A press line head sheet centering unit, centering system and centering method

Abstract

The present invention provides a stamping line head sheet metal centering unit, a centering system and a centering method, which relate to the field of stamping sheet metal centering, and adopts the following scheme: comprising a base, a support frame is arranged on the base, a static platform is arranged on the support frame, three adjustment components are arranged on the static platform, the adjustment components include a moving seat, the moving seat can be linearly moved on the static platform, the moving directions of the three moving seats form a triangular structure, the moving seat can be rotatably connected to the connecting end of the connecting rod, the adjustment ends of the three connecting rods can be rotatably connected to the same moving platform, the moving platform is arranged parallel to the static platform, and a transmission component is arranged on the moving platform. The present invention has a relatively simple structure, a small overall volume and mass, and a relatively simple control process.

Description

Technical Field

[0001] The invention relates to the field of stamping plate centering, and in particular to a stamping line head plate centering unit, a centering system and a centering method. Background Art

[0002] At present, many products in our lives (such as auto parts) are made by stamping metal sheets. During the sheet stamping process, the relative position relationship between the mold and the sheet needs to be guaranteed to avoid defects. However, the sheet at the head of the stamping line will deviate from the ideal position during transportation, and it is necessary to identify the deviation and then align it.

[0003] In the prior art, a Chinese invention patent application with patent application publication number CN115041602A discloses a laser line scanning sheet metal centering belt conveyor, comprising a bottom bracket, an integral rotating unit, a translation unit, an independent rotating unit, a sheet metal conveying unit A, and a sheet metal conveying unit B, wherein the slewing bearing a in the bottom bracket is connected to the slewing bearing seat a in the integral rotating unit by screws, the translation frame in the translation unit is connected to the slider of the guide rail pair in the integral rotating unit by bolts, the slewing bearing seat b in the independent rotating unit is connected to the slewing bearing b in the translation unit by bolts, and the mounting brackets in the sheet metal conveying unit A and the sheet metal conveying unit B are connected to the independent rotating frame in the independent rotating unit by bolts; by adopting this technical solution, the two sheet metal conveying units can realize synchronous conveying adjustment through the integral rotating unit and the translation unit to realize the centering adjustment of a sheet metal, and the two sheet metal conveying units can also realize independent conveying adjustment to realize the adjustment of two sheets metal.

[0004] However, the above technical solution is layered with an overall rotating unit, a translation unit and an independent rotating unit, and each layer is provided with corresponding driving elements and transmission components. The mass is large, and the overall structure is complex, resulting in high manufacturing costs and failure rates, and the control process is cumbersome. Summary of the invention

[0005] In order to solve the technical problem that the device structure used for centering the first sheet of a stamping line in the above-mentioned prior art is too complicated, the present invention provides a stamping line first sheet of a stamping line centering unit, a centering system and a centering method, which have a simple structure, a small overall volume and mass, and a simpler control process.

[0006] In the first aspect, in order to solve the above-mentioned technical problems, the present invention provides a stamping line head sheet metal centering unit, comprising a base, a support frame is arranged on the base, a static platform is arranged on the support frame, three adjustment components are arranged on the static platform, the adjustment component comprises a movable seat, the movable seat can be linearly movably arranged on the static platform, the moving directions of the three movable seats form a triangular structure, the movable seat is rotatably connected to the connecting end of the connecting rod, the adjustment ends of the three connecting rods can be rotatably connected to the same movable platform, the movable platform is arranged parallel to the static platform, and a transmission component is arranged on the movable platform.

[0007] The present invention arranges three groups of adjustment components that can form a triangle on the static platform, and realizes the rotation of the dynamic platform and the position adjustment along the length and width directions of the sheet material through the coordinated cooperation of three movable seats. Compared with the prior art, there is no need to set up multiple layers of platforms and multiple groups of adjustment components to adjust the corresponding dimensions respectively. Therefore, the overall volume and weight are small, the structure is simple and the components are few, and the control is simple, accurate and efficient.

[0008] Furthermore, the adjustment assembly also includes a guide rail, three of the guide rails are arranged on the static platform and the straight line on which they are located forms a triangular structure, and the movable seat is movably arranged on the guide rail.

[0009] Furthermore, the adjustment assembly also includes two support seats and a lead screw, the two support seats are respectively arranged at both ends of the guide rail, the lead screw passes through the two support seats and a driving motor is arranged at one end, and the movable seat is arranged on the lead screw.

[0010] The present invention drives the moving seat to move by means of a lead screw and a motor, so the control precision is high and the centering adjustment accuracy is high.

[0011] Furthermore, a plurality of bull's eye wheels are arranged on the static platform, and the upper ends of the bull's eye wheels abut against the dynamic platform.

[0012] The present invention enhances the bearing capacity of the moving platform by arranging a plurality of bull's eye wheels, and avoids the situation that the load borne by the adjusting end is complex and changeable due to adjustment by the adjusting end alone, thus affecting the service life.

[0013] Furthermore, the support frame includes a support sub-frame one and a support sub-frame two which are hinged to each other, and the support sub-frame one and the support sub-frame two are arranged in an X-shaped structure. A lower end of the support sub-frame is rotatably connected to the base, and a lower end of the support sub-frame two is movably connected to the base. The support sub-frame two is also connected to the piston rod of a lifting cylinder, and the lifting cylinder is arranged on the base.

[0014] The present invention arranges the support frame to be liftable, and can adjust the position of the static platform according to the thickness and structure of the sheet material, thereby improving the accuracy of sheet material transportation.

[0015] In the second aspect, the present invention also provides a stamping line head sheet metal centering system, including an electrically connected visual camera and a controller, and also includes the above-mentioned stamping line head sheet metal centering unit, the visual camera is arranged on a bracket and is arranged opposite to the moving platform, and the controller is electrically connected to the driving motor and the lifting cylinder.

[0016] Furthermore, two sheet metal centering units for the stamping line are provided, and the two sheet metal centering units for the stamping line are arranged along a direction perpendicular to the sheet metal conveying direction, and two visual cameras are provided accordingly.

[0017] The present invention provides two press line head sheet centering units, thereby meeting the requirements of single sheet feeding and double sheet feeding of the press line, increasing the application scope of the system and improving the flexibility of use.

[0018] In a third aspect, the present invention further provides a method for centering the first sheet metal of a stamping line, using the above-mentioned centering system for the first sheet metal of a stamping line, comprising the following steps:

[0019] S01: Collect image information of the sheet to be loaded and transmit the image information to the controller;

[0020] S02: The controller determines whether single-board loading or double-board loading is performed according to the image information. If single-board loading is performed, the coordinate system of single-board loading is called. If double-board loading is performed, the coordinate system of double-board loading is called.

[0021] S03: In the corresponding coordinate system, the controller calculates the moving distance of each moving seat according to the deviation between the actual coordinate of the sheet to be loaded and the ideal coordinate position;

[0022] S04: The moving seat moves a specified distance to achieve centering adjustment of the sheet to be loaded;

[0023] S05: After the conveying is completed, the three moving seats return to the initial position and wait for the next loading.

[0024] The present invention establishes different coordinate systems for single-plate loading and double-plate loading to achieve independent adjustment and coordinated adjustment of two moving platforms, thereby meeting the needs of centering adjustment of single-plate loading and double-plate loading, increasing the scope of application of the centering method and improving flexibility.

[0025] Further, in S02, the coordinate system of the single plate material includes a coordinated static coordinate system and a coordinated dynamic coordinate system. The origin of the coordinated static coordinate system is the midpoint of the center line of the triangle formed by the three adjustment components on the two static platforms. The axis is the straight line where the moving seat of one of the adjustment components moves, the Y axis of the collaborative static coordinate system is a straight line perpendicular to the moving direction of the moving seat, the Z axis of the collaborative static coordinate system is a straight line perpendicular to the static platform, the origin of the collaborative moving coordinate system is the midpoint of the line connecting the centroids of the triangle formed by the three adjustment ends on the two moving platforms, the X axis of the collaborative moving coordinate system is the straight line where the connecting rod adjustment ends of the other two adjustment components are connected, the Z axis of the collaborative moving coordinate system is a straight line perpendicular to the moving platform, the coordinate system for double-plate feeding includes two independent static coordinate systems and two independent moving coordinate systems, the origins of the two independent static coordinate systems are the centers of the triangles formed by the three adjustment components of the corresponding static platforms, the X axis, Y axis, and Z axis of the two independent static coordinate systems are parallel to the corresponding coordinate axes of the collaborative static coordinate system, the origins of the two independent moving coordinate systems are the centers of the triangles formed by the three adjustment ends of the moving platform as the coordinate origin, and the X axis, Y axis, and Z axis of the two independent moving coordinate systems are parallel to the corresponding coordinate axes of the collaborative moving coordinate system.

[0026] Furthermore, when double sheets are being loaded, the S03 performs the following steps:

[0027] S031: Collect image information of each sheet through a visual camera, scan the specific position and posture of each sheet, and convert the position information of each sheet into digital coordinates in the visual camera coordinate system;

[0028] S032: communicate via TCP / IP and transmit information to the controller;

[0029] S033: The controller performs terminal trajectory planning based on the feedback signal and the position transformation between the visual camera coordinate system and the independent static coordinate system, and calculates the distance that each moving seat of the press line head sheet centering unit corresponding to each sheet material needs to move based on the planned terminal position point table through the single machine kinematic inverse solution;

[0030] When a single board is loaded, S03 performs the following steps:

[0031] S031: Collect image information of the sheet material through a visual camera, scan the specific position and posture of the sheet material, and convert the position information of the sheet material into digital coordinates in the visual camera coordinate system;

[0032] S032: communicate via TCP / IP and transmit information to the controller;

[0033] S033: The controller performs trajectory planning based on the feedback signal and the pose transformation between the visual camera coordinate system and the collaborative static coordinate system, and calculates the distance that each mobile seat needs to move through the inverse solution of dual-machine kinematics based on the planned terminal pose point table.

[0034] It can be seen from the above technical solutions that the present invention has the following advantages:

[0035] The present invention provides a centering unit, a centering system and a centering method for the sheet metal of a stamping line. By arranging three groups of adjustment components that can form a triangle on a static platform and cooperating with three moving seats, the rotation of the moving platform and the position adjustment along the length and width directions of the sheet metal are realized. Compared with the prior art, there is no need to arrange multiple layers of platforms and multiple groups of adjustment components to adjust the corresponding dimensions respectively. Therefore, the overall volume and weight are small, the structure is simple, the components are few, the control is simple, accurate and efficient; the moving seat is driven to move by a lead screw and a motor, the control accuracy is high, and the accuracy of the centering adjustment is high; by arranging multiple bull's eye wheels, the bearing capacity of the moving platform is enhanced. Load capacity, avoiding complex and changeable loads on the adjustment end caused by only adjusting the adjustment end, which affects the service life; by setting the support frame to be liftable, the position of the static platform can be adjusted according to the thickness and structure of the sheet metal, thereby improving the accuracy of sheet metal transportation; by setting two stamping line head sheet metal centering units, the requirements of single-sheet and double-sheet feeding of the stamping line can be met, the application scope of this system can be increased, and the flexibility of use can be improved; by establishing different coordinate systems for single-sheet feeding and double-sheet feeding, the independent adjustment and coordinated adjustment of the two moving platforms can be realized, which meets the needs of centering adjustment of single-sheet feeding and double-sheet feeding, increases the application scope of this centering method, and improves flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0037] Figure 1 It is a structural schematic diagram of a specific implementation mode 1 of the present invention.

[0038] Figure 2 It is a schematic diagram of the assembly structure of the adjustment component, the moving platform and the static platform in the first specific implementation mode of the present invention.

[0039] Figure 3 It is a schematic diagram of the assembly structure of the adjustment component and the static platform in the first specific implementation mode of the present invention.

[0040] Figure 4 It is a schematic diagram of the structure of the adjustment component in the first specific implementation mode of the present invention.

[0041] Figure 5 It is a structural schematic diagram of a second specific implementation mode of the present invention.

[0042] In the figure, 1. static platform; 2. dynamic platform; 3. bull's eye wheel; 4. driving motor; 5. visual camera; 6. support frame; 601. support sub-frame one; 602. support sub-frame two; 7. bracket; 8. transmission component; 10. base; 11. lifting cylinder; 12. connecting rod; 122. connecting end; 121. adjusting end; 13. screw; 14. moving seat; 15. guide rail; 16. support seat. DETAILED DESCRIPTION

[0043] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in this specific embodiment. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of them. Based on the embodiments in this patent, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this patent. Specific implementation method 1

[0045] like Figures 1 to 3 As shown, this specific embodiment provides a stamping line head sheet metal centering unit, including a base 10, a support frame 6, a moving platform 2, an adjustment component and a static platform 1; the base 10 is provided with a support frame 6, the support frame 6 is provided with a static platform 1, and three adjustment components are provided on the static platform 1, the adjustment component includes a moving seat 14, the moving seat 14 is linearly movably provided on the static platform 1, and the moving directions of the three moving seats 14 form a triangular structure, the moving seat 14 is rotatably connected to the connecting end 122 of the connecting rod 12 through a second rotating shaft, and the adjustment ends 121 of the three connecting rods 12 are rotatably connected to the same moving platform 2 through a rotating shaft, the moving platform 2 is arranged parallel to the static platform 1, and a conveying component 8 is provided on the moving platform 2.

[0046] In this specific embodiment, three groups of adjustment components that can form a triangle are arranged on the static platform 1. The three movable seats 14 cooperate with each other to realize the rotation of the dynamic platform 2 and the position adjustment along the length and width directions of the sheet. Compared with the prior art, there is no need to set up multiple layers of platforms and multiple groups of adjustment components to adjust the corresponding dimensions respectively. Therefore, the overall volume and weight are small, the structure is simple and the components are few, and the control is simple, accurate and efficient.

[0047] like Figure 4As shown, in this specific embodiment, the adjustment component also includes a guide rail 15, three guide rails 15 are arranged on the static platform 1 and the straight line on which they are located forms a triangular structure, the movable seat 14 is movably arranged on the guide rail 15, the adjustment component also includes two support seats 16 and a lead screw 13, the two support seats 16 are respectively arranged at both ends of the guide rail 15, the lead screw 13 passes through the two support seats 16 and a driving motor 4 is arranged at one end, and the movable seat 14 is arranged on the lead screw 13; the movable seat 14 is driven to move by the lead screw 13 and the motor, the control precision is high, and the accuracy of the centering adjustment is high.

[0048] like Figure 3 As shown, the moving platform 2 bears the load of the transmission assembly and the sheet material, and a connecting rod 12 is rotatably provided at the lower part of the moving platform 2. In order to enhance the support for the moving platform 2 and avoid the connecting rod 12 providing the force to drive the moving platform 2 to move and also bearing the vertical load, in the present specific embodiment, a plurality of bull's eye wheels 3 are provided on the static platform 1, and the upper ends of the bull's eye wheels 3 are abutted against the moving platform 2. In the present specific embodiment, the bull's eye wheels 3 are arranged in pairs around and at the center of the static platform 1.

[0049] like Figure 1 As shown, since different sheets have different thicknesses and heights, in order to enhance the applicability of the unit, in the present specific embodiment, the support frame 6 includes a support sub-frame 1 601 and a support sub-frame 2 602 which are hinged to each other, and the support sub-frame 1 601 and the support sub-frame 2 602 are arranged in an X-shaped structure, and the lower end of the support sub-frame 1 601 is rotatably connected to the receiving groove on the base 10 through a rotating shaft, and the lower end of the support sub-frame 2 602 is movably connected to the receiving groove of the base 10 through a slide rail, and the support sub-frame 2 602 is also rotatably connected to the piston rod of the lifting cylinder 11 through a pin shaft, and the lifting cylinder 11 is arranged in the receiving groove of the base 10.

[0050] In this specific embodiment, the connecting end 122 of the connecting rod 12 is rotatably connected to the moving seat 14 through a rotating shaft and a bearing, the adjusting end 121 of the connecting rod 12 is rotatably connected to the supporting plate through a rotating shaft and a bearing, and the supporting plate is connected to the moving platform 2 through bolts. Specific implementation method 2

[0052] like Figure 5 As shown, this specific embodiment provides a stamping line head sheet metal centering system, including an electrically connected visual camera 5 and a controller, and also includes the stamping line head sheet metal centering unit of specific embodiment one, the visual camera 5 is arranged on the bracket 7 and is arranged opposite to the moving platform 2, and the controller is electrically connected to the drive motor 4 and the lifting cylinder 11.

[0053] In the prior art, the stamping production line has single-plate feeding and double-plate feeding. In order to ensure that the system can meet the centering and adjustment needs of single-plate and double-plate feeding, two sheet metal centering units are provided at the beginning of the stamping line. The two sheet metal centering units are arranged along the direction perpendicular to the sheet metal conveying, and two visual cameras 5 are provided accordingly.

[0054] In this specific embodiment, the controller includes a storage module and a calculation module. The storage module stores the calculation method of the moving distance of single-plate loading and double-plate loading, and the calculation module is used to perform calculations according to the selected calculation program. Specific implementation method three

[0056] This specific embodiment provides a method for centering the first sheet metal of a stamping line, using the first sheet metal centering system of the stamping line of the second specific embodiment, including the following steps:

[0057] S01: Collect image information of the sheet to be loaded through a visual camera and transmit the image information to the controller;

[0058] S02: The controller determines whether single-board loading or double-board loading is performed according to the image information. If single-board loading is performed, the coordinate system of single-board loading is called. If double-board loading is performed, the coordinate system of double-board loading is called.

[0059] S03: In the corresponding coordinate system, the controller calculates the moving distance of each moving seat according to the deviation between the actual coordinate of the sheet to be loaded and the ideal coordinate position;

[0060] S04: The moving seat moves a specified distance to achieve centering adjustment of the sheet to be loaded;

[0061] S05: After the conveying is completed, the three moving seats return to the initial position and wait for the next loading.

[0062] This specific implementation method establishes different coordinate systems for single-plate loading and double-plate loading to achieve independent and coordinated adjustment of two moving platforms, meet the alignment adjustment needs of single-plate loading and double-plate loading, increase the scope of application of this alignment method, and improve flexibility.

[0063] In S02, the coordinate system of the single board material includes a coordinated static coordinate system and a coordinated dynamic coordinate system. The origin of the coordinated static coordinate system is the midpoint of the center line of the triangle formed by the three adjustment components (three guide rails) on the two static platforms. The axis is the straight line where the moving seat of one of the adjustment components moves, the Y axis of the collaborative static coordinate system is a straight line perpendicular to the moving direction of the moving seat, the Z axis of the collaborative static coordinate system is a straight line perpendicular to the static platform, the origin of the collaborative moving coordinate system is the midpoint of the line connecting the centroids of the triangle formed by the three adjustment ends on the two moving platforms, the X axis of the collaborative moving coordinate system is the straight line where the connecting rod adjustment ends of the other two adjustment components are connected, the Z axis of the collaborative moving coordinate system is a straight line perpendicular to the moving platform, the coordinate system for double-plate feeding includes two independent static coordinate systems and two independent moving coordinate systems, the origins of the two independent static coordinate systems are the centers of the triangles formed by the three adjustment components of the corresponding static platforms, the X axis, Y axis, and Z axis of the two independent static coordinate systems are parallel to the corresponding coordinate axes of the collaborative static coordinate system, the origins of the two independent moving coordinate systems are the centers of the triangles formed by the three adjustment ends of the moving platform as the coordinate origin, and the X axis, Y axis, and Z axis of the two independent moving coordinate systems are parallel to the corresponding coordinate axes of the collaborative moving coordinate system.

[0064] In S03, when double sheets are being loaded, S03 performs the following steps:

[0065] S031: Collect image information of each sheet through a visual camera, scan the specific position and posture of each sheet, and convert the position information of each sheet into digital coordinates in the visual camera coordinate system;

[0066] S032: communicate via TCP / IP and transmit information to the controller;

[0067] S033: The controller performs terminal trajectory planning based on the feedback signal and the position transformation between the visual camera coordinate system and the independent static coordinate system, and calculates the distance that each moving seat of the press line head sheet centering unit corresponding to each sheet material needs to move based on the planned terminal position point table through the single machine kinematic inverse solution;

[0068] When a single board is loaded, S03 performs the following steps:

[0069] S031: Collect image information of the sheet material through a visual camera, scan the specific position and posture of the sheet material, and convert the position information of the sheet material into digital coordinates in the visual camera coordinate system;

[0070] S032: communicate via TCP / IP and transmit information to the controller;

[0071] S033: The controller performs trajectory planning based on the feedback signal and the pose transformation between the visual camera coordinate system and the collaborative static coordinate system, and calculates the distance that each mobile seat needs to move through the inverse solution of dual-machine kinematics based on the planned terminal pose point table.

[0072] Specifically, the inverse kinematics solution of the dual machines for single-board loading is as follows:

[0073] The coordinate system of the single board material includes a collaborative static coordinate system and a collaborative dynamic coordinate system. The origin of the coordinate system is the midpoint of the line connecting the centroids of the triangle formed by the three adjustment components on the two static platforms. The axis is the straight line where the moving seat of one of the adjustment components moves. The Y axis of the coordinated static coordinate system is the straight line perpendicular to the moving direction of the moving seat. The Z axis of the coordinated static coordinate system is the straight line perpendicular to the static platform. The origin is the midpoint of the line connecting the centroids of the triangle formed by the three adjustment ends on the two moving platforms, the X-axis of the coordinated moving coordinate system is the straight line connecting the connecting rod adjustment ends of the other two adjustment components, and the Z-axis of the coordinated moving coordinate system is the straight line perpendicular to the moving platform.

[0074] The centers of the three adjustment components of the static platform are in the coordinated static coordinate system Relative to the origin of the collaborative static coordinate system The distance vector is:

[0075] ;

[0076] In the formula, For the A sheet centering unit at the beginning of the press line, For the The origin of the static coordinate system of the sheet metal centering unit of the stamping line (the centroid of the triangle formed by the three adjustment components on the static platform) is in the coordinated static coordinate system Relative to the origin of the collaborative static coordinate system of Towards distance.

[0077] Coordinated moving coordinate system origin In the collaborative static coordinate system Relative to the origin of the collaborative static coordinate system The offset vector is:

[0078] ,

[0079] In the formula, is the origin of the coordinated moving coordinate system In the collaborative static coordinate system Relative to the origin of the collaborative static coordinate system of Towards offset, is the origin of the coordinated moving coordinate system In the collaborative static coordinate system Relative to the origin of the collaborative static coordinate system of Towards offset, is the origin of the coordinated moving coordinate system In the collaborative static coordinate system Relative to the origin of the collaborative static coordinate system of Towards offset.

[0080] Coordinated moving coordinate system Relative to the cooperative static coordinate system The twist is only If the axis is twisted, the coordinate system will be Relative to the cooperative static coordinate system The rotation matrix is:

[0081] ,

[0082] In the formula, .

[0083] Taking the centroid of the triangle formed by the three adjustment ends of the moving platform as the origin, the automatic coordinate systems of the two units are established according to the right-hand triangle rule. In each automatic coordinate system, the position vector of the adjustment end 121 relative to the origin of each automatic coordinate system is:

[0084] ,

[0085] In the formula, Corresponding to the three adjustment components of the sheet metal centering unit at the head of the first press line, Corresponding to the three adjustment components of the sheet metal centering unit at the head of the second press line, For the The adjustment end of each adjustment component is relative to the origin of each automatic coordinate system in each automatic coordinate system. To the distance, For the The adjustment end of each adjustment component is relative to the origin of each automatic coordinate system in each automatic coordinate system. Towards distance.

[0086] Adjust the end in the coordinated static coordinate system Relative to the origin of the collaborative static coordinate system The position vector is:

[0087] ,

[0088] In the formula, if but ;like but .

[0089] Taking the centroid of the triangle formed by the three adjustment ends of the static platform as the origin, the static coordinate systems of the two units are established according to the right-hand triangle rule. The position vector of the starting point of each adjustment component relative to the origin of each independent static coordinate system in each independent static coordinate system is:

[0090] ,

[0091] In the formula, For the The starting point of the bar adjustment component (the starting point of the corresponding lead screw) is relative to the origin of each independent static coordinate system in each independent static coordinate system. To the distance, For the The starting point of each adjustment component is relative to the origin of each independent static coordinate system in each independent static coordinate system. Towards distance.

[0092] The motion distance vector of each adjustment component moving seat is:

[0093] ,

[0094] In the formula, For the The center of the moving seat of the bar adjustment assembly is in the generalized independent static coordinate system Next relative to Adjust the component start point To the distance, For the The center of the moving seat of the bar adjustment assembly is in the generalized independent static coordinate system Next relative to Adjust the component start point Towards distance.

[0095] The coordinates of the vertical height of each adjustment component moving seat are:

[0096] ,

[0097] The connection ends of each adjustment component are in the coordinated static coordinate system The position vector relative to the axis of the adjustment end shaft is:

[0098] ,

[0099] In the formula, For each adjustment component connection end in the coordinated static coordinate system Relative to the axis of the adjustment end shaft To the distance, For each adjustment component connection end in the coordinated static coordinate system Relative to the axis of the adjustment end shaft Towards distance.

[0100] Then we can get the following closed-loop vector equation:

[0101] ,

[0102] In the formula, if but ;like but .

[0103] The numerical value can be obtained by geometric method, denoted by is the shaft length, The center of the circle is the length of the rotating shaft is the radius, the adjustment component is the equation of the straight line, and the point closest to the intersection of the circle and the equation of the straight line and the point at the last moment when the moving platform moved is the coordinate of the second rotating shaft on the adjustment end.

[0104] remember ,

[0105] In the formula , and The center of the circle is in the coordinated static coordinate system Relative to the origin of the collaborative static coordinate system of , and Towards distance.

[0106] Then the equations of the circle and the line are:

[0107] ,

[0108] In the formula, and are the coefficients of the equation of the line

[0109] Solve the system of linear equations in two variables:

[0110]

[0111] or

[0112] ,

[0113] In the formula, ,

[0114] and is the first set of solutions to the system of equations, and is the second set of solutions to the system of equations.

[0115] Assumptions The intersection of the circle and the straight line equation is the point closest to the last point at which the moving platform moved. Then, each connection end is in the coordinated static coordinate system. The position vector relative to the axis of the adjustment end shaft is:

[0116] ,

[0117] Bring in ,

[0118] The motion distance vector of each mobile seat can be solved:

[0119] ,

[0120] So the distance each mobile seat moves is:

[0121] ,

[0122] Specifically, the inverse kinematics solution of a single machine for double-sheet loading is as follows:

[0123] The coordinate system of double sheet material includes two independent static coordinate systems and two independent dynamic coordinate systems. Taking the sheet centering unit of a stamping line as an example, the independent static coordinate system The origin is the centroid of the triangle formed by the three adjustment components of the corresponding static platform. The X-axis, Y-axis, and Z-axis of the independent static coordinate system are parallel to the corresponding coordinate axes of the collaborative static coordinate system. The origin is the centroid of the triangle formed by the three adjustment ends of the moving platform as the coordinate origin. The X-axis, Y-axis, and Z-axis of the independent moving coordinate system are parallel to the corresponding coordinate axes of the cooperative moving coordinate system.

[0124] Independent moving coordinate system origin In an independent static coordinate system Relative to the origin of the independent static coordinate system The offset vector is:

[0125] ,

[0126] In the formula, The origin of the independent moving coordinate system In an independent static coordinate system Relative to the origin of the independent static coordinate system of Towards offset, The origin of the independent moving coordinate system In an independent static coordinate system Relative to the origin of the independent static coordinate system of Towards offset, The origin of the independent moving coordinate system In an independent static coordinate system Relative to the origin of the independent static coordinate system of Towards offset.

[0127] Independent moving coordinate system Relative to an independent static coordinate system The twist is only If the axis is twisted, the independent moving coordinate system Relative to an independent static coordinate system The rotation matrix is:

[0128] ,

[0129] In the formula, .

[0130] In an independent moving coordinate system The adjustment end is relative to the origin of the independent moving coordinate system. The position vector is:

[0131] ,

[0132] In the formula, Corresponding to the adjustment component of the sheet metal centering unit at the head of the first stamping line, Corresponding to the adjustment components of the sheet metal centering unit at the head of the second press line, For the The adjustment end of each adjustment component is in an independent moving coordinate system Relative to the origin of the independent moving coordinate system of To the distance, For the The adjustment end of the adjustment component is in an independent moving coordinate system Relative to the origin of the independent moving coordinate system of Towards distance.

[0133] Adjustment end in independent static coordinate system Relative to the origin of the independent static coordinate system The position vector is:

[0134] ,

[0135] The starting point of each adjustment component is in an independent static coordinate system Relative to the origin of the independent static coordinate system The position vector is:

[0136] ,

[0137] In the formula, For the The starting point of the adjustment component is in an independent static coordinate system Relative to the origin of the independent static coordinate system of To the distance, For the The starting point of the adjustment component is in an independent static coordinate system Relative to the origin of the independent static coordinate system of Towards distance.

[0138] The motion distance vector of each adjustment component moving seat is:

[0139] ,

[0140] In the formula, For the The center of the movable seat of the bar adjustment component is in an independent static coordinate system Next relative to Adjust the component start point To the distance, For the The center of the movable seat of the bar adjustment component is in an independent static coordinate system Next relative to Adjust the component start point Towards distance.

[0141] The coordinates of the vertical height of each adjustment component moving seat are:

[0142] ,

[0143] Each adjustment component connection end is in an independent static coordinate system The position vector relative to the axis of the adjustment end shaft is:

[0144] ,

[0145] In the formula, For each adjustment component connection end in an independent static coordinate system Relative to the axis of the adjustment end shaft To the distance, For each adjustment component connection end in an independent static coordinate system Relative to the axis of the adjustment end shaft Towards distance.

[0146] Then we can get the following closed-loop vector equation:

[0147] ,

[0148] The numerical value can be obtained by geometric method, denoted by is the shaft length, is the center of the circle, the length of the rotating shaft is the radius, the adjustment component is the equation of the straight line, and the point closest to the intersection of the circle and the straight line equation and the point at the last moment when the moving platform moved is the coordinate of the second rotating shaft.

[0149] remember ,

[0150] In the formula , and The center of the circle is in an independent static coordinate system Relative to the origin of the independent static coordinate system of , and Towards distance.

[0151] Then the equations of the circle and the line are:

[0152] ,

[0153] In the formula, and are the coefficients of the equation of the line

[0154] Solve the system of linear equations in two variables:

[0155]

[0156] or

[0157] ,

[0158] In the formula, , and is the first set of solutions to the system of equations, and is the second set of solutions to the system of equations.

[0159] Assumptions The intersection of the circle and the straight line equation is the point closest to the last point at which the moving platform moved. The connection ends of each adjustment component are in an independent static coordinate system. The position vector relative to the axis of the adjustment end shaft is , bring in The motion distance vector of each adjustment component moving seat can be solved: ,

[0160] Therefore, the distance that each adjustment component moving seat moves is:

[0161] ,

[0162] Specifically, the transformation of the sheet metal pose in an independent static coordinate system or a collaborative static coordinate system and the sheet metal pose in a visual camera coordinate system is as follows:

[0163] The homogeneous matrix of sheet metal pose in the visual camera coordinate system is:

[0164] ,

[0165] In the formula, , and It is the X-axis offset, Y-axis offset and Z-axis deflection of the sheet metal in the visual camera coordinate system relative to the standard pose.

[0166] The transformation matrix between the independent static coordinate system or the collaborative static coordinate system and the visual camera coordinate system is , then the homogeneous matrix of sheet metal pose in independent static coordinate system or collaborative static coordinate system is:

[0167] ,

[0168] In the formula, , and It is the X-axis offset, Y-axis offset and Z-axis deflection of the sheet metal in an independent static coordinate system or a collaborative static coordinate system relative to the standard posture.

[0169] From the above specific implementations, it can be seen that the present invention has the following beneficial effects:

[0170] 1. By setting three groups of adjustment components that can form a triangle on the static platform, the three moving seats cooperate to realize the rotation of the dynamic platform and the position adjustment along the length and width of the sheet. Compared with the existing technology, there is no need to set up multiple platforms and multiple groups of adjustment components to adjust the corresponding dimensions respectively. Therefore, the overall volume and weight are small, the structure is simple, the components are few, and the control is simple, accurate and efficient;

[0171] 2. The moving seat is driven by a lead screw and a motor, which ensures high control accuracy and high accuracy of centering adjustment;

[0172] 3. By setting up multiple bull's eye wheels, the load-bearing capacity of the moving platform is enhanced to avoid the complex and variable loads borne by the adjustment end caused by only adjusting the adjustment end, which affects the service life;

[0173] 4. By setting the support frame to be liftable, the position of the static platform can be adjusted according to the thickness and structure of the sheet material, thereby improving the accuracy of sheet material transportation;

[0174] 5. By setting up two press line head sheet centering units, the requirements of single sheet feeding and double sheet feeding of the press line can be met, the application scope of the system is expanded, and the flexibility of use is improved;

[0175] 6. By establishing different coordinate systems for single-plate loading and double-plate loading, the independent adjustment and coordinated adjustment of the two moving platforms can be realized to meet the centering adjustment needs of single-plate loading and double-plate loading, expand the scope of application of this centering method, and improve flexibility.

[0176] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A sheet metal centering system for a stamping line, comprising an electrically connected visual camera (5) and a controller, characterized in that: Also includes: A sheet metal centering unit for a stamping line, wherein two sheet metal centering units for a stamping line are arranged in a direction perpendicular to sheet metal conveying, wherein the sheet metal centering unit for a stamping line comprises a base (10), wherein a support frame (6) is arranged on the base (10), wherein a static platform (1) is arranged on the support frame (6), wherein three adjustment components are arranged on the static platform (1), wherein the adjustment components comprise a movable seat (14), wherein the movable seat (14) is arranged on the static platform (1) in a linearly movable manner, The moving directions of the three moving seats (14) form a triangular structure. The moving seats (14) are rotatably connected to the connecting end (122) of the connecting rod (12). The adjustment ends (121) of the three connecting rods (12) are all rotatably connected to the same moving platform (2). The moving platform (2) is arranged in parallel with the static platform (1). A conveying component (8) is arranged on the moving platform (2). By arranging three groups of adjustment components that can form a triangle, the rotation of the moving platform (2) and the position adjustment along the length and width directions of the sheet material are realized. Two visual cameras (5) are provided accordingly. The visual cameras (5) are provided on the bracket (7) and are arranged opposite to the moving platform (2). The controller comprises a storage module and a calculation module. The storage module stores a calculation method for the moving distance of the moving seat (14) corresponding to single-plate loading and double-plate loading. The calculation module is used to calculate the moving distance of the moving seat (14). The visual camera (5) collects image information of the plate to be loaded and transmits the image information to the controller. The controller determines whether it is single-plate loading or double-plate loading based on the image information. If single-plate loading is required, the coordinate system of the single-plate loading is called. If double-plate loading is required, the coordinate system of the double-plate loading is called. The coordinate system of the single board material includes a coordinated static coordinate system and a coordinated dynamic coordinate system. The origin of the coordinated static coordinate system is the midpoint of the centroid of the triangle formed by the three adjustment components on the two static platforms. The axis is the straight line where the moving seat of one of the adjustment components moves in the direction of movement, the Y axis of the collaborative static coordinate system is a straight line perpendicular to the moving direction of the moving seat, the Z axis of the collaborative static coordinate system is a straight line perpendicular to the static platform, the origin of the collaborative moving coordinate system is the midpoint of the line connecting the centroids of the triangle formed by the three adjustment ends on the two moving platforms, the X axis of the collaborative moving coordinate system is the straight line where the connecting rod adjustment ends of the other two adjustment components are connected, the Z axis of the collaborative moving coordinate system is a straight line perpendicular to the moving platform, the coordinate system for double-plate feeding includes two independent static coordinate systems and two independent moving coordinate systems, the origins of the two independent static coordinate systems are the centroids of the triangles formed by the three adjustment components of the corresponding static platforms, the X axis, Y axis, and Z axis of the two independent static coordinate systems are parallel to the corresponding coordinate axes of the collaborative static coordinate system, the origins of the two independent moving coordinate systems are the centroids of the triangles formed by the three adjustment ends of the moving platform as the coordinate origin, and the X axis, Y axis, and Z axis of the two independent moving coordinate systems are parallel to the corresponding coordinate axes of the collaborative moving coordinate system.

2. The punching line head sheet centering system according to claim 1, characterized in that: The adjustment assembly further comprises a guide rail (15), wherein three guide rails (15) are arranged on the static platform (1) and the straight line on which they are located forms a triangular structure, and the movable seat (14) is movably arranged on the guide rail (15).

3. The press line head sheet centering system according to claim 2, characterized in that: The adjustment assembly further comprises two support seats (16) and a lead screw (13); the two support seats (16) are respectively arranged at two ends of the guide rail (15); the lead screw (13) passes through the two support seats (16) and is provided with a drive motor (4) at one end; and the movable seat (14) is arranged on the lead screw (13).

4. The punching line head sheet centering system according to claim 3, characterized in that: A plurality of bull's eye wheels (3) are arranged on the static platform (1), and the upper ends of the bull's eye wheels (3) are in contact with the dynamic platform (2).

5. The punching line head sheet centering system according to claim 4, characterized in that: The support frame (6) comprises a support sub-frame 1 (601) and a support sub-frame 2 (602) which are hinged to each other. The support sub-frame 1 (601) and the support sub-frame 2 (602) are arranged in an X-shaped structure. The lower end of the support sub-frame 1 (601) is rotatably connected to the base (10), and the lower end of the support sub-frame 2 (602) is movably connected to the base (10). The support sub-frame 2 (602) is also connected to the piston rod of a lifting cylinder (11), and the lifting cylinder (11) is arranged on the base (10).

6. A method for centering the sheet metal of a stamping line, characterized in that: The press line head sheet centering system as claimed in claim 5 comprises the following steps: S01: Collect image information of the sheet to be loaded and transmit the image information to the controller; S02: The controller determines whether it is single board loading or double board loading according to the image information. If it is single board loading, the coordinate system of single board loading is called. If it is double board loading, the coordinate system of double board loading is called. S03: In the corresponding coordinate system, the controller calculates the moving distance of each moving seat according to the deviation between the actual coordinate of the sheet to be loaded and the ideal coordinate position; S04: The moving seat moves a specified distance to achieve centering adjustment of the sheet to be loaded; S05: After the conveying is completed, the three moving seats return to the initial position and wait for the next loading.

7. The method for centering the sheet metal of a stamping line according to claim 6, characterized in that: In S02, the coordinate system of the single plate material includes a coordinated static coordinate system and a coordinated dynamic coordinate system. The origin of the coordinated static coordinate system is the midpoint of the centroid of the triangle formed by the three adjustment components on the two static platforms. The axis is the straight line where the moving seat of one of the adjustment components moves in the direction of movement, the Y axis of the collaborative static coordinate system is a straight line perpendicular to the moving direction of the moving seat, the Z axis of the collaborative static coordinate system is a straight line perpendicular to the static platform, the origin of the collaborative moving coordinate system is the midpoint of the line connecting the centroids of the triangle formed by the three adjustment ends on the two moving platforms, the X axis of the collaborative moving coordinate system is the straight line where the connecting rod adjustment ends of the other two adjustment components are connected, the Z axis of the collaborative moving coordinate system is a straight line perpendicular to the moving platform, the coordinate system for double-plate feeding includes two independent static coordinate systems and two independent moving coordinate systems, the origins of the two independent static coordinate systems are the centroids of the triangles formed by the three adjustment components of the corresponding static platforms, the X axis, Y axis, and Z axis of the two independent static coordinate systems are parallel to the corresponding coordinate axes of the collaborative static coordinate system, the origins of the two independent moving coordinate systems are the centroids of the triangles formed by the three adjustment ends of the moving platform as the coordinate origin, and the X axis, Y axis, and Z axis of the two independent moving coordinate systems are parallel to the corresponding coordinate axes of the collaborative moving coordinate system.

8. The method for centering the sheet metal of a stamping line according to claim 7, characterized in that: When double sheets are being loaded, S03 performs the following steps: S031: Collect image information of each sheet through a visual camera, scan the specific position and posture of each sheet, and convert the position information of each sheet into digital coordinates in the visual camera coordinate system; S032: communicate via TCP / IP and transmit information to the controller; S033: The controller performs terminal trajectory planning based on the feedback signal and the position transformation between the visual camera coordinate system and the independent static coordinate system, and calculates the distance that each moving seat of the press line head sheet centering unit corresponding to each sheet material needs to move based on the planned terminal position point table through the single machine kinematic inverse solution; When a single board is loaded, S03 performs the following steps: S031: Collect image information of the sheet material through a visual camera, scan the specific position and posture of the sheet material, and convert the position information of the sheet material into digital coordinates in the visual camera coordinate system; S032: communicate via TCP / IP and transmit information to the controller; S033: The controller performs trajectory planning based on the feedback signal and the pose transformation between the visual camera coordinate system and the collaborative static coordinate system, and calculates the distance that each mobile seat needs to move through the dual-machine kinematic inverse solution based on the planned terminal pose point table.

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