Method, device and system for detecting straightness of a plate, and method, device and system for straightening a plate

Abstract

The application discloses a kind of plate straightness detection methods, including the center point of plate being limited at detection site;With center point as coordinate system origin, the coordinates of detector mechanical origin are obtained;Based on the shape size of plate, coordinate system origin and detector mechanical origin, drive detector to detect several three-dimensional coordinates of plate on coordinate system according to established rule;According to the several three-dimensional coordinates detected, the straightness of plate is calculated.The application also discloses a kind of plate shaping method, detection and shaping are integrated into detection shaping device and plate detection shaping system.The method, device and system of the application can improve straightness detection accuracy.

Description

Technical Field

[0001] This invention relates to the field of sheet metal processing and shaping, and particularly to a method, shaping method, apparatus, and system for detecting the straightness of sheet metal. Background Technology

[0002] Thin sheet materials (especially metal sheets, including but not limited to aluminum sheets, iron sheets, steel sheets, and various alloy sheets) are prone to edge deformation during processing and transportation due to their structural factors. Therefore, before using the sheet material for the next processing step, the straightness (flatness) of the sheet material needs to be tested to ensure the product yield. If the straightness of the sheet material meets the requirements, it is considered a good product. If it does not meet the requirements, the sheet material needs to be shaped to make its straightness meet the requirements.

[0003] Traditional inspection methods primarily rely on manual methods to determine the test points on the board material or on a teaching method. Manual methods cannot guarantee the accuracy of the test points and are inefficient. The teaching method requires re-teaching for boards of different sizes or shapes, resulting in poor flexibility and low validity. Furthermore, traditional inspection and shaping devices are two separate pieces of equipment. When defective products are detected, the board material must be transferred to the shaping device for reshaping. During this transfer, there is a risk of the board material deforming again. If the shaping device still uses the data from the inspection device for reshaping, these deformed boards will still not meet the straightness requirements after reshaping, and it is difficult to detect these defects. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the technical problem to be solved by the present invention is to provide a method, shaping method, device and system for detecting the straightness of sheet metal with high flexibility, high adaptability, strong versatility and more accurate detection values.

[0005] To solve the above-mentioned technical problems, the present invention provides a method for detecting the straightness of sheet metal, comprising the following steps:

[0006] Obtain the center point of the board material that is confined to the detection position;

[0007] Using the center point as the origin of the coordinate system, obtain the coordinates of the mechanical origin of the testing instrument;

[0008] Based on the shape and size of the board, the origin of the coordinate system, and the mechanical origin of the testing instrument, the testing instrument is driven to detect several three-dimensional coordinates of the board in the coordinate system according to predetermined rules.

[0009] The straightness of the board is calculated based on the detected three-dimensional coordinates.

[0010] Furthermore, the step of obtaining the center point of the plate material confined at the detection position includes the following sub-steps:

[0011] Obtain the shape and size of the board material in advance;

[0012] The detector is driven to detect the edge positions of the board material that are confined to the detection position;

[0013] The center point at which the board is confined to the detection position is calculated based on the edge positions of the board detected by the detector and the pre-acquired shape and size of the board.

[0014] Furthermore, the step of driving the detector to detect the edge positions of the board material confined at the detection position includes the following sub-steps:

[0015] Determine the orientation of each edge of the board;

[0016] Drive the detector to any point on each edge;

[0017] The actual position of each edge is obtained based on the orientation of each edge and any point detected on each edge.

[0018] Furthermore, the plate material is defined as a rectangular plate material, and the step of driving the detector to detect the edge positions of the plate material limited to the detection position includes the following sub-steps:

[0019] Determine the first and second relative edge orientations of the board material;

[0020] The detector is driven to pass through the plate in a direction parallel to the second relative edge to obtain two relative points on the first relative edge. The actual position of each edge in the first relative edge is obtained based on the two relative points and the orientation of the first relative edge.

[0021] The detector is driven to pass through the plate in a direction parallel to the first relative edge to obtain two relative points on the second relative edge. Based on the two relative points and the orientation of the two second relative edges, the actual position of each edge in the second relative edge is obtained.

[0022] Furthermore, the step of calculating the center point where the board is confined at the detection position based on the edge positions of the board detected by the detector and the pre-acquired shape and size of the board includes the following sub-steps:

[0023] The dimensions of each edge of the board are obtained by matching the position of each edge with the shape and size of the board material obtained in advance and limiting the position of each edge of the board material to the detection position.

[0024] The midpoint of each edge is calculated based on its dimensions;

[0025] Draw corresponding extension lines for each edge through the midpoint, and take the intersection of each corresponding extension line as the center point of the restricted detection position.

[0026] Furthermore, the plate material is defined as a rectangular plate material, and the step of obtaining the center point of the plate material located at the detection position includes the following sub-steps:

[0027] Determine the first and second relative edge orientations of the board material;

[0028] The detector is driven to pass through the plate in a direction parallel to the second relative edge to obtain two relative points on the first relative edge, and the actual position of the first relative edge is obtained based on the two relative points and the orientation of the first relative edge.

[0029] Obtain the distance between two opposite points on the first opposite edge to obtain the length of each edge in the second opposite edge of the board;

[0030] The detector is driven to pass through the plate in a direction parallel to the first relative edge to obtain two relative points on the two second relative edges. The actual position of the second relative edge is obtained based on the two relative points and the orientation of the second relative edge.

[0031] Obtain the distance between two relative points on the second relative edge to obtain the length of each edge in the first relative edge of the board;

[0032] The actual position and size of the first relative edge are obtained based on the orientation of the first relative edge, the length of each edge in the first relative edge, and the actual position of the point corresponding to the first relative edge; the actual position and size of the second relative edge are obtained based on the orientation of the second relative edge, the length of each edge in the second relative edge, and the actual position of the point corresponding to the second relative edge.

[0033] The actual shape and size of the plate material confined to the detection position are obtained based on the actual position and size of each edge;

[0034] The midpoints of each edge of the board located at the detection position are calculated based on the actual shape and size of the board.

[0035] Draw perpendicular lines from the midpoint to the edges, and take the intersection of the perpendicular lines as the center point of the restricted detection position.

[0036] Furthermore, for detecting the straightness of each edge of the board, several detection points are set on each edge of the board; the step of calculating the straightness of the board based on the detected three-dimensional coordinates includes the following sub-steps:

[0037] Obtain the reference plane;

[0038] The ideal Z value of each detection point on each edge is obtained based on the reference plane;

[0039] The difference between each detection point is calculated based on the actual Z value and the ideal Z value in the three-dimensional coordinates of each detection point on each edge detected by the detector.

[0040] The straightness of each edge of the board is obtained by subtracting the maximum and minimum differences among several differences for each edge.

[0041] To solve the above-mentioned technical problems, another technical solution adopted by the present invention is: to provide a method for straightening the straightness of sheet metal, comprising the following steps:

[0042] The straightness of the board is obtained by detecting the board material at the detection position according to the described board material straightness detection method.

[0043] Determine whether the straightness parameters of the board material meet the requirements;

[0044] If it is determined that the board material does not meet the requirements, the shaping device is controlled to shape the board material according to the straightness parameter of the board material. When the straightness parameter is negative, the shaping device is controlled to push the board material upwards, and when the straightness parameter is positive, the shaping device is controlled to press the board material downwards.

[0045] To solve the above-mentioned technical problems, another technical solution adopted by the present invention is: to provide a detection and shaping device integrating detection and shaping, including a fixture table, a limiting mechanism for the sheet metal disposed on the fixture table, a detection device disposed on the fixture table for detecting the sheet metal confined on the fixture table, and a shaping device disposed on the fixture table for lifting or pressing the sheet metal whose straightness does not meet the requirements according to the detection results of the detection device; the detection device includes a detector and a traveling mechanism for driving the detector to move, the detector, driven by the traveling mechanism, obtains the center point of the sheet metal confined on the fixture table, and uses the center point as the origin of the coordinate system to obtain the coordinates of the mechanical origin of the detector, and detects several three-dimensional coordinates of the sheet metal on the coordinate system according to the mechanical origin of the detector, the shape and size of the sheet metal, and the origin of the coordinate system according to predetermined rules, thereby obtaining the straightness of the sheet metal; the shaping device is used to lift or press the sheet metal confined on the fixture table to shape it when the straightness of the sheet metal does not meet the requirements.

[0046] To solve the above-mentioned technical problems, another technical solution adopted by the present invention is: to provide a sheet metal inspection and shaping system, including an inspection and shaping device integrating inspection and shaping, and a control device communicatively connected to the inspection and shaping device. The inspection and shaping device includes a fixture table, a limiting mechanism disposed on the fixture table for limiting the sheet metal, an inspection device disposed on the fixture table for inspecting the sheet metal limited on the fixture table, and a shaping device disposed on the fixture table for lifting or pressing the sheet metal with non-compliant straightness according to the inspection result of the inspection device. The inspection device includes an inspection instrument and a traveling mechanism for driving the inspection instrument to move. When the sheet metal is limited on the fixture table by the limiting mechanism, the sheet metal is located in the inspection and shaping position. The control device includes at least one processor and a storage medium. The storage medium stores a computer program, which is executed by the processor to implement the straightness inspection method or executed by the processor to implement the straightness shaping method.

[0047] The present invention provides a method, shaping method, apparatus, and system for detecting the straightness of sheet metal, which has the following advantages: The automatic centering method can quickly obtain the actual position and shape of sheet metal of different shapes and sizes at the detection position. Based on the actual position and shape, the actual center point of the sheet metal at the detection position is quickly obtained. A coordinate system is constructed using the center point to obtain the mechanical origin, thus determining the relative position between the detection origin and the sheet metal. An ideal Z-value is obtained through the aforementioned reference surface. The difference between the ideal Z-value and the actual Z-value at each point is calculated. The maximum and minimum differences among several points on each detection line are then calculated to obtain the straightness of the corresponding line. In subsequent shaping, the straightness is compared with a pre-set straightness error threshold. When the straightness parameter on a certain detection line is within the threshold range, it indicates that the straightness of the detection line meets the requirements and no shaping is needed. When it exceeds the threshold range, it indicates that the straightness of the detection line does not meet the requirements and shaping is required. In summary, the embodiments of the present invention have the advantages of wide applicability, strong versatility, high automation, high flexibility, high detection efficiency, and high detection accuracy. Attached Figure Description

[0048] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0049] Figure 1 This is a schematic diagram of one embodiment of the detection and shaping device of the present invention.

[0050] Figure 2This is a schematic diagram of the structure of the inspection and shaping device of the present invention after removing the walking mechanism and the inspection instrument.

[0051] Figure 3 This is a schematic diagram of the structure of the limiting component in one embodiment of the detection and shaping device of the present invention.

[0052] Figure 4 This is a schematic diagram of the structure of the shaping mechanism in one embodiment of the shaping device of the present invention.

[0053] Figure 5 This is a flowchart of one embodiment of the method for detecting the straightness of sheet metal according to the present invention.

[0054] Figure 6 yes Figure 5 Sub-flowchart of step S110.

[0055] Figure 7 yes Figure 6 The sub-flowchart of step S112.

[0056] Figure 8 yes Figure 6 The sub-flowchart of step S113.

[0057] Figure 9 yes Figure 5 Distribution diagram of product and machine origin in coordinate system during step S120.

[0058] Figure 10 yes Figure 5 Sub-flowchart of step S140.

[0059] Figure 11 yes Figure 10 The sub-flowchart of step S141.

[0060] Figure 12 This is a sub-flowchart of an embodiment of the method for detecting the straightness of sheet metal according to the present invention, which obtains the center point of the sheet metal that is confined to the detection position.

[0061] Figure 13 This is a flowchart of one embodiment of the method for detecting the straightness of sheet metal according to the present invention.

[0062] Figure 14 yes Figure 13 Sub-flowchart of step S340 in the middle.

[0063] Figure 15 This is a flowchart of one embodiment of the method for straightening the straightness of sheet metal according to the present invention.

[0064] The meanings of the labels in the attached diagram are as follows:

[0065] Flat panel casing A;

[0066] Jig table 100;

[0067] Limiting mechanism 200; top component 201; pressing component 202; first mounting base 210; high platform 211; low platform 212; first limiting post 221; second limiting post 222; third limiting post 223; rotating lifting unit 231; arm 232; limiting hole 233;

[0068] Detection device 300; Detector 310; Two-axis module 320; X-axis module 321; Slide rail assembly 322; Y-axis module 323;

[0069] Shaping device 400; upper lifting unit 401; lower pressing unit 402; horizontal drive unit 410; second mounting base 420; base 421; side seat 422; third mounting base 430; second guide rod 441; second linear bearing 442. Detailed Implementation

[0070] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0071] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0072] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0073] Please see Figure 1This invention discloses a sheet metal straightness detection and shaping method, using a sheet metal detection and shaping system as the control execution hardware. The system detects the straightness of the sheet metal and shapes sheets with non-compliant straightness. In the illustrated embodiments, the sheet metal is defined as a metal sheet, for example, a rectangular metal plate (e.g., a rectangular metal plate). Taking a flat plate shell A as an example, the straightness of each edge of the flat plate shell A is detected and shaped. It should be understood that this application is not limited to detecting and shaping only rectangular plates, nor is it limited to detecting and shaping only the edges of rectangular plates. In some embodiments, the overall straightness of the metal sheet can be detected and / or shaped based on the method or structure disclosed in this application. In some embodiments, the method or structure disclosed in this application can also be used to detect and / or shape metal sheets with regular shapes whose center points can be obtained through the following centering methods, such as triangles, rhombuses, parallelograms, regular hexagons, etc.

[0074] The metal sheet inspection and shaping system includes an integrated inspection and shaping device and a control device (not shown) communicatively connected to the inspection and shaping device. The control device includes at least one processor and a storage medium storing a computer program. The computer program is executed by the processor to implement the following straightness inspection method and straightness shaping method. Specifically, the control device may be defined as a host computer communicatively connected to the inspection and shaping device, a control center or device with wired or wireless communication connection to the inspection and shaping device, a control terminal wirelessly connected to the inspection and shaping device via the cloud or directly connected to the inspection and shaping device via short-range wireless communication, or a control system integrated into the inspection and shaping device. The control device is used to acquire various signals sent by the inspection and shaping device and, based on the corresponding signals, control the inspection and shaping device to execute corresponding control commands (e.g., inspection commands, shaping commands, etc.), enabling the inspection and shaping device to complete the straightness inspection or inspection and shaping work of the metal sheet (e.g., flat shell A) according to the corresponding control commands. Specifically, for metal sheets that pass the inspection, the inspection and shaping device does not shape them. For metal sheets that fail the inspection (i.e., the straightness does not meet the requirements), the inspection and shaping device shapes them according to the corresponding control instructions so that the straightness of the shaped metal sheets meets the requirements.

[0075] The inspection and shaping device includes a fixture table 100, a limiting mechanism 200 disposed on the fixture table 100 for confining the metal sheet in the inspection and shaping position, an inspection device 300 disposed on the fixture table 100 for inspecting the metal sheet confined on the fixture table 100, and a shaping device 400 disposed on the fixture table 100 for lifting or pressing down the metal sheet whose straightness does not meet the requirements according to the inspection result of the inspection device 300. The inspection and shaping position refers to both the inspection position and the shaping position, which are confined to the same location, hence the name inspection and shaping position. The fixture table 100 can be defined as a cavity structure with a hollow space formed by the various side walls, and the upper surface of the fixture table 100 is defined as a work surface for inspecting and shaping the metal sheet. The aforementioned limiting mechanism 200 and detection device 300 are both disposed on the worktable. The execution part (the part that pushes or presses down the metal sheet) of the aforementioned shaping device 400 is disposed on the worktable. The vertical drive part (the part that drives the execution part to move vertically) is disposed in the hollow space and passes through the worktable upwards to connect with the execution part, for driving the execution part to move upwards or downwards.

[0076] Please see Figure 2 and Figure 3 The limiting mechanism 200 includes limiting components disposed on the worktable at at least one set of opposite sides or at least one set of opposite corners corresponding to the flat plate shell A, positioning four sides or four corners. In the illustrated embodiment, the limiting mechanism 200 includes four sets of limiting components corresponding one-to-one with the four corners of the flat plate shell A. The structure or function of each limiting component can be defined as the same or similar. For example, each limiting component includes a top member 201 for supporting the lower surface of the flat plate shell A and a pressing member 202 that is coaxial with the top member 201 and presses against the upper surface of the flat plate shell A.

[0077] Both the pressing member 202 and the top member 201 can be mounted on the workbench via a first mounting base 210. The first mounting base 210 has a high platform 211 located directly below the corresponding corner of the flat shell A and a low platform 212 connected to the high platform 211 and located outside the corresponding corner of the flat shell A. The top member 201 and three limiting members are provided at the high platform 211. The top member 201 can be defined as a top column vertically disposed at the high platform 211, and the top surface of the top column can be defined as an upwardly curved arc surface. The three limiting components can all be defined as limiting posts, hereinafter referred to as the first limiting post 221, the second limiting post 222, and the third limiting post 223. The first limiting post 221 and the second limiting post 222 are respectively disposed on the outer sides of two adjacent sides of the flat plate shell A. The distance from the first limiting post 221 to the sharp corner at the junction of the two adjacent sides is equal to the distance from the second limiting post 222 to the sharp corner, so as to limit the flat plate shell A from both longitudinal and transverse directions. The parts of the first limiting post 221 and the second limiting post 222 that contact the flat plate shell A can be covered with a soft material (such as urethane adhesive) to protect the flat plate shell A. The third limiting post 223 is located outside the sharp corner, and the top surface of the third limiting post 223 is higher than the top surfaces of the first limiting post 221 and the second limiting post 222. The third limiting post 223 has a column body of equal diameter and a cone apex of varying diameter (not shown) disposed at the upper end of the column body, the outer diameter of the cone apex gradually decreasing from bottom to top. When the third limiting post 223 is connected to the first limiting post 221 and the second limiting post 222, they form an isosceles triangle on the horizontal projection plane, with the third limiting post 223 being the apex of the isosceles triangle.

[0078] A rotary lifting unit 231 with an output axis is provided on the low platform 212. The output shaft of the rotary lifting unit 231 is connected to an arm 232. The thickness (length along the vertical direction) of the arm 232 is adapted to the height difference between the third limiting post 223 and the second limiting post 222, so as to smoothly avoid the first limiting post 221 and the second limiting post 222 when the rotary lifting unit 231 drives the arm 232 to rotate and lift. A pressure member 202 is provided on the lower surface of the arm 232 at a position corresponding to the top member 201. The pressure member 202 can be defined as a pressure column coaxially arranged with the top member 201, and the lower surface of the pressure column can be defined as a downwardly curved arc surface. A limiting hole 233 is provided on the arm 232 at the position corresponding to the third limiting post 223. The limiting hole 233 can be defined as a through hole that passes through the arm 232 in the vertical direction. The diameter of the limiting hole 233 is adapted to the diameter of the post. Since the outer diameter of the top cone gradually increases from top to bottom, the arm 232 can make the limiting hole 233 gradually surround the outer circumference of the top cone and continue to move downward during the rotation and descent. When the limiting hole 233 reaches the post, since the diameter of the post is adapted to the diameter of the limiting hole 233, the arm 232 will no longer continue to rotate but can move along the height direction of the post due to the cooperation of the limiting hole 233 and the post. When the arm 232 can only move along the height direction of the post, the pressure member 202 and the top member 201 are coaxial.

[0079] In the illustrated embodiment, when the limiting mechanism 200 is used to limit the flat shell A, firstly, the two adjacent sides at the four corners of the flat shell A are brought into contact with the first limiting post 221 and the second limiting post 222 on the four limiting components, and the flat shell A is placed on the top post of the four limiting components, so that the first limiting post 221 and the second limiting post 222 of each limiting component limit the two adjacent sides at each corner, preventing the flat shell from shifting in the longitudinal and transverse directions; secondly, the rotation drive unit of the four limiting components is controlled to drive the arm 232 to rotate and descend, and the arm 232 drives the pressure post to gradually rotate above the flat shell A, and the pressure post gradually rotates and descends to press the flat shell A onto the top post, at which time the pressure post and the top post are coaxial.

[0080] In some preferred embodiments, in order to be applicable to metal sheets of various sizes, the limiting components at each opposite corner or opposite side can be moved towards or away from each other by their respective driving units. The output shaft of the driving unit can be connected to the first mounting base 210 to drive the first mounting base 210 to move, thereby driving the pressure member 202 and the top member 201 to move synchronously.

[0081] The detection device 300 includes a detector 310 and a walking mechanism for driving the detector 310. The detector 310 is used to perform corresponding actions according to the following detection logic, thereby collecting detection data related to the straightness of the flat shell A. For example, driven by the walking mechanism, the detector 310 obtains the center point of the metal plate confined on the fixture table 100, and uses the center point as the origin of the coordinate system to obtain the coordinates of the mechanical origin of the detector 310. Based on the mechanical origin of the detector 310, the shape and size of the metal plate, and the origin of the coordinate system, it detects several three-dimensional coordinates of the metal plate in the coordinate system according to predetermined rules, thereby obtaining the straightness of the metal plate. The walking mechanism can be a multi-axis robotic arm 232, a two-axis module, a three-axis module, etc. In the illustrated embodiment, since the detector 310 only needs to move horizontally in the X and Y axes, to reduce costs, the walking mechanism is limited to a two-axis module 320. The two modules are mounted on the platform, with their output ends higher than the height of the limiting mechanism 200, so that the detector 310 connected to the output end is higher than the flat shell A limited to the detection position. The two-axis module 320 includes an X-axis module 321 located outside one side of the limiting mechanism 200, a slide rail assembly 322 parallel to the other opposite side of the limiting mechanism 200, and a Y-axis module 323 arranged along the Y-axis direction on the slide rail assembly 322 of the X-axis module 321. The Y-axis module 323 can move along the X-axis direction under the drive of the X-axis module 321. The output end of the Y-axis module 323 is connected to the detector 310 to drive the detector 310 to move along the Y-axis direction. The structure of the two-axis module 320 can be achieved using any existing known technology, so it will not be described in detail here.

[0082] The shaping device 400 is used to shape the metal sheet, which is confined on the fixture table 100, by lifting or pressing it down when the straightness of the metal sheet does not meet the requirements. The shaping device 400 includes four sets of shaping mechanisms disposed on the fixture table 100 at the four edges corresponding to the flat shell A. Each set of shaping mechanisms includes a vertical drive section (not shown in the figure) disposed on the fixture table 100, a stroke control unit for controlling the lifting and lowering stroke of the output shaft of the vertical drive section, and an execution section connected to the output shaft of the vertical drive section. The vertical drive section may be defined as a vertical lifting cylinder, hydraulic cylinder, etc., and is used to control the execution section to lift or press the product down according to the relevant pressing or lifting control signal sent by the control device. The stroke control unit controls the lifting or pressing stroke according to the straightness parameters processed by the control device to ensure that the straightness of the shaped metal sheet meets the requirements. Each of the shaping mechanisms may also include a guide portion disposed on the worktable. The guide portion includes a first guide rod group disposed on the worktable and located on both sides of the output shaft of the vertical drive portion. A vertical through hole is disposed on the worktable corresponding to the position of each first guide rod group. Each first guide rod group includes a first linear bearing disposed in the through hole and a first guide rod movably passing through the fifth linear bearing. The upper end of the first guide rod is connected to the execution portion.

[0083] In the illustrated embodiment, the execution portion is defined such that it overlaps with the edge of the flat panel housing A on the horizontal projection plane when in the working state, and is located outside the flat panel housing A when not in the working state. The non-working state can be, for example, when the detector 310 detects the straightness of the flat panel housing A, the execution portion is located outside the flat panel housing A to avoid the detector 310, allowing the detector 310 to effectively detect the straightness of the edge of the flat panel housing A.

[0084] Please see Figure 4The execution unit includes an upper lifting unit 401, a lower pressing unit 402, and a horizontal drive unit 410 for driving the upper lifting unit 401 and the lower pressing unit 402 to move to the outside of the flat shell A or to move above and below the flat shell A. The horizontal drive unit 410 may be a horizontal rotary drive unit or a linear advance / retreat unit connected to both the upper lifting unit 401 and the lower pressing unit 402. In the illustrated embodiment, the horizontal drive unit 410 is defined as a linear advance / retreat unit, which may be defined as a linear module, a slide, a linear cylinder, a hydraulic cylinder, or an electric push rod, etc. The linear advance / retreat unit is connected to the output shaft of the vertical drive unit through a second mounting base 420, the second mounting base 420 including a base 421 and side seats 422 disposed on both sides of the base 421 along the advance / retreat direction. The linear advance / retract unit is defined as a cylinder mounted on an outer side seat 422. The piston rod of the cylinder is located between the two side seats 422, and the piston rod is connected to the upper push unit 401 and the lower press unit 402 via a third mounting base 430. At least two second guide rod assemblies are provided on the two side seats 422. Each of the at least two second guide rod assemblies includes a second guide rod 441 horizontally disposed between the two side seats 422 along the advance / retract direction, and a second linear bearing 442 circumferentially disposed around the second guide rod 441 and connected to the third mounting base 430.

[0085] The third mounting base 430 includes a base, a top base, and a back plate connecting the base and the top base. The back plate is connected to the side of the base and the top base away from the detection and shaping position. The base has through holes distributed along the forward and backward direction, and the aforementioned second linear bearing 442 passes through the through holes. The upper push unit 401 and the lower press unit 402 are disposed opposite to each other on the upper and lower surfaces of the base and the top base. The contact surfaces of the upper push unit 401 and the lower press unit 402 that contact the flat plate housing A are provided with a protective layer (e.g., urethane rubber). Driven by the linear forward and backward unit, the upper push unit 401 and the lower press unit 402 can exit the detection and shaping position or enter the detection and shaping position to be located above and below the corresponding edge of the flat plate housing A, respectively. Driven by the vertical drive part, the upper push unit 401 and the lower press unit 402 can press down or push up the flat plate housing A to ensure that the straightness of the edge of the flat plate housing A meets the requirements.

[0086] Please see Figure 5 This is a flowchart of one embodiment of the metal sheet straightness detection method of the present invention. The metal sheet straightness detection method of this embodiment includes the following steps:

[0087] S110. Obtain the center point of the metal sheet located at the detection position;

[0088] In this step, the control device described in the above embodiment controls the detection device to perform corresponding actions to obtain the center point of the metal plate. For a specific example, please refer to [link to specific examples]. Figure 6 The control device can obtain the center point of the metal sheet through the following sub-steps:

[0089] S111, Pre-obtain the shape and dimensions of the metal sheet;

[0090] The control device can acquire the shape and size data of the metal sheet through peripheral input, such as by acquiring the shape and size data of the metal sheet stored in an external storage medium, acquiring the shape and size data of the metal sheet input by the user via a keyboard and mouse, acquiring the shape and size data of the metal sheet input by the user via a touch screen with touch function, or acquiring the shape and size data of the metal sheet via an image acquisition device with image acquisition function. The shape and size data includes the shape and edge dimensions. Taking a rectangular metal sheet as an example, its shape and size data includes the shape data of the rectangle as well as the length and width data of the rectangle. In a specific example, before each batch or each time several identical metal sheets need to be inspected and shaped, the shape and size data of the metal sheet is acquired through any of the peripherals mentioned above or any peripherals not mentioned above.

[0091] S112, drive the detector to detect the edge positions of the metal sheet that is limited to the detection position;

[0092] In this step, the control device sends a signal to the detection device requesting information on the position of each edge of the metal sheet. This causes the detection device's walking mechanism to move the detector to locate the edge of the metal sheet confined to the detection position. Specifically, for metal sheets with opposite edges, the walking mechanism can move the detector to any relative point on each pair of opposite edges to obtain the actual position of the edge passing through that point. For metal sheets without opposite edges, the orientation of each edge can be determined first, and the walking mechanism can move the detector to any point on each edge. The actual position of each edge is obtained based on the orientation of each edge and the detected point. Since the shape and precise dimensions of the metal sheet have been obtained in step S110, the detector does not need to traverse every edge of the metal sheet in this step. For example, for a rectangular metal sheet, please refer to [link to example]. Figure 7 This step includes the following sub-steps:

[0093] S1121. Determine the orientation of the long side (first relative edge) and the short side (first relative edge) of the metal sheet;

[0094] In this step, the orientation of the long and short sides of the metal sheet is determined based on the size of the detection area. When the metal sheet is confined to the detection position, its actual shape matches the shape of the detection area. The size of the detection area is determined by the four limiting components arranged in pairs as described in the example above. When the metal sheet is large, the size of the detection area is expanded by the opposite movement of the four limiting components to obtain a larger detection area that matches the larger metal sheet. When the metal sheet is small, the size of the detection area is reduced by the relative movement of the four limiting components to obtain a smaller detection area that matches the smaller metal sheet. Regardless of whether the detection area expands or shrinks, the shape of the detection area remains unchanged; that is, the length direction of the detection area is not changed by expansion or reduction, nor is the width direction. Similarly, since the shape of the detection area is determined by different sizes of metal sheets, the length and width directions of the metal sheet are consistent with the detection position. Thus, the long and short sides of the metal sheet can be determined by the detection area. It should be understood that the above determination method is only one specific example of defining the long and short side directions of the metal sheet. The determination method for the long and short side directions of the metal sheet is not limited to the above method. For example, in some instances, the long and short side directions of the metal sheet can be determined manually by simply inputting the long and short side directions into the control device. In other instances, the long and short sides of the metal sheet can be automatically detected by driving the detector to move along the edge of the metal sheet.

[0095] S1122. The walking mechanism drives the detector to pass through the metal plate along the width direction (the width direction of the detection area or the metal plate, the direction parallel to the second opposite edge) to obtain the two opposite points in the two long side directions, and obtain the actual position of the two long sides based on the two opposite points and the orientation of the two long sides.

[0096] In a specific example, the short side of the metal plate is distributed along the X-axis direction, parallel to the X-axis module of the two-axis module mentioned above, and the long side of the metal plate is distributed along the Y-axis direction, parallel to the Y-axis module 323 of the two-axis module mentioned above. In this step, the traveling mechanism first drives the detector to be located on the outside of the near-long side of the metal plate, and then the traveling mechanism drives the detector to pass through the metal plate along the Y-axis direction. When the detector travels along the width direction and has not reached directly above the metal plate, the detection point of the detector is located on the worktable of the fixture table. The worktable is lower than the metal plate, so the detection distance of the detector is relatively long. Thus, it can be seen that the detector has not reached above the metal plate. When the detector first contacts the near-long side of the metal plate, the detection distance of the detector is relatively short. The point where the shortest distance first appears is defined as the first point on the near-long side of the metal plate. When the detector travels along the width direction to a point that is a considerable distance away from the far long side of the metal sheet, this point is longer than the first point. The point preceding this first longer point is defined as the second point located on the far long side of the metal sheet, opposite to the first point. Once the first point along the two long sides and the second point at its relative position are obtained, the actual positions of the near long side (passing the first point) and the far long side (passing the second point) can be determined.

[0097] S1123. The walking mechanism drives the detector to pass through the metal plate along the length direction of the detection area (the direction parallel to the first relative edge) to obtain two relative points in the direction of the two short sides, and obtain the actual position of the short side based on the two relative points and the orientation of the two short sides.

[0098] In this step, the traveling mechanism first drives the detector to the outside of the near-short side of the metal plate. Then, as described in S1122, the traveling mechanism detects the third point located on the near-short side of the metal plate and the fourth point located on the far-short side, with the fourth point being opposite to the third point. After obtaining the third point in the direction of the two short sides and the fourth point at the opposite position, the actual position of the near-short side via the third point and the actual position of the far-short side via the fourth point can be determined.

[0099] S113. The center point at which the metal plate is confined to the detection position is calculated based on the actual positions of each edge of the metal plate detected by the detector and the pre-obtained shape and size of the metal plate.

[0100] In this step, after the control device acquires the actual positions of each edge of the metal sheet detected by the detector in step S112, it processes these actual edge positions to obtain the actual center point at which the metal sheet is confined to the detection position. For a specific example, please refer to [link to example]. Figure 8The control device obtains the actual center point of the metal sheet through the following sub-steps:

[0101] S1131. Match the positions of each edge with the shape and size of the pre-obtained metal sheet to obtain the dimensions of each edge of the metal sheet that is confined at the detection position;

[0102] In this step, based on the shape and size of the rectangular metal plate obtained in advance, the lengths of the two long sides and the two short sides of the metal plate are obtained; by combining the lengths of the long sides and the short sides with the long side position and the short side position obtained in step S112, the long side position and its size, as well as the short side position and its size, of the rectangular metal plate that is confined to the detection position can be obtained.

[0103] S1132. Calculate the midpoint of each edge of the metal plate located at the detection position based on the dimensions of each edge;

[0104] S1133. Draw corresponding extension lines for each edge through the midpoint, and take the intersection of each corresponding extension line as the center point of the restricted detection position.

[0105] In this step, when the metal sheet is a rectangular metal sheet, the corresponding extension line is the perpendicular bisector.

[0106] The automatic centering algorithms S1131 to S1133 described above can be applied to the automatic centering of regular graphics of different sizes, obtaining the actual position and size of the metal sheet located at the detection position. The processing logic is simple and efficient, providing a solid foundation for improving detection accuracy, improving straightness detection accuracy, improving shaping accuracy, and improving product yield.

[0107] S120. Using the center point as the origin of the coordinate system, obtain the coordinates of the mechanical origin of the testing instrument;

[0108] In this step, a coordinate system is constructed based on the center point of the metal plate that is limited to the detection position obtained in step S110. The metal plate that is limited to the detection position is placed in the coordinate system and the center point is taken as the origin of the coordinate system. The coordinate position of the mechanical origin of the detector is obtained according to the relative position of the mechanical origin of the detector and the center point.

[0109] Please see Figure 9 In a specific example, assuming the product is 280mm long and 160mm wide, the center point of the product is determined by the automatic centering method. After constructing the coordinate system, the X coordinate of the left side of the product is -140, the X coordinate of the right side is 140, the Y coordinate of the upper edge is 80, and the Y coordinate of the lower edge is -80. Based on the distance between the mechanical origin and the center point of the product, the coordinates of the mechanical origin are determined to be (-245, 280).

[0110] S130. Based on the shape and size of the metal sheet, the origin of the coordinate system, and the mechanical origin of the detector, the detector is driven to detect several three-dimensional coordinates of the metal sheet in the coordinate system according to predetermined rules.

[0111] The established rules may include, but are not limited to, obtaining the three-dimensional coordinates of each point in a three-coordinate system according to pre-acquired detection points, detection points obtained through pre-teaching, or detection points obtained in real time at predetermined intervals or distances. The travel trajectory of the detector can be set according to the required detection location, and the distribution of detection points can be set based on the detector's travel trajectory. For example, when a metal sheet requires full-size inspection, detection points can be distributed in a matrix within the plane of the metal sheet. Or, when the metal sheet requires inspection of each edge, several detection points can be set at each edge of the metal sheet.

[0112] S140. Calculate the straightness of the metal sheet based on the detected three-dimensional coordinates.

[0113] Please see Figure 10 This step includes the following sub-steps:

[0114] S141. Obtain the reference plane;

[0115] Please see Figure 11 This step includes the following sub-steps:

[0116] S1411. Obtain the reference point;

[0117] In a specific example, three reference points are taken within the area of ​​the material to be tested at the detection position, and the three-dimensional coordinate values ​​of the reference points are recorded. See Table 1 below for examples:

[0118] X Y Z Reference point 1 145 59 8.027 Benchmark Point 2 75 65 7.989 Reference point 3 163 87 8.015

[0119] Table 1

[0120] S1412. Substitute the three-dimensional coordinates of the three reference points into the linear regression equation AX+BY+CZ+D=0, and calculate the four coefficients ABCD.

[0121] A=y1*z2-y1*z3-y2*z1+y2*z3+y3*z1-y3*z2;

[0122] B = x1*z2 + x1*z3 + x2*z1 - x2*z3 - x3*z1 + x3*z2;

[0123] C=x1*y2-x1*y3-x2*y1+x2*y3+x3*y1-x3*y2;

[0124] D=-(x1*y2*z3-x1*y3*z2-x2*y1*z3+x3*y1*z2+x2*y3*z1-x3*y2*z1);

[0125] Substituting the three-dimensional coordinate values ​​of the three reference points in Table 1 above—reference point 1 (145, 59, 8.027), reference point 2 (75, 65, 7.989), and reference point 3 (163, 87, 8.015)—into the above formula, we obtain A = 0.992, B = -1.524, C = -2068, and D = 16545.912.

[0126] S1413. Substituting A, B, C, and D into the linear regression equation AX + BY + CZ + D = 0, we obtain the linear regression equation corresponding to the baseline point: 0.992X - 1.524Y - 2068Z + 16545.912 = 0.

[0127] S142. Obtain the ideal Z value of several detection points on each detection line based on the reference plane;

[0128] In this step, AX+BY+CZ+D=0 is transformed into a0+a1X+a2Y=Z. By substituting the values ​​of A, B, C, and D into the equation a0+a1X+a2Y=Z, the ideal Z value of each detection point in the reference plane is obtained. In a specific example, a0≈8.000924565, a1≈0.000479691, and a2≈-0.000736944 are calculated. Substituting the values ​​of a0, a1, and a2 into a0+a1X+a2Y=Z, the regression equation is 8.000924565+0.000479691X-0.000736944Y=Z. Substituting the three-dimensional coordinates of each point into the regression equation 8.000924565+0.000479691X-0.000736944Y=Z, the ideal Z value is obtained.

[0129] For a specific example, suppose four sets of detection lines are set on a metal sheet (e.g., four edges, each edge corresponding to one set of detection lines), and each edge has several detection points. Taking Table 2 below as an example, it is assumed that Table 2 shows the ideal Z-value, the actual detected Z-value, the difference between the ideal Z-value and the actual detected Z-value, and the calculated straightness corresponding to ten three-dimensional coordinate values ​​on a certain detection line.

[0130]

[0131] Table 2

[0132] S143. Calculate the difference between each detection point based on the actual Z value and the ideal Z value in the three-dimensional coordinates of each detection point detected by the detector.

[0133] In this step, taking the three-dimensional coordinates (X, Y, Z) of the first point shown in the first row of Table 2 as an example, we substitute X=25 and Y=170 of the first point into the regression equation 8.000924565+0.000479691X-0.000736944Y=Z to obtain the ideal Z value of 7.887636364. The actual detected Z value of the first point is 8.0079. Subtracting the ideal Z value from the actual detected Z value of each detection point yields a difference of approximately 0.120263636.

[0134] S144. Subtract the maximum and minimum differences among the differences corresponding to several detection points on the same detection line to obtain the straightness of the metal plate relative to the detection line.

[0135] In this step, taking the three-dimensional coordinates of the ten sets of points shown in Table 2 as an example, after calculating the difference of each point through step S143, the maximum difference value of 0.120263636 and the minimum difference value of -0.231986267 are selected from the ten sets of difference data. After subtracting the minimum difference value from the maximum difference value, the straightness of the ten sets of points is obtained as 0.352249903.

[0136] In this embodiment of the invention, the actual position and shape of metal plates of different shapes and sizes at the detection position can be quickly obtained through the above-described automatic centering method. Based on the actual position and shape, the actual center point of the metal plate at the detection position is quickly obtained. A coordinate system is constructed using the center point to obtain the mechanical origin, thus determining the relative position between the detection origin and the plate. An ideal Z-value is obtained through the aforementioned reference plane. The difference between the ideal Z-value and the actual Z-value at each point is calculated. The maximum and minimum differences among several points on each detection line are then calculated to obtain the straightness of the corresponding line. In subsequent shaping, the straightness is compared with a pre-set straightness error threshold. When the straightness parameter on a certain detection line is within the threshold range, it indicates that the straightness of the detection line meets the requirements and no shaping is needed. When it exceeds the threshold range, it indicates that the straightness of the detection line does not meet the requirements and shaping is required. In summary, this embodiment of the invention has the advantages of wide applicability, strong versatility, high automation, high flexibility, high detection efficiency, and high detection accuracy.

[0137] Please see Figure 12 This is a flowchart illustrating a sub-process of obtaining the center point of a metal sheet confined at the detection position in one embodiment of the metal sheet straightness detection method of the present invention. In this embodiment, a rectangular metal sheet is also used as an example. Specifically, the center point of the rectangular metal sheet confined at the detection position is obtained through the following sub-process:

[0138] S211. Determine the orientation of the long and short sides of the metal sheet;

[0139] The processing logic of this step is the same as or similar to step S1121 in the above implementation, so it will not be described in detail here.

[0140] S212. The walking mechanism drives the detector to pass through the metal plate along the width direction to obtain two relative points in the direction of the two long sides, and obtains the actual position of the long side based on the two relative points and the orientation of the two long sides.

[0141] The processing logic of this step is the same as or similar to step S1122 in the above implementation, so it will not be described in detail here.

[0142] S213. Obtain the distance between two opposite points along the two long sides to obtain the short side length of the metal plate;

[0143] S214. The walking mechanism drives the detector to pass through the metal plate along the length direction to obtain two relative points in the direction of the two short sides, and the actual position of the short side is obtained according to the two relative points and the orientation of the two short sides.

[0144] S215. Obtain the distance between two opposite points along the two short sides to obtain the length of the long side of the metal plate.

[0145] S216. Based on the orientation of the two long sides, the length of the two long sides, and the actual location of the points corresponding to the two long sides, obtain the actual position and size of the two short sides; based on the orientation of the two short sides, the length of the two short sides, and the actual location of the points corresponding to the two short sides, obtain the actual position and size of the two short sides.

[0146] S217. Obtain the actual shape and size of the metal plate confined to the detection position based on the actual position and size of each edge;

[0147] S218. Calculate the midpoints of each edge of the metal sheet located at the detection position based on the actual shape and size of the metal sheet;

[0148] S219. Draw perpendicular lines from the midpoint to the midpoint of each edge, and take the intersection of the perpendicular lines as the center point of the restricted detection position.

[0149] It should be understood that although both this embodiment and the previous embodiment use a rectangular metal sheet as an example, the straightness detection method and centering method of the present invention are not limited to rectangular metal sheets. This method is applicable to all shapes of metal sheets that can be located at the detection position, have their dimensions obtained, and whose center point can be obtained by drawing corresponding extension lines through the midpoints of each edge. For example, for a triangle, the intersection of the extension lines drawn from each side to the opposite vertex is taken as the center point of the triangle; for a parallelogram, the intersection of the first extension line formed by connecting the midpoints of one pair of opposite sides and the second extension line formed by connecting the midpoints of another pair of opposite sides is taken as the center point of the parallelogram; similarly, for a regular hexagon, the intersection of the perpendicular bisectors of each side is taken as the center point of the regular hexagon.

[0150] Compared with the first embodiment, the embodiment of the present invention is more flexible and has a simpler and more ingenious processing logic because it eliminates the step of pre-obtaining the shape and size of the metal plate. It can obtain the center point in real time based on the various metal plates that are limited to the detection position, thus making the detection efficiency higher.

[0151] Please see Figure 13 This is a flowchart of one embodiment of the metal sheet straightness detection method of the present invention. This embodiment of the invention uses a rectangular metal sheet (e.g., the aforementioned flat shell) as an example, defined by the above-described system and apparatus, to detect the straightness of the four edges of the rectangular metal sheet. The detection method for the rectangular metal sheet is described in conjunction with the above-described system and apparatus. Specifically, the metal sheet straightness detection method of this embodiment includes the following steps:

[0152] S310. Obtain the center point of the rectangular metal sheet located at the detection and shaping position;

[0153] S320. Using the center point as the origin of the coordinate system, obtain the coordinates of the mechanical origin of the testing instrument;

[0154] S330, based on the shape and size of the rectangular metal sheet, the origin of the coordinate system and the mechanical origin of the detector, drives the detector to detect several three-dimensional coordinates of the rectangular metal sheet in the coordinate system according to predetermined rules;

[0155] S340. Based on the detected three-dimensional coordinates, calculate the straightness of each edge of the rectangular metal plate.

[0156] Please see Figure 14 This step includes the following sub-steps:

[0157] S341. Obtain the rectangular reference plane;

[0158] S342. Obtain the ideal Z value corresponding to each detection point on each edge of the rectangular reference plane based on the rectangular reference plane;

[0159] S343. Calculate the difference between each detection point based on the actual Z value and the ideal Z value in the three-dimensional coordinates of each detection point on each edge of the rectangular metal plate detected by the detector.

[0160] S344. Subtract the maximum and minimum differences among several differences for each edge to obtain the straightness of each edge of the metal sheet.

[0161] Please see Figure 15 This is a flowchart of an embodiment of the metal sheet straightness shaping method of the present invention. The metal sheet straightness shaping method of this embodiment includes the following steps:

[0162] S410. Inspect the metal sheet that is confined to the inspection and shaping position to obtain the straightness of the metal sheet.

[0163] S420. Determine whether the straightness parameters of the metal sheet meet the requirements;

[0164] In this step, the detected straightness is compared with a pre-set straightness error threshold. If the detected straightness is within the straightness error threshold range, it is considered that the straightness meets the requirements. If it exceeds the straightness error threshold range, it is considered that the straightness does not meet the requirements.

[0165] S430. If it is determined that the metal sheet does not meet the requirements, then according to the straightness parameter of the metal sheet, the shaping device is controlled to shape the metal sheet located at the detection shaping position. When the straightness parameter is negative, the shaping device is controlled to push the metal sheet upward, and when the straightness parameter is positive, the shaping device is controlled to press the metal sheet downward.

[0166] In a specific example, continuing with Table 2 above, the straightness of a certain edge shown in Table 2 is 0.352249903, which exceeds the straightness error threshold range of ±0.05. Since the straightness of 0.352249903 is a positive number, the shaping device is controlled to press down on the edge so that the straightness of the edge meets the requirements.

[0167] In this embodiment of the invention, the detection device and the shaping device are integrated into one unit, so that the detection position and the shaping position are in the same location (i.e., forming a detection and shaping position). When the metal sheet needs to be shaped after detection, it does not need to be moved to the shaping position by human or mechanical means, thus avoiding further changes in the straightness parameters of the sheet during the movement. If the shaping device still shapes according to the straightness parameters detected before, the straightness of the shaped metal sheet will still not meet the requirements.

[0168] The above embodiments merely illustrate preferred implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention should be determined by the appended claims.

Claims

1. A method for detecting the straightness of sheet metal, comprising the following steps: Obtain the center point of the board material that is confined to the detection position; Using the center point as the origin of the coordinate system, obtain the coordinates of the mechanical origin of the testing instrument; Based on the shape and size of the board, the origin of the coordinate system, and the mechanical origin of the testing instrument, the testing instrument is driven to detect several three-dimensional coordinates of the board in the coordinate system according to predetermined rules. The straightness of the board is calculated based on the detected three-dimensional coordinates; The step of obtaining the center point of the plate material confined at the detection position includes the following sub-steps: Obtain the shape and size of the board material in advance; The detector is driven to detect the edge positions of the board material that are confined to the detection position; The center point of the board being confined at the detection position is calculated based on the edge positions detected by the detector and the pre-acquired shape and size of the board. Specifically, the dimensions of each edge of the board being confined at the detection position are obtained by matching the edge positions with the pre-acquired shape and size of the board. The midpoint of each edge is calculated based on the dimensions of each edge. The corresponding extension lines of each edge are drawn through the midpoints, and the intersection of the corresponding extension lines is taken as the center point of the board being confined at the detection position.

2. The method for detecting the straightness of sheet metal as described in claim 1, characterized in that, The step of driving the detector to detect the edge positions of the board material confined at the detection position includes the following sub-steps: Determine the orientation of each edge of the board; Drive the detector to any point on each edge; The actual position of each edge is obtained based on the orientation of each edge and any point detected on each edge.

3. The method for detecting the straightness of sheet metal as described in claim 1, characterized in that, The plate material is defined as a rectangular plate material, and the step of the driving detector detecting the edge positions of the plate material limited to the detection position includes the following sub-steps: Determine the first and second relative edge orientations of the board material; The detector is driven to pass through the plate in a direction parallel to the second relative edge to obtain two relative points on the first relative edge. The actual position of each edge in the first relative edge is obtained based on the two relative points and the orientation of the first relative edge. The detector is driven to pass through the plate in a direction parallel to the first relative edge to obtain two relative points on the second relative edge. Based on the two relative points and the orientation of the two second relative edges, the actual position of each edge in the second relative edge is obtained.

4. The method for detecting the straightness of sheet metal as described in claim 1, characterized in that, The plate material is defined as a rectangular plate material, and the step of obtaining the center point of the plate material located at the detection position includes the following sub-steps: Determine the first and second relative edge orientations of the board material; The detector is driven to pass through the plate in a direction parallel to the second relative edge to obtain two relative points on the first relative edge, and the actual position of the first relative edge is obtained based on the two relative points and the orientation of the first relative edge. Obtain the distance between two opposite points on the first opposite edge to obtain the length of each edge in the second opposite edge of the board; The detector is driven to pass through the plate in a direction parallel to the first relative edge to obtain two relative points on the two second relative edges. The actual position of the second relative edge is obtained based on the two relative points and the orientation of the second relative edge. Obtain the distance between two relative points on the second relative edge to obtain the length of each edge in the first relative edge of the board; The actual position and size of the first relative edge are obtained based on the orientation of the first relative edge, the length of each edge in the first relative edge, and the actual position of the point corresponding to the first relative edge; the actual position and size of the second relative edge are obtained based on the orientation of the second relative edge, the length of each edge in the second relative edge, and the actual position of the point corresponding to the second relative edge. The actual shape and size of the plate material confined to the detection position are obtained based on the actual position and size of each edge; The midpoints of each edge of the board located at the detection position are calculated based on the actual shape and size of the board. Draw perpendicular lines from the midpoint to the edges, and take the intersection of the perpendicular lines as the center point of the restricted detection position.

5. The method for detecting the straightness of sheet metal as described in claim 1, characterized in that, The method is used to detect the straightness of each edge of the board material, and several detection points are set on each edge of the board material; the step of calculating the straightness of the board material based on the detected three-dimensional coordinates includes the following sub-steps: Obtain the reference plane; The ideal Z value of each detection point on each edge is obtained based on the reference plane; The difference between each detection point is calculated based on the actual Z value and the ideal Z value in the three-dimensional coordinates of each detection point on each edge detected by the detector. The straightness of each edge of the board is obtained by subtracting the maximum and minimum differences among several differences for each edge.

6. A method for straightening sheet metal, comprising the following steps: The straightness of the sheet material is obtained by detecting the sheet material located at the detection position according to any one of claims 1 to 5. Determine whether the straightness parameters of the board material meet the requirements; If it is determined that the board material does not meet the requirements, the shaping device is controlled to shape the board material according to the straightness parameter of the board material. When the straightness parameter is negative, the shaping device is controlled to push the board material upwards, and when the straightness parameter is positive, the shaping device is controlled to press the board material downwards.

7. A detection and shaping device integrating detection and shaping, characterized in that: The system includes a fixture table, a limiting mechanism disposed on the fixture table for limiting the sheet material, a detection device disposed on the fixture table for detecting the sheet material limited on the fixture table, and a shaping device disposed on the fixture table for lifting or pressing the sheet material whose straightness does not meet the requirements according to the detection result of the detection device. The detection device is used to detect the straightness of the sheet material according to the sheet material straightness detection method according to any one of claims 1 to 5. The detection device includes a detector and a traveling mechanism for driving the detector. The detector, driven by the traveling mechanism, acquires the center point of the sheet material limited on the fixture table, and obtains the coordinates of the detector's mechanical origin by using the center point as the origin of the coordinate system. According to the mechanical origin of the detector, the shape and size of the sheet material, and the origin of the coordinate system, the detector detects several three-dimensional coordinates of the sheet material on the coordinate system according to predetermined rules, thereby obtaining the straightness of the sheet material. The shaping device is used to lift or press the sheet material limited on the fixture table to shape it when the straightness of the sheet material does not meet the requirements.

8. A sheet metal inspection and shaping system, characterized in that: The invention includes a detection and shaping device integrating detection and shaping, and a control device communicatively connected to the detection and shaping device. The detection and shaping device includes a fixture table, a limiting mechanism disposed on the fixture table for limiting the sheet material, a detection device disposed on the fixture table for detecting the sheet material limited on the fixture table, and a shaping device disposed on the fixture table for lifting or pressing the sheet material whose straightness does not meet the requirements according to the detection result of the detection device. The detection device includes a detector and a traveling mechanism for driving the detector. When the sheet material is limited on the fixture table by the limiting mechanism, the sheet material is in the detection and shaping position. The control device includes at least one processor and a storage medium. The storage medium stores a computer program, which is executed by the processor to implement any one of the straightness detection methods of claims 1 to 5, or executed by the processor to implement the straightness shaping method of claim 6.

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