An automatic straightening device and control method for formed channel steel

Abstract

The present invention discloses a fully automatic straightening device and control method for formed channel steel, including a control system and a mounting base plate. On the upper side of the mounting base plate, a straightening mounting plate is fixedly arranged. The straightening mounting plate is fixedly connected to a mounting frame fixed on the mounting base plate. Inside the mounting frame, an adjusting base plate placed on the straightening mounting plate is arranged. On the upper side of the adjusting base plate, a straightening middle plate is fixedly connected. At the center of the straightening middle plate, a straightening front plate with a square hole opened in the middle is arranged. By quickly identifying and calculating errors through two cameras, and performing displacement adjustment in four directions by a motor, driving the left guide plate, the right guide plate, and the straightening upper wheel to act precisely, intelligent identification and full-automatic correction of bidirectional deformation in the up-down and left-right directions are realized. Without manual intervention, the production efficiency can be improved, the machine testing process can be omitted, the waste of raw materials can be reduced, and the attitude of the channel steel during online operation and the quality of the final finished product can be guaranteed.

Description

Technical Field

[0001] The invention relates to the field of channel steel processing, and in particular to a fully automatic straightening device for formed channel steel and a control method. Background Art

[0002] The steel strip is formed into channel steel by multi-roller cold bending. During the forming process, due to uneven force on the steel strip, the output channel steel will bend and twist. This phenomenon needs to be corrected in time to avoid the continued bending and twisting of the channel steel, which will lead to large-scale unqualified product quality and cause losses.

[0003] To solve the bending and twisting phenomenon of channel steel after forming, the main method currently used is to set a correction device in the direction of movement of the channel steel to restrain the bending and twisting of the channel steel. However, there are the following problems:

[0004] (1) The correction device is adjusted manually to adapt to the model, specification and shape of the formed channel steel, which requires a high level of worker operation, a low degree of automation and high labor intensity;

[0005] (2) Once the model, specification and shape of the channel steel changes, the adjustment of the correction device needs to be completed through an online testing process, resulting in a waste of raw materials;

[0006] Small batches, multiple specifications and fast delivery have become the main trends in the channel steel forming product market. The automation and intelligence level of the formed channel steel straightening device needs to be improved urgently. The present invention proposes an automated and intelligent formed channel steel fully automatic straightening device that can realize the function of fast and accurate straightening of formed channel steel. Summary of the invention

[0007] In order to overcome the defects in the above-mentioned prior art, the present invention provides a fully automatic straightening device and control method for formed channel steel, which quickly identifies and calculates errors through two cameras, performs displacement adjustment in four directions through a motor, drives the left guide plate, the right guide plate, and the orthopedic upper wheel to move precisely, and realizes intelligent identification and fully automatic correction of up and down and left and right bidirectional deformation. No human intervention is required, which can improve production efficiency, save the trial process, reduce waste of raw materials, and ensure the online operation posture of the channel steel and the quality of the final product.

[0008] Technical Solution

[0009] A fully automatic straightening device for formed channel steel, including a control system and an installation base plate. On the upper side of the installation base plate, a straightening installation plate is fixedly arranged. The straightening installation plate is fixedly connected to an installation frame fixed on the installation base plate. Inside the installation frame, an adjustment base plate placed on the straightening installation plate is arranged. On the upper side of the adjustment base plate, a straightening middle plate is fixedly connected. At the center of the straightening middle plate, a straightening front plate with a square hole in the middle is arranged. On the front side of the straightening front plate, a side straightening mechanism for extruding and straightening both sides of the steel plate is arranged. On the upper side of the side straightening mechanism, a middle straightening mechanism for assisting in extruding and straightening the middle of the steel plate is arranged. On the rear side of the straightening middle plate, a vertical adjustment mechanism for driving the straightening middle plate to move up and down is arranged.

[0010] Further, the side straightening mechanism includes a first motor fixed on the adjustment base plate. On both sides of the first motor, first rotating shafts rotatably connected to the adjustment base plate are arranged. Between the first motor and the first rotating shafts, they are power-connected through a belt drive structure. At the upper end of the first rotating shaft, a bevel gear transmission structure is fixedly connected. On the front side of the straightening middle plate, two fixed plates are fixedly arranged. The upper bevel gear of the bevel gear transmission mechanism is rotatably connected to the fixed plates. The fixed plates are penetrated and threadedly connected with first threaded rods. The first threaded rods penetrate and slide through the upper bevel gear of the bevel gear transmission mechanism. Torque can be transmitted between the first threaded rods and the upper bevel gear of the bevel gear transmission mechanism. The mutually close ends of the first threaded rods are respectively rotatably connected with a left guide plate and a right guide plate.

[0011] Further, the middle straightening mechanism includes a second motor fixed on the upper end of the straightening middle plate. The lower end of the second motor is power-connected to a second threaded rod. The second threaded rod penetrates and is threadedly connected with a moving plate. The moving plate can only slide up and down on the straightening middle plate. On the front side of the moving plate, a second rotating shaft is fixedly connected. On the second rotating shaft, a bearing is arranged. On the bearing, a straightening upper wheel is fixedly installed.

[0012] Further, the vertical adjustment mechanism includes a first upright column and a second upright column fixed on the straightening installation plate. On the first upright column, a first guide sleeve and a second guide sleeve fixedly connected to the straightening middle plate are slidably sleeved. On the second upright column, a third guide sleeve and a fourth guide sleeve fixedly connected to the straightening middle plate are slidably sleeved. At the tops of the first upright column and the second upright column, a top plate is fixedly connected. On the top plate, a third motor located below the installation frame is fixedly arranged. Below the top plate, a fixed plate fixedly arranged on the straightening middle plate is arranged. The lower side of the third motor is power-connected to a third threaded rod that penetrates and is threadedly connected to the fixed plate.

[0013] Further, a fourth motor is fixedly installed on the right surface of the mounting frame, and the output shaft of the fourth motor penetrates through the mounting frame and is threadedly connected to the adjusting bottom plate.

[0014] Further, a first camera is vertically fixed on the top wall of the mounting frame, and a second camera is vertically fixed on the right wall of the mounting frame. The center line of the first camera coincides with the central plane of the left guide plate and the right guide plate, and the center line of the second camera is on the same horizontal plane as the center line of the first threaded rod.

[0015] Further, a first backlight is fixedly arranged at the front end of the orthopedic mounting plate, and a second backlight is fixedly installed on the left wall of the mounting frame.

[0016] A control method for a fully automatic straightening device for formed channel steel includes the following steps:

[0017] The channel steel passes through the front orthopedic plate, the first backlight is turned on, the first camera acquires the image of the channel steel, and by using the contour recognition algorithm, the pixel points of the left and right edges of the channel steel in the moving direction of the channel steel are obtained. The pixel points of the left and right edges are linearly fitted, and the control system determines the center line of the two straight lines of the left and right edges, that is, the left and right side center lines of the channel steel. The control system calculates the distance between the two straight lines of the left and right edges, that is, the image width of the channel steel.

[0018] The second backlight is turned on, the second camera acquires the image of the channel steel, and by using the contour recognition algorithm, the pixel points of the edges of the channel steel in the up and down directions are obtained. The pixel points of the up and down edges are linearly fitted, and the control system determines the center line of the two straight lines of the up and down edges, that is, the up and down center line of the channel steel. The control system calculates the distance between the two straight lines of the up and down edges, that is, the image height of the channel steel.

[0019] The position of the center line of the channel steel is compared with the center lines of the first camera and the second camera to determine the pixel difference. The pixel difference has positive and negative values. The control system converts the image width, the image height, and the pixel difference into the actual width, the actual height, and the actual difference of the channel steel respectively according to the calibration data of the second camera and the first camera.

[0020] The control system compares the obtained actual data with the straightening reference value in real time. According to the actual width of the channel steel, the first motor operates, drives the first rotating shaft to rotate through the transmission structure, and then the first rotating shaft drives the first threaded rod to rotate through the bevel gear transmission mechanism. Since the first threaded rod is threadedly connected to the fixed plate, the left guide plate and the right guide plate move closer to or away from each other, and the spacing is adjusted to ensure that the spacing is adapted to the width of the channel steel. According to the actual difference, the fourth motor starts, and then drives the adjusting bottom plate to move left and right, so that the left guide plate and the right guide plate move left and right synchronously, and the center lines of the left guide plate and the right guide plate are aligned with the left and right center lines of the channel steel.

[0021] When the channel steel enters between the left guide plate and the right guide plate, the fourth motor operates again to drive the left guide plate and the right guide plate to move left and right synchronously, so that the center lines of the left guide plate and the right guide plate are aligned with the center line of the first camera, and at the same time, the center line of the first camera intersects with the left and right center lines of the channel steel.

[0022] Then the second motor is activated to drive the orthopedic upper wheel to move downward according to the actual height of the channel steel to ensure that it is adapted to the height of the channel steel, thereby realizing the upper orthopedic wheel's constraint on the channel steel's height in the up and down directions.

[0023] Then the third motor is activated to drive the left guide plate, the right guide plate and the orthopedic upper wheel to move up and down as a whole, so that the upper and lower center lines of the channel steel are aligned with the center line of the second camera. At this point, the adjustment is completed and the channel steel can be corrected.

[0024] Furthermore, the control system includes an industrial PC, a visual system, and a digital I / O module.

[0025] Furthermore, the visual system is composed of a second camera and a second backlight source and a first camera and a first backlight source, and the second camera and the first camera communicate with the industrial PC through a network; the second camera and the second backlight source are used to monitor the distortion of the channel steel in the up and down directions and obtain the height of the channel steel; the first camera and the first backlight source are used to monitor the distortion of the channel steel in the left and right directions and obtain the width of the channel steel, and the first backlight source and the second backlight source are controlled in a timely manner by the digital I / O module.

[0026] Furthermore, the calibration data of the first camera and the second camera are stored in the database of the industrial PC. When the device is turned on, the calibration data is read into the memory array by the control system for use.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] Through the rapid identification and calculation of errors by two cameras, and the displacement adjustment in four directions by the motor, the left guide plate, right guide plate and orthopedic upper wheel are driven to move precisely, realizing intelligent identification and fully automatic correction of up and down, left and right bidirectional deformation without human intervention, which can improve production efficiency, save the trial process, reduce the waste of raw materials, and ensure the online operation posture of the channel steel and the quality of the final product. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the three-dimensional structure of a fully automatic straightening device for formed channel steels of the present invention after removing the mounting frame.

[0030] Figure 2 Schematic diagrams of the three-dimensional structure of the present invention at different angles.

[0031] Figure 3This is the schematic diagram of the control system of the present invention.

[0032] Reference numerals in the attached drawings

[0033] Mounting base plate 1, fourth motor 2, mounting bracket 3, first motor 4, transmission structure 5, upper straightening wheel 6, left guide plate 7, right guide plate 8, second camera 9, first camera 10, bearing 11, second rotating shaft 12, first column 13, first guide sleeve 15, first rotating shaft 16, adjusting base plate 17, second column 18, third motor 19, third guide sleeve 20, second guide sleeve 21, fourth guide sleeve 22, third threaded rod 23, front straightening plate 24, middle straightening plate 25, straightening mounting plate 26, second motor 27, first backlight 28, second backlight 29, moving plate 30, second threaded rod 31, fixing plate 32, bevel gear transmission mechanism 33, first threaded rod 34, fixing plate 35, top plate 36. Detailed implementation manners

[0034] To better illustrate and elaborate the content of the present invention, the following will be described in conjunction with the accompanying drawings and embodiments:

[0035] There is Figures 1-3 As shown in the figure, the present invention discloses a fully automatic straightening device for formed channel steel, including a control system and a mounting base plate 1. On the upper side of the mounting base plate 1, a straightening mounting plate 26 is fixedly arranged. The straightening mounting plate 26 is fixedly connected to a mounting bracket 3 fixed on the mounting base plate 1. Inside the mounting bracket 3, an adjusting base plate 17 placed on the straightening mounting plate 26 is arranged. On the upper side of the adjusting base plate 17, a middle straightening plate 25 is fixedly connected. At the center of the middle straightening plate 25, a front straightening plate 24 with a square hole in the middle is arranged. On the front side of the front straightening plate 24, a side straightening mechanism for extruding and straightening both sides of the steel plate is arranged. On the upper side of the side straightening mechanism, a middle straightening mechanism for assisting in extruding and straightening the middle of the steel plate is arranged. On the rear side of the middle straightening plate 25, a vertical adjustment mechanism for driving the middle straightening plate 25 to move up and down is arranged.

[0036] Further, the side orthopedic mechanism includes a first motor 4 fixedly arranged on the adjustment bottom plate 17. On both sides of the first motor 4, there are first rotating shafts 16 rotatably connected to the adjustment bottom plate 17. The first motor 4 and the first rotating shafts 16 are power-connected through a belt transmission structure 5. The upper end of the first rotating shaft 16 is fixedly connected with a bevel gear transmission structure 33. On the front side of the orthopedic middle plate 25, two fixed plates 35 are fixedly arranged. The upper bevel gear of the bevel gear transmission mechanism 33 is rotatably connected to the fixed plates 35. The fixed plates 35 are penetrated and threadedly connected with first threaded rods 34. The first threaded rods 34 penetrate and are slidably connected to the upper bevel gear of the bevel gear transmission mechanism 33. Torque can be transmitted between the first threaded rods 34 and the upper bevel gear of the bevel gear transmission mechanism 33. The mutually approaching ends of the first threaded rods 34 are respectively rotatably connected with a left guide plate 7 and a right guide plate 8.

[0037] Further, the middle orthopedic mechanism includes a second motor 27 fixedly arranged on the upper end of the orthopedic middle plate 25. The lower end of the second motor 27 is power-connected to a second threaded rod 31. The second threaded rod 31 penetrates and is threadedly connected with a moving plate 30. The moving plate 30 can only be slidably connected up and down to the orthopedic middle plate 25. The front side of the moving plate 30 is fixedly connected with a second rotating shaft 12. A bearing 11 is arranged on the second rotating shaft 12. An orthopedic upper wheel 6 is fixedly installed on the bearing 11.

[0038] Further, the vertical adjustment mechanism includes a first upright post 13 and a second upright post 18 fixedly arranged on the orthopedic mounting plate 26. A first guide sleeve 15 and a second guide sleeve 21 fixedly connected to the orthopedic middle plate 25 are slidably sleeved on the first upright post 13. A third guide sleeve 20 and a fourth guide sleeve 22 fixedly connected to the orthopedic middle plate 25 are slidably sleeved on the second upright post 18. The tops of the first upright post 13 and the second upright post 18 are fixedly connected with a top plate 36. A third motor 19 located below the mounting frame 3 is fixedly arranged on the top plate 36. Below the top plate 36, there is a fixed plate 32 fixedly arranged on the orthopedic middle plate 25. The lower side of the third motor 19 is power-connected to a third threaded rod 23 that penetrates and is threadedly connected to the fixed plate 32.

[0039] Further, a fourth motor 2 is fixedly installed on the right surface of the mounting frame 3. The output shaft of the fourth motor 2 penetrates the mounting frame 3 and is threadedly connected to the adjustment bottom plate 17.

[0040] Further, a first camera 10 is vertically fixed on the top wall of the mounting frame 3, and a second camera 9 is vertically fixed on the right wall of the mounting frame 3. The center line of the first camera 10 coincides with the central plane of the left guide plate 7 and the right guide plate 8, and the center line of the second camera 9 is parallel to the center line of the first threaded rod 34.

[0041] Further, a first backlight 28 is fixedly arranged at the front end of the orthopedic mounting plate 26, and a second backlight 29 is fixed on the left wall of the mounting frame 3.

[0042] A control method for a fully automatic straightening device for formed channel steel includes the following steps:

[0043] The channel steel passes through the front orthopedic plate 24, the first backlight 28 is turned on, the first camera 10 acquires an image of the channel steel, and by using a contour recognition algorithm, the pixel points of the left and right edges of the channel steel in the moving direction of the channel steel are obtained. The pixel points of the left and right edges are linearly fitted, and the control system determines the center lines of the two straight lines of the left and right edges, that is, the left and right side center lines of the channel steel. The control system calculates the distance between the two straight lines of the left and right edges, that is, the image width of the channel steel.

[0044] The second backlight 29 is turned on, the second camera 9 acquires an image of the channel steel, and by using a contour recognition algorithm, the pixel points of the edges of the channel steel in the up and down directions of the channel steel are obtained. The pixel points of the up and down edges are linearly fitted, and the control system determines the center lines of the two straight lines of the up and down edges, that is, the up and down center lines of the channel steel. The control system calculates the distance between the two straight lines of the up and down edges, that is, the image height of the channel steel.

[0045] The position of the center line of the channel steel is compared with the center lines of the first camera 10 and the second camera 9 to determine the pixel difference. The pixel difference has positive and negative values. The control system converts the image width, the image height, and the pixel difference into the actual width, the actual height, and the actual difference of the channel steel respectively according to the calibration data of the second camera 9 and the first camera 10.

[0046] The control system compares the obtained actual data with the straightening reference value in real time. According to the actual width of the channel steel, the first motor 4 operates, drives the first rotating shaft 16 to rotate through the transmission structure 5, and then the first rotating shaft 16 drives the first threaded rod 34 to rotate through the bevel gear transmission mechanism 33. Since the first threaded rod 34 is threadedly connected to the fixed plate 35, the left guide plate 7 and the right guide plate 8 approach or move away from each other, and the spacing is adjusted to ensure that the spacing is adapted to the width of the channel steel. According to the actual difference, the fourth motor 2 is started, and then drives the adjusting bottom plate 17 to move left and right, so that the left guide plate 7 and the right guide plate 8 move left and right synchronously, and the center lines of the left guide plate 7 and the right guide plate 8 are aligned with the left and right center lines of the channel steel.

[0047] After the channel steel enters the space between the left guide plate 7 and the right guide plate 8, the fourth motor 2 operates again, driving the left guide plate 7 and the right guide plate 8 to move synchronously left and right, so that the center line of the left guide plate 7 and the right guide plate 8 is aligned with the center line of the first camera 10, and at the same time, the center line of the first camera 10 intersects with the left and right center lines of the channel steel.

[0048] Then the second motor 27 operates, driving the upper shaping wheel 6 to move downward according to the actual height of the channel steel to ensure adaptation to the height of the channel steel, so as to realize the constraint of the upper shaping wheel 6 on the up and down direction of the height of the channel steel.

[0049] Then the third motor 19 operates, driving the left guide plate 7, the right guide plate 8 and the upper shaping wheel 6 to move up and down as a whole, so that the up and down center line of the channel steel is aligned with the center line of the second camera 9. At this point, the adjustment is completed and the channel steel can be corrected.

[0050] Furthermore, the control system includes an industrial PC, a vision system, and a digital I / O module.

[0051] Furthermore, the vision system is composed of the second camera 9 and the second backlight 29, as well as the first camera 10 and the first backlight 28. The second camera 9 and the first camera 10 communicate with the industrial PC through a network; the second camera 9 and the second backlight 29 are used to monitor the distortion condition of the channel steel in the up and down direction and obtain the size of the height of the channel steel; the first camera 10 and the first backlight 28 are used to monitor the distortion condition of the channel steel in the left and right directions and obtain the size of the width of the channel steel. The first backlight 28 and the second backlight 29 are controlled by the digital I / O module in a timely manner.

[0052] Furthermore, the calibration data of the first camera 10 and the second camera 9 are stored in the database of the industrial PC. When the device is started, the calibration data are read into the memory array by the control system for use.

[0053] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the technical solutions of the present invention have been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A control method for a fully automatic straightening device of formed channel steel, characterized in that The full-automatic straightening device for formed channel steel includes a control system and a mounting base plate (1). On the upper side of the mounting base plate (1), a straightening mounting plate (26) is fixedly arranged. The straightening mounting plate (26) is fixedly connected to a mounting frame (3) fixed on the mounting base plate (1). Inside the mounting frame (3), an adjusting base plate (17) placed on the straightening mounting plate (26) is arranged. On the upper side of the adjusting base plate (17), a straightening middle plate (25) is fixedly connected. At the center of the straightening middle plate (25), a straightening front plate (24) with a square hole in the middle is arranged. On the front side of the straightening front plate (24), a side straightening mechanism for extruding and straightening both sides of the steel plate is arranged. On the upper side of the side straightening mechanism, a middle straightening mechanism for assisting in extruding and straightening the middle of the steel plate is arranged. On the rear side of the straightening middle plate (25), a vertical adjustment mechanism for driving the straightening middle plate (25) to move up and down is arranged. The side straightening mechanism includes a first threaded rod (34). The mutually approaching ends of the first threaded rod (34) are respectively rotatably connected to a left guide plate (7) and a right guide plate (8). On the top wall of the mounting frame (3), a first camera (10) is vertically fixedly arranged. On the right wall of the mounting frame (3), a second camera (9) is vertically fixedly arranged. The center line of the first camera (10) coincides with the central plane of the left guide plate (7) and the right guide plate (8). The center line of the second camera (9) is on the same horizontal plane as the center line of the first threaded rod (34). At the front end of the straightening mounting plate (26), a first backlight (28) is fixedly arranged. On the left wall of the mounting frame (3), a second backlight (29) is fixedly arranged. The control method includes the following steps: The channel steel passes through the straightening front plate (24). The first backlight (28) is turned on. The first camera (10) acquires the image of the channel steel. Using the contour recognition algorithm, the pixel points of the left and right edges of the channel steel in the moving direction of the channel steel are obtained. The left and right edge contour pixel points are linearly fitted. The control system determines the center line of the two straight lines of the left and right edges, that is, the left and right side center lines of the channel steel. The control system calculates the distance between the two straight lines of the left and right edges, that is, the image width of the channel steel. The second backlight (29) is turned on. The second camera (9) acquires the image of the channel steel. Using the contour recognition algorithm, the pixel points of the edges of the channel steel in the up and down direction of the channel steel are obtained. The up and down edge contour pixel points are linearly fitted. The control system determines the center line of the two straight lines of the up and down edges, that is, the up and down center line of the channel steel. The control system calculates the distance between the two straight lines of the up and down edges, that is, the image height of the channel steel. The position of the center line of the channel steel is compared with the center lines of the first camera (10) and the second camera (9) to determine the pixel difference. The pixel difference has positive and negative values. The control system converts the image width, image height, and pixel difference into the actual width, actual height, and actual difference of the channel steel respectively according to the calibration data of the second camera (9) and the first camera (10). The control system compares the actual data obtained with the straightening reference value in real time. According to the actual width of the channel steel, the first motor (4) is activated to drive the first rotating shaft (16) to rotate through the transmission structure (5), and then the first rotating shaft (16) drives the first threaded rod (34) to rotate through the bevel gear transmission mechanism (33). Since the first threaded rod (34) is threadedly connected to the fixed plate (35), the left guide plate (7) and the right guide plate (8) are moved closer to or farther from each other, and the spacing is adjusted to ensure that the spacing is adapted to the width of the channel steel. According to the actual difference, the fourth motor (2) is started to drive the adjustment base plate (17) to move left and right, so that the left guide plate (7) and the right guide plate (8) move left and right synchronously, so that the center lines of the left guide plate (7) and the right guide plate (8) are aligned with the left and right center lines of the channel steel. When the channel steel enters between the left guide plate (7) and the right guide plate (8), the fourth motor (2) operates again to drive the left guide plate (7) and the right guide plate (8) to move left and right synchronously, so that the center line of the left guide plate (7) and the right guide plate (8) are aligned with the center line of the first camera (10), and at the same time, the center line of the first camera (10) intersects with the left and right center lines of the channel steel; Then the second motor (27) is activated to drive the orthopedic upper wheel (6) to move downward according to the actual height of the channel steel, so as to ensure that the orthopedic upper wheel (6) is adapted to the height of the channel steel, thereby realizing the upper and lower directions of the height of the channel steel being constrained by the orthopedic upper wheel (6); Then the third motor (19) is activated to drive the left guide plate (7), the right guide plate (8) and the orthopedic upper wheel (6) to move up and down as a whole, so that the upper and lower center lines of the channel steel are aligned with the center line of the second camera (9). At this point, the adjustment is completed and the channel steel can be corrected.

2. The control method of a fully automatic straightening device for formed channel steel according to claim 1, characterized in that, The lateral correction mechanism comprises a first motor (4) fixedly mounted on the adjustment base plate (17); first rotating shafts (16) rotatably connected to the adjustment base plate (17) are arranged on both sides of the first motor (4); the first motor (4) and the first rotating shaft (16) are connected in power via a belt transmission structure (5); the upper end of the first rotating shaft (16) is fixedly connected to a bevel gear transmission mechanism (33); two fixed plates (35) are fixedly arranged on the front side of the correction middle plate (25); the upper bevel gear of the bevel gear transmission mechanism (33) is rotatably connected to the fixed plate (35); a first threaded rod (34) passes through and is threadedly connected to the fixed plate (35); the first threaded rod (34) passes through and is slidably connected to the upper bevel gear of the bevel gear transmission mechanism (33); torque can be transmitted between the first threaded rod (34) and the upper bevel gear of the bevel gear transmission mechanism (33).

3. The control method of a fully automatic straightening device for formed channel steel according to claim 2, characterized in that, The middle orthopedic mechanism includes an orthopedic upper wheel (6), and further includes a second motor (27) fixedly arranged at the upper end of the orthopedic middle plate (25). The lower end of the second motor (27) is power-connected to a second threaded rod (31). The second threaded rod (31) penetrates through and is threadedly connected to a moving plate (30). The moving plate (30) is only slidably connected to the orthopedic middle plate (25) in the up-and-down direction. A second rotating shaft (12) is fixedly connected to the front side of the moving plate (30). A bearing (11) is arranged on the second rotating shaft (12), and the orthopedic upper wheel (6) is fixedly installed on the bearing (11).

4. The control method of a fully automatic straightening device for formed channel steel according to claim 3, characterized in that, The vertical adjustment mechanism includes a first upright post (13) and a second upright post (18) fixedly arranged on the orthopedic mounting plate (26). A first guide sleeve (15) and a second guide sleeve (21) fixedly connected to the orthopedic middle plate (25) are slidably sleeved on the first upright post (13). A third guide sleeve (20) and a fourth guide sleeve (22) fixedly connected to the orthopedic middle plate (25) are slidably sleeved on the second upright post (18). The tops of the first upright post (13) and the second upright post (18) are fixedly connected to a top plate (36). A third motor (19) located below the mounting frame (3) is fixedly arranged on the top plate (36). A fixed plate (32) fixedly arranged on the orthopedic middle plate (25) is arranged on the lower side of the top plate (36). The lower side of the third motor (19) is power-connected to a third threaded rod (23) that penetrates through and is threadedly connected to the fixed plate (32).

5. The control method of a fully automatic straightening device for formed channel steel according to claim 4, characterized in that, A fourth motor (2) is fixedly installed on the right surface of the mounting frame (3). The output shaft of the fourth motor (2) penetrates through the mounting frame (3) and is threadedly connected to the adjusting bottom plate (17).

6. The control method of a fully automatic straightening device for formed channel steel according to claim 1, characterized in that, The control system includes an industrial PC, a vision system, and a digital I / O module. The vision system consists of a second camera (9), a second backlight (29), a first camera (10), and a first backlight (28). The second camera (9) and the first camera (10) communicate with the industrial PC through a network. The second camera (9) and the second backlight (29) are used to monitor the torsion condition of the channel steel in the up-and-down direction and obtain the height size of the channel steel. The first camera (10) and the first backlight (28) are used to monitor the torsion condition of the channel steel in the left-and-right direction and obtain the width size of the channel steel. The first backlight (28) and the second backlight (29) are controlled by the digital I / O module in a timely manner.

7. The control method of a fully automatic straightening device for formed channel steel according to claim 6, characterized in that, The calibration data of the first camera (10) and the second camera (9) are stored in the database of the industrial PC. When the device is started, the calibration data are read into the memory array by the control system for use.

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