fixed beams respectively. The fixed beams are parallel to the working reference line and have the freedom of movement in the horizontal and vertical directions perpendicular to the working reference line. The flappers have the freedom of translation on the fixed beams. The movement of each fixed beam and flapper is driven by a motor and is connected to an encoder. The encoder is used to record and transmit the displacement in the horizontal and vertical directions relative to the working reference line. The motor, laser rangefinder, encoder and flapper are respectively connected to the controller.

[0028] The stacking trolley is driven by a motor to move in a direction perpendicular to the working reference line, and is limited by limit switches at the stacking working position and the stacking preparation position for precise positioning.

[0029] The controller includes the connected PLC and host computer (including HMI client and HMI server, etc.).

[0030] The flappers P1, P2, P3, and P4 are arranged on the first fixed beam, and the flappers P5, P6, P7, and P8 are arranged on the second fixed beam. Mathematical modeling is adopted to establish the two-dimensional coordinates of the X-axis (i.e., the working reference line) and the Y-axis with the center point of the stacking trolley as the origin of the coordinate.

[0031] The stacking trolley can be driven by a motor to move forward and backward along the Y axis, and limit switches are set at the stacking working position and preparation position to determine the position.

[0032] In this embodiment, the beater and the fixed beam are installed on the bracket of the stacking work station, and the movement of the fixed beam is achieved through the slide rail structure.

[0033] The flappers P1, P2, P3, and P4 are fixed to the same fixed beam of the X-axis, and P5, P6, P7, and P8 are fixed to another fixed beam of the X-axis. The two fixed beams are driven by a motor to move back and forth as a whole toward the Y-axis and record the encoder feedback value.

[0034] The flappers P1, P2, P3, P4, P5, P6, P7, and P8 are driven by motors and can move forward and backward as a whole toward the X-axis, and record according to encoder feedback values.

[0035] A single flapper can be fine-tuned on the Y axis by a motor and recorded based on encoder feedback.

[0036] The plate storage pallet (wooden frame) is placed on the stacking trolley by the operator at the preparation position, and the edge of the plate storage pallet is parallel to the X axis or Y axis;

[0037] Laser rangefinders are installed on the stacking trolleys E, F, G, and H to detect the distance from the stacking trolley to the plate storage pallet.

[0038] Thus, the operator can set and detect the offset of the flappers P1-P8 on the X-axis and Y-axis in the client of the HMI human-machine interface;

[0039] According to the above settings, we have:

[0040] The coordinates of the stacking trolley are:

[0041] A(x a ,ya ), B(x b ,y b ), C(x c ,y c ), D(x d ,y d )

[0042] E(x e ,y e ), F(x f ,y f ), G(x g ,y g ), H(x h ,y h )

[0043] The coordinates of the plate storage pallet (wooden rack) are:

[0044] A1(x a1 ,y a1 ), B1(x b1 ,y b1 ), C1(x c1 ,y c1 ), D1(x d1 ,y d1 )

[0045] E1(x e1 ,y e1 ), F1(x f1 ,y f1 ), G1(x g1 ,y g1 ), H1(x h1 ,y h1 )

[0046] The final coordinates of the flappers P1-P8 are:

[0047] P1'(x p1 ,y p1 ), P2'(x p2 ,y p2 ), P3'(x p3 ,y p3 ), P4'(x p4 ,y p4 )

[0048] P5'(x p5 ,y p5 ), P6'(x p6 ,y p6 ), P7'(x p7 ,y p7 ), P8'(x p8 ,yp8 )

[0049] The following is the implementation method and calculation process of the final coordinates of the flappers P1-P8 in this embodiment:

[0050] The first step is to record the dimensions of the stacking trolley (top platform): length is L, width is W, and the coordinates of each point are:

[0051]

[0052]

[0053] Step 2: The distance measured by the rangefinder:

[0054] EE1=W y1 , FF1=L x2 , GG1=W y2 , HH1=L x1

[0055] Step 3: The coordinates of the plate storage pallet (wooden rack) are:

[0056]

[0057]

[0058]

[0059]

[0060] Step 4: The (working) range of the flapper is Z, and the theoretical coordinates of the flappers P4, P1, P5, and P8 are:

[0061]

[0062]

[0063]

[0064]

[0065] Step 5: P2, P3, P6, and P7 are located at one-third and two-thirds of the X-axis on average:

[0066]

[0067]

[0068] The theoretical coordinates of P3, P2, P6, and P7 are calculated as follows:

[0069]

[0070]

[0071]

[0072]

[0073] After simplification:

[0074]

[0075]

[0076]

[0077]

[0078] Step 6: Use the set offset according to the specifications of the plate

[0079]

[0080] Compute the appropriate coordinates for the final flapper:

[0081]

[0082]

[0083]

[0084]

[0085]

[0086]

[0087]

[0088]

[0089] According to the above device, the control method provided in this embodiment includes the following steps:

[0090] Step S1: placing the plate storage tray and the plates on the platform on top of the stacking trolley at the stacking preparation position, and making the edge of the plate storage tray parallel to the working reference line;

[0091] Step S2: Start the stacking trolley and move it in a direction perpendicular to the working reference line until the limit switch at the stacking working position is triggered;

[0092] Step S3: According to the size specifications of the top platform of the stacking trolley, the working range of the flapper, the measurement results of each laser rangefinder and the specifications and models of the plate, the controller drives the fixed beam and the flapper to move the flapper to the coordinates in the working state; at the same time, the controller adjusts the coordinates of the flapper in the vertical direction by moving the fixed beam according to the height of the stacking trolley.

[0093] Step S4: Start the beater to complete the plate stacking.

[0094] This patent is not limited to the above-mentioned optimal implementation method. Anyone can derive various other forms of automatic adjustment devices and control methods for plate stacking based on the inspiration of this patent. All equivalent changes and modifications made within the scope of the patent application of this invention should be covered by this patent.

Claims

1. A control method for an automatic plate stacking adjustment device, characterized in that: The device includes: A stacking trolley, a plate storage tray, two sets of flappers, and a laser rangefinder; the plate storage tray is placed on a platform on top of the stacking trolley, with its edge parallel to a working reference line; there are at least four laser rangefinders, which are arranged on four sides of the stacking trolley and aligned with the plate storage tray; the two sets of flappers are respectively mounted via fixed beams; the fixed beams are parallel to the working reference line and have a degree of freedom of movement perpendicular to the working reference line; the flappers have a degree of freedom of translation on the fixed beams; each of the fixed beams and flappers is respectively driven by a motor and connected to an encoder; the motor, laser rangefinder, encoder, and flappers are respectively connected to a controller; The stacking trolley is driven by a motor to move in a direction perpendicular to the working reference line, and is limited by limit switches at the stacking working position and the stacking preparation position respectively; The controller includes a PLC and a host computer connected to each other; Each group of the flappers includes four flappers; The flappers P1, P2, P3, and P4 are set on the first fixed beam, and the flappers P5, P6, P7, and P8 are set on the second fixed beam. Taking the center point of the stacking trolley as the origin, the coordinates of the flappers in the working state are: ； The dimensions of the top platform of the stacking trolley are as follows: the length parallel to the working reference line is L, the length perpendicular to the working reference line is W; the working range of the flapper is Z; , , , are the measurement results of each laser rangefinder; , , , , , , , These are the preset offsets of each beater in the direction of the working reference line according to the specifications and models of the plate; , , , , , , , These are the preset offsets of each beater in the direction perpendicular to the working reference line according to the specifications and models of the plate; The fixed beam has the freedom of movement in the horizontal and vertical directions relative to the working reference line; The control method includes the following steps: Step S1: placing the plate storage tray and the plates on the platform on top of the stacking trolley at the stacking preparation position, and making the edge of the plate storage tray parallel to the working reference line; Step S2: Start the stacking trolley and move it in a direction perpendicular to the working reference line until the limit switch at the stacking working position is triggered; Step S3: According to the size specifications of the top platform of the stacking trolley, the working range of the flapper, the measurement results of each laser rangefinder and the specifications and models of the plate, the controller drives the fixed beam and the flapper to move the flapper to the coordinates of the working state; Step S4: Start the beater to complete the plate stacking.

2. The control method of the automatic plate stacking adjustment device according to claim 1, characterized in that: In step S3, the controller adjusts the coordinates of the flapper in the vertical direction by moving the fixed beam according to the height of the stacking trolley.

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