Bent plate hoisting system and hoisting method

Abstract

According to the curved plate hoisting system and method, when a curved plate is hoisted, firstly, three-dimensional point cloud measuring equipment is adopted for scanning the surface of the curved plate, the position of a hoisting point is arranged according to the length of the curved plate, the curvature radius of the hoisting point is fitted according to point cloud data, and whether a magnetic attraction device can be used for hoisting or not is judged according to the curvature radius; if yes, a magnetic attraction device is used for lifting, otherwise, a lifting hook is used for lifting, a feeding device is driven, the bent plate posture is adjusted, and the bent plate is conveyed to a machining station of multi-point forming equipment, the bent plate lifting system and method can achieve automatic feeding and discharging of the bent plate, the bent plate machining automation level is improved, and the labor intensity is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of plate hoisting operations, and in particular to a curved plate hoisting system and a hoisting method. Background Art

[0002] Traditional curved plate cold processing is to cut out the corresponding line shape according to the curved plate theoretical model, and then make a special mold to bend and press the curved plate. Since there is no mass production in shipbuilding, the curved surface parts are different, so the special mold is costly and inefficient. The multi-point forming equipment can freely adjust the height of each column head, which becomes an efficient curved plate cold processing method. The multi-point forming equipment curved plate processing includes one-way mold adjustment, curved plate lifting, upper mold pressure, curved plate detection, curved plate blanking and other processes.

[0003] Delivering the curved plate to the processing station accurately and efficiently is an important part of the curved plate multi-point forming process. In order to quickly select the appropriate lifting system and lifting method, and to cover the feeding requirements of all types of curved plates, it is necessary to set up two forms of adsorption: hook and magnetic device. The magnetic device can automatically control the lifting point through software, but when the curvature of the lifting point position is too large, the magnetic device cannot lift the curved plate, and the operator needs to hang the hook on the curved plate for lifting. The selection of the two options and the arrangement of the lifting points for each option require continuous attempts by the operator. Due to the lack of theoretical data calculation, manual experience judgment alone is used, which not only wastes time but also poses a risk of falling.

[0004] To this end, it is necessary to design an efficient lifting system and lifting method, analyze the most suitable lifting plan, and minimize manual operation. Summary of the invention

[0005] In view of the above-mentioned shortcomings of the prior art, the present invention provides a curved plate lifting system, comprising:

[0006] The curved plate information import module is used to input the basic information of the curved plate, including the curved plate design surface data, curved plate thickness, surface area, and material;

[0007] The curved plate data scanning module uses the industrial camera on the lifting equipment to scan the curved plate surface, obtains the point cloud data of the current shape of the curved plate, and converts it into data in the coordinate system of the multi-point forming equipment;

[0008] The magnetic suspension point calculation module arranges the magnetic suspension points on the curved plate according to the length of the curved plate, and calculates the coordinate values ​​of the magnetic suspension points and the load-bearing force of each magnetic suspension point;

[0009] The magnetic lifting point analysis module obtains the magnetic force attenuation coefficient of the magnetic device at the location of the magnetic lifting point according to the gap between the magnetic device and the curved plate surface, and calculates the actual adsorption force between the magnetic device and the curved plate surface; when the adsorption force of the magnetic device exceeds the load-bearing force of the lifting point, the magnetic device is used for lifting, otherwise the hook is used for lifting;

[0010] The hook hanging point calculation module calculates the position coordinates of the hook hanging point according to the length of the curved plate;

[0011] The lifting plan generation module calculates the translation distance of the lifting equipment according to the lifting position of the lifting equipment, the current position of the curved plate and the position of the curved plate at the processing station;

[0012] The lifting equipment execution module executes the curved plate lifting according to the lifting equipment translation distance provided by the lifting plan generation module.

[0013] Optionally, the magnetic attraction device is a magnetic suction cup.

[0014] The present invention also provides a lifting method using the curved plate lifting system, comprising the following steps:

[0015] S1: Two lifting trolleys are provided, each of which is equipped with three lifting devices arranged along the length direction. The length of the lifting trolley is S. The first lifting device and the third lifting device are arranged at both ends of the lifting trolley. The distance between the second lifting device and the first lifting device is S / 4. The three lifting devices can move along the width direction.

[0016] S2: Input the basic information of the curved plate in the curved plate information import module; scan the curved plate surface with the industrial camera on the lifting equipment through the curved plate data scanning module to obtain the point cloud data of the current shape of the curved plate, and convert it into coordinate data in the coordinate system of the multi-point forming equipment to calculate the center of gravity of the curved plate. The weight of the curved plate is G;

[0017] Select the midpoint O1 of the first short side of the curved plate, select the midpoint O2 of the second short side of the curved plate opposite to the first short side, O1, O2 and the center of gravity O form a plane, the plane intersects with the curved plate to form the center line O1O2 of the curved plate, the total length is L, the first intersection line formed by the plane passing through the center of gravity O and perpendicular to the center line O1O2 of the curved plate and the curved plate is E1E1', the total length is L';

[0018] S3: Using the magnetic suspension point calculation module, arrange magnetic suspension points on the curved plate according to the length of the curved plate, and calculate the coordinate values ​​of the suspension points and the force on each suspension point.

[0019] Optionally, the arrangement method of the magnetic suspension points in step S3 is:

[0020] When L≤S / 4, a single lifting point is used to connect with the second lifting device of the first lifting trolley, and the lifting point is set at the center of gravity of the curved plate;

[0021] When S / 4<L≤3S / 4, two lifting points are used. The two lifting points are arranged on the center line of the curved plate and symmetrically located on both sides of the center of gravity. The two lifting points are respectively connected to the first lifting device and the second lifting device of the first lifting trolley;

[0022] When 3S / 4<L≤S, two lifting points are used. The lifting points are arranged on the center line of the curved plate and symmetrically located on both sides of the center of gravity. The two lifting points are respectively connected to the second lifting device and the third lifting device of the first lifting trolley;

[0023] When S<L≤3S / 2, three lifting points are used, wherein the first lifting point is arranged on the center line of the curved plate on the left side of the first intersection line and is 7S / 12 away from the center of gravity, the second lifting point and the third lifting point are both located on the right side of the first intersection line, the second lifting point and the third lifting point are arranged on both sides of the center line of the curved plate and are L' / 4 away from the center line of the curved plate, the distance between the second lifting point and the first intersection line is S / 6, the distance between the third lifting point and the first intersection line is 5S / 12, the first lifting point, the second lifting point, and the third lifting point are connected to the third lifting device, the second lifting device, and the first lifting device of the first lifting trolley respectively;

[0024] When 3S / 2<L≤2S, four lifting points are used, wherein the first lifting point and the second lifting point are both located on the left side of the first intersection line, the first lifting point and the second lifting point are arranged on both sides of the center line of the curved plate and are L' / 4 away from the center line of the curved plate, the distance between the second lifting point and the first intersection line is L / 4-S / 8, and the distance between the first lifting point and the first intersection line is L / 4-+S / 8; the third lifting point and the second lifting point are symmetrical about the first intersection line, and the fourth lifting point and the first lifting point are symmetrical about the first intersection line; the first lifting point and the second lifting point are respectively connected to the second lifting device and the first lifting device of the first lifting trolley, and the third lifting point and the fourth lifting point are respectively connected to the first lifting device and the second lifting device of the second lifting trolley;

[0025] When 2S<L≤5S / 2, four lifting points are used, wherein the first lifting point and the second lifting point are both located on the left side of the first intersection line, the first lifting point and the second lifting point are arranged on both sides of the center line of the curved plate and are L' / 4 away from the center line of the curved plate, the distance between the second lifting point and the first intersection line is S / 8, the distance between the first lifting point and the first intersection line is S7 / 8, the third lifting point and the second lifting point are symmetrical about the first intersection line, and the fourth lifting point and the first lifting point are symmetrical about the first intersection line; the first lifting point, the second lifting point and the third lifting point are respectively connected to the third lifting device, the second lifting device and the first lifting device of the first lifting trolley, and the fourth lifting point is connected to the first lifting device of the second lifting trolley;

[0026] When 5S / 2<L, six lifting points of two lifting trolleys are used at the same time, among which the first lifting point, the second lifting point and the third lifting point are all located on the left side of the first intersection line, the first lifting point is located on the center line of the curved plate and is L / 4+7S / 12 away from the first intersection line, the second lifting point and the third lifting point are arranged on both sides of the center line of the curved plate and are L' / 4 away from the center line of the curved plate, the distance between the second lifting point and the first intersection line is L / 4-S / 6, and the distance between the third lifting point and the first intersection line is L / 4-5S / 12; the first lifting point, the second lifting point and the third lifting point are symmetrical with the sixth lifting point, the fifth lifting point and the fourth lifting point respectively about the first intersection line; the first lifting point, the second lifting point and the third lifting point are respectively connected to the third lifting fixture, the second lifting fixture and the first lifting fixture of the first lifting trolley, and the fourth lifting point, the fifth lifting point and the sixth lifting point are respectively connected to the first lifting fixture, the second lifting fixture and the third lifting fixture of the second lifting trolley.

[0027] Optionally, the method further comprises step S4:

[0028] Use the suspension point force analysis module to obtain the magnetic force attenuation coefficient of the magnetic suction device at the suspension point location according to the gap between the magnetic suction cup and the curved surface, f = f(c), where f is the effective magnetic force and c is the distance between the gap between the magnetic suction cup and the curved plate surface;

[0029] l is the diameter of the magnetic chuck, and R is the curvature radius of the hanging point position fitted according to the point cloud data.

[0030] Optionally, the method further comprises step S5:

[0031] Determine the load-bearing force of the lifting point and the adsorption force of the magnetic suction cup; when the adsorption force of the magnetic suction cup exceeds the actual load-bearing force of the lifting point, use the magnetic suction cup as a lifting device for lifting, and enter step S7; otherwise, use the hook as a lifting device for lifting, and enter step S6.

[0032] Optionally, the method further includes step S6: using a hook lifting point calculation module to calculate the lifting point position coordinates when the lifting device adopts a hook, and the hook arrangement steps are as follows:

[0033] When L≤S / 4, a single lifting point is used, which is set at the center point O of the curved plate and connected to the second lifting device of the first lifting trolley;

[0034] When S / 4<L≤3S / 4, two lifting points are used, the two lifting points are located at O1 and O2, and the two lifting points are respectively connected to the first lifting device and the second lifting device of the first lifting trolley;

[0035] When 3S / 4<L≤S, two lifting points are used, the two lifting points are located at O1 and O2, and the two lifting points are connected to the second lifting device and the third lifting device of the first lifting trolley respectively;

[0036] When S<L≤3S / 2, three lifting points are used, the second lifting point is located at point E1', the first lifting point and the third lifting point are located at the long side of the curved plate where point E1 is located, the first lifting point and the third lifting point are located on the left and right sides of the first intersection line respectively, the first lifting point is 3S / 4 away from the first intersection line, and the third lifting point is S / 4 away from the first intersection line; the first lifting point, the second lifting point, and the third lifting point are connected to the third lifting device, the second lifting device, and the first lifting device of the first lifting trolley respectively;

[0037] When 3S / 2<L≤5S / 2, four lifting points are used, the first lifting point and the second lifting point are located on the left side of the first intersection line, the first lifting point is located on the long side of the curved plate where point E1 is located and is L / 4+S / 8 away from the center line of the curved plate, the second lifting point is located on the long side of the curved plate where point E1' is located and is L / 4-S / 8 away from the center line of the curved plate, the first lifting point and the second lifting point are symmetrically distributed with the fourth lifting point and the third lifting point about the center line of the curved plate respectively; the first lifting point and the second lifting point are connected to the second lifting device and the first lifting device of the first lifting trolley respectively; the third lifting point and the fourth lifting point are connected to the first lifting device and the second lifting device of the second lifting trolley respectively;

[0038] When 5S / 2<L, six lifting points of two lifting trolleys are used at the same time, among which the first lifting point, the second lifting point and the third lifting point are all located on the left side of the first intersection line, the first lifting point is located at point O1 and is L / 2 away from the first intersection line, the second lifting point and the third lifting point are respectively arranged on the long side where E1 is located and the long side where E1' is located, the second lifting point is L / 2-3S / 4 away from the first intersection line, the third lifting point is L / 2-S away from the first intersection line, the first lifting point, the second lifting point and the third lifting point are respectively symmetrical with the fifth lifting point, the sixth lifting point and the fourth lifting point about the first intersection line; the first lifting point, the second lifting point and the third lifting point are respectively connected to the third lifting fixture, the second lifting fixture and the first lifting fixture of the first lifting trolley, and the fourth lifting point, the fifth lifting point and the sixth lifting point are respectively connected to the first lifting fixture, the second lifting fixture and the third lifting fixture of the second lifting trolley.

[0039] Optionally, step S7 is also included: using a lifting plan generation module to calculate the translation distance of lifting the curved plate from the current position to the processing station according to the lifting position of the lifting equipment, the current position of the curved plate and the position of the curved plate at the processing station.

[0040] Optionally, step S7 specifically includes:

[0041] Calculate the position of the curved plate at the processing station according to the processing technology, including the center of gravity position Ot (Xt, Yt, Zt) of the curved plate at the processing station, the midpoint Ot1 of the first short side, and the midpoint Ot2 of the second short side;

[0042] When the curved plate is hoisted to the processing station, there is a posture adjustment of rotation around the center point, and there is an angle θ between the straight line Ot1Ot2 of the processing station and the straight line O1O2 of the current state;

[0043] Calculate the translation distance of the suspension point. The translation distance of the trolley in the X direction is: The translation distance in the Y direction is The translation distance in the Z direction is

[0044] Optionally, the method further includes step S8: using a lifting equipment execution module to execute the curved plate lifting according to the lifting equipment translation distance provided by the lifting scheme, specifically including:

[0045] Move the lifting trolley horizontally to the top of the curved plate, and according to the length of the curved plate, move the lifting device horizontally to the top of the corresponding lifting point;

[0046] The sling is lowered to the lifting point, and all lifting points rise to a height of △Z at the same time;

[0047] The suspension point is translated along the Y axis by △Y;

[0048] The car moves △X along the X direction;

[0049] The curved plate reaches the target position of the processing station and the lifting of the curved plate is completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 Shown is a schematic diagram of the modules of the lifting system in the first embodiment of the present invention.

[0051] Figure 2 Shown is a schematic diagram of the structure of the lifting trolley in the second embodiment of the present invention.

[0052] Figure 3 It is a schematic diagram showing the positions of O1, O2 and the center of gravity O in the second embodiment of the present invention.

[0053] Figures 4 to 9 Shown is a schematic diagram of magnetic suspension points corresponding to different curved plate lengths in the second embodiment of the present invention.

[0054] Fig.10 It is a schematic diagram showing the contact between the magnetic suction cup and the curved plate surface in the second embodiment of the present invention.

[0055] Figures 11 to 14 Shown is a schematic diagram of the hook suspension points corresponding to different curved plate lengths in the second embodiment of the present invention.

[0056] Fig.15 It is a schematic diagram showing the rotation angle θ of the curved plate during hoisting in the second embodiment of the present invention.

[0057] Fig.16 It shows a schematic diagram of the forces when three hanging points are used in the second embodiment of the present invention.

[0058] Component number description

[0059] 121 Curved plate information import module

[0060] 122 curved plate data scanning module

[0061] 123 Magnetic Suspension Point Calculation Module

[0062] 124 Magnetic Suspension Point Analysis Module

[0063] 125 Hook lifting point calculation module

[0064] 126 Lifting plan generation module

[0065] 127 Lifting equipment execution module

[0066] 10 First Lifting Trolley

[0067] 20 Second lifting trolley

[0068] 11 First spreader

[0069] 12 Second lifting device

[0070] 13 Third lifting device DETAILED DESCRIPTION

[0071] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0072] For example, when describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional view showing the device structure will not be partially enlarged according to the general scale, and the schematic view is only an example, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional space dimensions of length, width and depth should be included.

[0073] For ease of description, spatial relational terms such as "under", "below", "below", "below", "above", "on", etc. may be used herein to describe the relationship of one element or feature shown in the drawings to other elements or features. It will be understood that these spatial relational terms are intended to include other directions of the device in use or operation in addition to the directions depicted in the drawings. In addition, when a layer is referred to as being "between" two layers, it can be the only layer between the two layers, or there can be one or more intervening layers. As used herein, "between..." means including the end point values.

[0074] In the context of the present application, a structure in which a first feature is described as being "above" a second feature may include embodiments in which the first and second features are formed in direct contact, and may also include embodiments in which additional features are formed between the first and second features, such that the first and second features may not be in direct contact.

[0075] It should be noted that the illustrations provided in this embodiment are only used to illustrate the basic concept of the present invention in a schematic manner, and therefore the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0076] Embodiment 1

[0077] This embodiment provides a curved plate lifting system, such as Figure 1 As shown, specifically including:

[0078] The curved plate information import module 121 is used to input the basic information of the curved plate, including the curved plate design surface data, curved plate thickness, surface area, material, etc.

[0079] The curved plate data scanning module 122 uses the industrial camera on the lifting equipment to scan the curved plate surface, obtains the point cloud data of the current shape of the curved plate, and converts it into data in the coordinate system of the multi-point forming equipment;

[0080] A magnetic suspension point calculation module 123 is used to arrange magnetic suspension points on the curved plate according to the length of the curved plate, and calculate the coordinate values ​​of the magnetic suspension points and the load-bearing force of each magnetic suspension point;

[0081] The magnetic suspension point analysis module 124 obtains the magnetic force attenuation coefficient of the magnetic suspension point according to the gap between the magnetic suspension device and the curved plate surface, and calculates the actual adsorption force between the magnetic suspension device and the curved plate surface; when the adsorption force of the magnetic suspension device exceeds the load-bearing force of the suspension point, the magnetic suspension device is used for lifting, otherwise, the hook is used for lifting. The magnetic suspension device is a magnetic suction cup.

[0082] The hook hanging point calculation module 125 is used to calculate the position coordinates of the hook hanging point according to the length of the curved plate.

[0083] The lifting plan generation module 126 calculates the translation distance of the lifting equipment according to the lifting position of the lifting equipment, the current position of the curved plate and the position of the curved plate at the processing station.

[0084] The lifting equipment execution module 127 executes the curved plate lifting according to the lifting equipment translation distance provided by the lifting plan generation module 126 .

[0085] Embodiment 2

[0086] Based on the lifting system in the first embodiment, this embodiment provides a method for lifting a curved plate, comprising the following steps:

[0087] S1: Provide two lifting trolleys, such as Figure 2 As shown, each lifting trolley is equipped with three slings arranged along the length direction. The length of the lifting trolley is S. The first sling and the third sling are arranged at both ends of the lifting trolley. The distance between the second sling and the first sling is S / 4. The three slings can all move along the width direction.

[0088] S2: Inputting the basic information of the curved plate such as the curved plate design surface data, curved plate thickness, surface area, material, etc. into the curved plate information importing module 121;

[0089] The curved plate data scanning module 122 uses an industrial camera on the lifting equipment to scan the curved plate surface, obtains the point cloud data of the current shape of the curved plate, and converts it into data in the coordinate system of the multi-point forming equipment. The specific steps are as follows:

[0090] 1. Establish a processing coordinate system, with the first processing column head of the multi-point forming equipment as the coordinate origin, along the horizontal direction (that is, the length direction of the lifting trolley) as the X direction, the longitudinal direction (that is, the width direction of the lifting trolley) as the Y direction, and the lowest point of the column head as the height Z direction zero point. Input the basic information of the curved plate such as the curved plate design surface data, curved plate thickness, surface area, material, etc., and convert the theoretical data of the curved plate into the processing coordinates.

[0091] 2. Start the curved plate data scanning module on the feeding device, collect the three-dimensional point cloud data of the curved plate, and obtain the curved plate point cloud coordinates in the processing coordinate system.

[0092]

[0093] 3. Calculate the center of gravity of the curved plate based on the point cloud coordinates

[0094]

[0095] Where: a: point cloud spacing.

[0096] 4. Calculate the weight of the curved plate: G = ρ*S*t, where

[0097] ρ: Steel plate density, inherent properties of the material

[0098] S: curved plate scanning surface area

[0099] t: Design thickness of curved plate

[0100] 5. Calculate the center line of the curved plate, such as Figure 3 shown.

[0101] Select the midpoint O1 of the first short side AD of the curved plate, and select the midpoint O2 of the second short side BC of the curved plate opposite to the first short side AD. O1, O2 and the center of gravity point O form a plane, and the plane intersects with the curved plate to form the center line O1O2 of the curved plate, with a total length of L. The first intersection line formed by the plane passing through the center of gravity point O and perpendicular to the center line O1O2 of the curved plate and the curved plate is E1E1', with a total length of L'.

[0102] Next, step S3 is performed: using the magnetic suspension point calculation module 123, arranging magnetic suspension points on the curved plate according to the length of the curved plate, calculating the coordinate values ​​of the suspension points and the force of each suspension point, and the specific steps are as follows:

[0103] 1. When L≤S / 4, if Figure 4 As shown, a single lifting point is used to connect with the second lifting device of the first lifting trolley, the lifting point is set at the center of gravity of the curved plate, and the lifting point is subjected to a force F=G.

[0104] 2. When S / 4<L≤3S / 4, if Figure 5 As shown, two lifting points are used, the two lifting points are arranged on the center line of the curved plate and symmetrically located on both sides of the center of gravity, the two lifting points are respectively connected to the first lifting device and the second lifting device of the first lifting trolley, and each lifting point is subjected to a force F=G / 2.

[0105] 3. When 3S / 4<L≤S, if Figure 5 As shown, two lifting points are used, which are arranged on the center line of the curved plate and symmetrically located on both sides of the center of gravity. The two lifting points are respectively connected to the second lifting device and the third lifting device of the first lifting trolley, and each lifting point is subjected to a force F=G / 2.

[0106] 4. When S<L≤3S / 2, if Figure 6 As shown, three lifting points are used, wherein the first lifting point is arranged on the center line of the curved plate on the left side of the first intersection line and is 7S / 12 away from the center of gravity, the second lifting point and the third lifting point are both located on the right side of the first intersection line, the second lifting point and the third lifting point are arranged on both sides of the center line of the curved plate and are L' / 4 away from the center line of the curved plate, the distance between the second lifting point and the first intersection line is S / 6, the distance between the third lifting point and the first intersection line is 5S / 12, the first lifting point, the second lifting point and the third lifting point are respectively connected to the third lifting fixture, the second lifting fixture and the first lifting fixture of the first lifting trolley, and each lifting point is subjected to a force F=G / 3.

[0107] 5. When 3S / 2<L≤2S, if Figure 7 As shown, four hanging points are used, wherein the first hanging point and the second hanging point are both located on the left side of the first intersection line, the first hanging point and the second hanging point are arranged on both sides of the center line of the curved plate and are L' / 4 away from the center line of the curved plate, the distance between the second hanging point and the first intersection line is L / 4-S / 8, and the distance between the first hanging point and the first intersection line is L / 4-+S / 8. The third hanging point is symmetrical with the second hanging point about the first intersection line, and the fourth hanging point is symmetrical with the first hanging point about the first intersection line;

[0108] The first lifting point and the second lifting point are connected to the second lifting device and the first lifting device of the first lifting trolley respectively, and the third lifting point and the fourth lifting point are connected to the first lifting device and the second lifting device of the second lifting trolley respectively. The two trolleys are located on the left and right sides of the center of gravity respectively, and the lifting points of each trolley are on both sides of the center line, and each lifting point is subjected to a force F=G / 4.

[0109] 6. When 2S<L≤5S / 2, if Figure 8 As shown, four hanging points are used, wherein the first hanging point and the second hanging point are both located on the left side of the first intersection line, the first hanging point and the second hanging point are arranged on both sides of the center line of the curved plate and are L' / 4 away from the center line of the curved plate, the distance between the second hanging point and the first intersection line is S / 8, and the distance between the first hanging point and the first intersection line is S7 / 8. The third hanging point is symmetrical with the second hanging point about the first intersection line, and the fourth hanging point is symmetrical with the first hanging point about the first intersection line;

[0110] The first lifting point, the second lifting point and the third lifting point are respectively connected to the third lifting device, the second lifting device and the first lifting device of the first lifting trolley, and the fourth lifting point is connected to the first lifting device of the second lifting trolley. Each lifting point is subjected to a force F=G / 4.

[0111] 7. When 5S / 2<L, if Fig. 9 As shown, two lifting trolleys and six lifting points are used at the same time, among which the first lifting point, the second lifting point and the third lifting point are all located on the left side of the first intersection line, the first lifting point is located on the center line of the curved plate and is L / 4+7S / 12 away from the first intersection line, the second lifting point and the third lifting point are arranged on both sides of the center line of the curved plate and are L' / 4 away from the center line of the curved plate, the distance between the second lifting point and the first intersection line is L / 4-S / 6, and the distance between the third lifting point and the first intersection line is L / 4-5S / 12. The first lifting point, the second lifting point, and the third lifting point are symmetrical with the sixth lifting point, the fifth lifting point, and the fourth lifting point respectively about the first intersection line.

[0112] The first lifting point, the second lifting point and the third lifting point are respectively connected to the third lifting device, the second lifting device and the first lifting device of the first lifting trolley, and the fourth lifting point, the fifth lifting point and the sixth lifting point are respectively connected to the first lifting device, the second lifting device and the third lifting device of the second lifting trolley, and each lifting point is subjected to a force F=G / 6.

[0113] Next, step S4 is performed: using the suspension point force analysis module 124, the magnetic force attenuation coefficient of the magnetic suction device at the suspension point is obtained according to the gap between the magnetic suction cup and the curved surface, and the magnetic force actually generated by the suspension point when the suspension device adopts the magnetic suction cup is calculated.

[0114] 1. Establish the magnetic force function of the magnetic device, such as Fig.10As shown, since the curved plate is being lifted, the magnetic suction device cannot fit completely with the surface of the curved plate, and the magnetic force will decay. The magnetic force decay has a functional relationship with the distance between the magnetic suction cup and the gap of the curved plate, that is, f=f(c), where f is the effective magnetic force and c is the distance between the magnetic suction cup and the gap of the curved plate.

[0115] 2. According to the point cloud data, the curvature radius R of the hanging point position can be fitted, then

[0116] l is the diameter of the magnetic chuck.

[0117] Next, step S5 is performed: judging the actual force of the lifting point and the magnetic force of the magnetic chuck. When the magnetic force of the magnetic chuck exceeds the actual force of the lifting point, the magnetic chuck is used for lifting, and step S7 is performed; otherwise, the hook is used for lifting, and step S6 is performed.

[0118] Step S6: Use the hook suspension point calculation module 125 to calculate the suspension point position coordinates when the sling adopts a hook. The hook arrangement steps are as follows:

[0119] 1. When L≤S / 4, use a single lifting point, which is set at the center point O of the curved plate and connected to the second lifting device of the first lifting trolley.

[0120] 2. When S / 4<L≤3S / 4, if Fig.11 As shown, two lifting points are used, the two lifting points are located at O1 and O2, and the two lifting points are respectively connected to the first lifting device and the second lifting device of the first lifting trolley.

[0121] 3. When 3S / 4<L≤S, if Fig.11 As shown, two lifting points are used, the two lifting points are located at O1 and O2, and the two lifting points are respectively connected to the second lifting device and the third lifting device of the first lifting trolley.

[0122] 4. When S<L≤3S / 2, if Fig.12 As shown, three lifting points are used, the second lifting point is located at point E1', the first lifting point and the third lifting point are located at the long side of the curved plate where point E1 is located, the first lifting point and the third lifting point are located on the left and right sides of the first intersection line respectively, the first lifting point is 3S / 4 away from the first intersection line, and the third lifting point is S / 4 away from the first intersection line. The first lifting point, the second lifting point, and the third lifting point are connected to the third lifting device, the second lifting device, and the first lifting device of the first lifting trolley respectively.

[0123] 5. When 3S / 2<L≤5S / 2, if Fig.13As shown, four lifting points are used, the first lifting point and the second lifting point are located on the left side of the first intersection line, the first lifting point is located on the long side of the curved plate where point E1 is located and is L / 4+S / 8 away from the center line of the curved plate, the second lifting point is located on the long side of the curved plate where point E1' is located and is L / 4-S / 8 away from the center line of the curved plate, the first lifting point and the second lifting point are symmetrically distributed with the fourth lifting point and the third lifting point about the center line of the curved plate. The first lifting point and the second lifting point are connected to the second lifting device and the first lifting device of the first lifting trolley respectively; the third lifting point and the fourth lifting point are connected to the first lifting device and the second lifting device of the second lifting trolley respectively.

[0124] 6. When 5S / 2<L, if Fig.14 As shown, two lifting trolleys and six lifting points are used at the same time, among which the first lifting point, the second lifting point and the third lifting point are all located on the left side of the first intersection line, the first lifting point is located at point O1 and is L / 2 away from the first intersection line, the second lifting point and the third lifting point are respectively arranged on the long side where E1 is located and the long side where E1' is located, the second lifting point is L / 2-3S / 4 away from the first intersection line, the third lifting point is L / 2-S away from the first intersection line, and the first lifting point, the second lifting point and the third lifting point are symmetrical with the fifth lifting point, the sixth lifting point and the fourth lifting point about the first intersection line.

[0125] The first lifting point, the second lifting point and the third lifting point are respectively connected to the third lifting device, the second lifting device and the first lifting device of the first lifting trolley, and the fourth lifting point, the fifth lifting point and the sixth lifting point are respectively connected to the first lifting device, the second lifting device and the third lifting device of the second lifting trolley.

[0126] It should be noted that, due to the advantages of rapid clamping, quick and easy operation, no damage to the workpiece, and easy automatic control, the present invention preferably uses a magnetic chuck to lift the curved plate. Only when the magnetic chuck is calculated to have insufficient adsorption force in step S4, a hook is used for lifting. After the lifting device and the corresponding lifting point are determined, the subsequent lifting process of step S7 is carried out:

[0127] S7: Using the lifting plan generation module 126, according to the lifting position of the lifting equipment, the current position of the curved plate and the position of the curved plate at the processing station, calculate the translation distance of lifting the curved plate from the current position to the processing station. The specific steps are as follows:

[0128] 1. Calculate the position of the curved plate at the processing station according to the processing technology, including the center of gravity position Ot (Xt, Yt, Zt) of the curved plate at the processing station, the midpoint Ot1 of the first short side AD, and the midpoint Ot2 of the second short side BC;

[0129] 2. When the curved plate is hoisted to the processing station, it will rotate slightly around the center point to adjust its posture to meet the processing requirements. There is an angle θ between the straight line Ot1Ot2 of the processing station and the straight line O1O2 of the current state.

[0130] 3. Calculate the translation distance of the lifting point. The translation distance of the trolley in the X direction is The translation distance in the Y direction is The translation distance in the Z direction is Where: H is the distance from the hanging point to the first intersection line E1E1', a positive value indicates the same direction as the coordinate axis, and a negative value indicates the opposite direction to the coordinate value; the rotation of the curved plate around the center point is achieved through the movement of H*tanθ. Fig.15 As shown, taking the midpoint of AD as an example, the distance from the first intersection line is H. Considering the rotation angle θ, in addition to calculating the translation distance from the current position to the processing station It is also necessary to calculate the movement amount of H*tanθ to achieve the purpose of rotation, so as to meet the posture requirements. It should be understood that different points correspond to different H values, and each needs to be calculated separately.

[0131] Next, step S8 is performed: using the lifting equipment execution module 127 to execute the curved plate lifting according to the lifting equipment translation distance provided by the lifting plan.

[0132] 1. Move the lifting trolley horizontally to the top of the curved plate, and according to the length of the curved plate, move the lifting device horizontally to the top of the corresponding lifting point;

[0133] 2. The sling is lowered to the lifting point, and all lifting points rise to a height of △Z at the same time;

[0134] 3. The lifting point moves horizontally along the Y axis by △Y;

[0135] 4. The car moves horizontally △X along the X direction;

[0136] 5. The curved plate reaches the target position and the lifting of the curved plate is completed.

[0137] As an example, Fig.16 As shown, here we take three hanging points as an example to analyze the hanging point stress:

[0138] The forces on the hanging points 1, 2, and 3 are F1, F2, and F3 respectively, and the gravity of the curved plate is G, then:

[0139] F1+F2+F3=G

[0140] In the O1O2 direction, F1*(7 / 12S)=(F2+F3)*(1 / 6S+(1 / 4S) / 2)

[0141] In the E1E1' direction, F2*(L' / 4)=F3*(L' / 4)

[0142] In summary: F1=F2=F3=G / 3, it can be seen that the force on each hanging point is uniform when arranged as shown in the diagram.

[0143] In summary, the present invention provides a curved plate lifting system and lifting method. When lifting the curved plate, a three-dimensional point cloud measuring device is first used to scan the surface of the curved plate, and the lifting point position is arranged according to the length of the curved plate. The curvature radius at the lifting point is fitted according to the point cloud data, and it is determined whether a magnetic suction device can be used for lifting according to the curvature radius. If it meets the requirements, the magnetic suction device is used for lifting, otherwise a hook is used for lifting, and a feeding device is driven to adjust the posture of the curved plate, and the curved plate is sent to the processing station of the multi-point forming equipment. The curved plate lifting system and lifting method of the present application can realize automatic loading and unloading of the curved plate, improve the automation level of curved plate processing, and reduce labor intensity.

[0144] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A curved plate lifting system, characterized in that: include: The curved plate information import module is used to input the basic information of the curved plate, including the curved plate design surface data, curved plate thickness, surface area, and material; The curved plate data scanning module uses the industrial camera on the lifting equipment to scan the curved plate surface, obtains the point cloud data of the current shape of the curved plate, and converts it into data in the coordinate system of the multi-point forming equipment; The magnetic suspension point calculation module arranges the magnetic suspension points on the curved plate according to the length of the curved plate, and calculates the coordinate values ​​of the magnetic suspension points and the load-bearing force of each magnetic suspension point; The magnetic lifting point analysis module obtains the magnetic force attenuation coefficient of the magnetic device at the location of the magnetic lifting point according to the gap between the magnetic device and the curved plate surface, and calculates the actual adsorption force between the magnetic device and the curved plate surface; when the adsorption force of the magnetic device exceeds the load-bearing force of the lifting point, the magnetic device is used for lifting, otherwise the hook is used for lifting; The hook hanging point calculation module calculates the position coordinates of the hook hanging point according to the length of the curved plate; The lifting plan generation module calculates the translation distance of the lifting equipment according to the lifting position of the lifting equipment, the current position of the curved plate and the position of the curved plate at the processing station; The lifting equipment execution module executes the curved plate lifting according to the lifting equipment translation distance provided by the lifting plan generation module.

2. The curved plate lifting system according to claim 1, characterized in that: The magnetic suction device is a magnetic suction cup.

3. A lifting method using the curved plate lifting system according to any one of claims 1-2, characterized in that: The steps include: S1: Two lifting trolleys are provided, each of which is equipped with three lifting devices arranged along the length direction. The length of the lifting trolley is S. The first lifting device and the third lifting device are arranged at both ends of the lifting trolley. The distance between the second lifting device and the first lifting device is S / 4. The three lifting devices can move along the width direction. S2: Input the basic information of the curved plate in the curved plate information import module; scan the curved plate surface with the industrial camera on the lifting equipment through the curved plate data scanning module to obtain the point cloud data of the current shape of the curved plate, and convert it into coordinate data in the coordinate system of the multi-point forming equipment to calculate the center of gravity of the curved plate. Weight of curved plate G; Select the midpoint O1 of the first short side of the curved plate, select the midpoint O2 of the second short side of the curved plate opposite to the first short side, O1, O2 and the center of gravity O form a plane, the plane intersects with the curved plate to form the center line O1O2 of the curved plate, the total length is L, the first intersection line formed by the plane passing through the center of gravity O and perpendicular to the center line O1O2 of the curved plate and the curved plate is E1E1', the total length is L'; S3: Using the magnetic suspension point calculation module, arrange magnetic suspension points on the curved plate according to the length of the curved plate, and calculate the coordinate values ​​of the suspension points and the force on each suspension point.

4. The lifting method according to claim 3, characterized in that: The arrangement method of the magnetic suspension points in step S3 is: When L≤S / 4, a single lifting point is used to connect with the second lifting device of the first lifting trolley, and the lifting point is set at the center of gravity of the curved plate; When S / 4<L≤3S / 4, two lifting points are used. The two lifting points are arranged on the center line of the curved plate and symmetrically located on both sides of the center of gravity. The two lifting points are respectively connected to the first lifting device and the second lifting device of the first lifting trolley; When 3S / 4<L≤S, two lifting points are used. The lifting points are arranged on the center line of the curved plate and symmetrically located on both sides of the center of gravity. The two lifting points are respectively connected to the second lifting device and the third lifting device of the first lifting trolley; When S<L≤3S / 2, three lifting points are used, wherein the first lifting point is arranged on the center line of the curved plate on the left side of the first intersection line and is 7S / 12 away from the center of gravity, the second lifting point and the third lifting point are both located on the right side of the first intersection line, the second lifting point and the third lifting point are arranged on both sides of the center line of the curved plate and are L' / 4 away from the center line of the curved plate, the distance between the second lifting point and the first intersection line is S / 6, the distance between the third lifting point and the first intersection line is 5S / 12, the first lifting point, the second lifting point, and the third lifting point are connected to the third lifting device, the second lifting device, and the first lifting device of the first lifting trolley respectively; When 3S / 2<L≤2S, four lifting points are used, wherein the first lifting point and the second lifting point are both located on the left side of the first intersection line, the first lifting point and the second lifting point are arranged on both sides of the center line of the curved plate and are L' / 4 away from the center line of the curved plate, the distance between the second lifting point and the first intersection line is L / 4-S / 8, and the distance between the first lifting point and the first intersection line is L / 4-+S / 8; the third lifting point and the second lifting point are symmetrical about the first intersection line, and the fourth lifting point and the first lifting point are symmetrical about the first intersection line; the first lifting point and the second lifting point are respectively connected to the second lifting device and the first lifting device of the first lifting trolley, and the third lifting point and the fourth lifting point are respectively connected to the first lifting device and the second lifting device of the second lifting trolley; When 2S<L≤5S / 2, four lifting points are used, wherein the first lifting point and the second lifting point are both located on the left side of the first intersection line, the first lifting point and the second lifting point are arranged on both sides of the center line of the curved plate and are L' / 4 away from the center line of the curved plate, the distance between the second lifting point and the first intersection line is S / 8, the distance between the first lifting point and the first intersection line is S7 / 8, the third lifting point and the second lifting point are symmetrical about the first intersection line, and the fourth lifting point and the first lifting point are symmetrical about the first intersection line; the first lifting point, the second lifting point and the third lifting point are respectively connected to the third lifting device, the second lifting device and the first lifting device of the first lifting trolley, and the fourth lifting point is connected to the first lifting device of the second lifting trolley; When 5S / 2<L, six lifting points of two lifting trolleys are used at the same time, among which the first lifting point, the second lifting point and the third lifting point are all located on the left side of the first intersection line, the first lifting point is located on the center line of the curved plate and is L / 4+7S / 12 away from the first intersection line, the second lifting point and the third lifting point are arranged on both sides of the center line of the curved plate and are L' / 4 away from the center line of the curved plate, the distance between the second lifting point and the first intersection line is L / 4-S / 6, and the distance between the third lifting point and the first intersection line is L / 4-5S / 12; the first lifting point, the second lifting point and the third lifting point are symmetrical with the sixth lifting point, the fifth lifting point and the fourth lifting point respectively about the first intersection line; the first lifting point, the second lifting point and the third lifting point are respectively connected to the third lifting fixture, the second lifting fixture and the first lifting fixture of the first lifting trolley, and the fourth lifting point, the fifth lifting point and the sixth lifting point are respectively connected to the first lifting fixture, the second lifting fixture and the third lifting fixture of the second lifting trolley.

5. The lifting method according to claim 4, characterized in that: The step S4 is also included: Use the suspension point force analysis module to obtain the magnetic force attenuation coefficient of the magnetic suction device at the suspension point location according to the gap between the magnetic suction cup and the curved surface, f = f(c), where f is the effective magnetic force and c is the distance between the gap between the magnetic suction cup and the curved plate surface; l is the diameter of the magnetic chuck, and R is the curvature radius of the hanging point position fitted according to the point cloud data.

6. The lifting method according to claim 5, characterized in that: The step S5 is also included: Determine the load-bearing force of the lifting point and the adsorption force f of the magnetic suction cup; when the adsorption force of the magnetic suction cup exceeds the actual load-bearing force of the lifting point, use the magnetic suction cup as a lifting device for lifting, and enter step S7; otherwise, use the hook as a lifting device for lifting, and enter step S6.

7. The lifting method according to claim 6, characterized in that: The method further includes step S6: using a hook lifting point calculation module to calculate the lifting point position coordinates when the lifting device adopts a hook, and the hook arrangement steps are as follows: When L≤S / 4, a single lifting point is used, which is set at the center point O of the curved plate and connected to the second lifting device of the first lifting trolley; When S / 4<L≤3S / 4, two lifting points are used, the two lifting points are located at O1 and O2, and the two lifting points are respectively connected to the first lifting device and the second lifting device of the first lifting trolley; When 3S / 4<L≤S, two lifting points are used, the two lifting points are located at O1 and O2, and the two lifting points are connected to the second lifting device and the third lifting device of the first lifting trolley respectively; When S<L≤3S / 2, three lifting points are used, the second lifting point is located at point E1', the first lifting point and the third lifting point are located at the long side of the curved plate where point E1 is located, the first lifting point and the third lifting point are located on the left and right sides of the first intersection line respectively, the first lifting point is 3S / 4 away from the first intersection line, and the third lifting point is S / 4 away from the first intersection line; the first lifting point, the second lifting point, and the third lifting point are connected to the third lifting device, the second lifting device, and the first lifting device of the first lifting trolley respectively; When 3S / 2<L≤5S / 2, four lifting points are used, the first lifting point and the second lifting point are located on the left side of the first intersection line, the first lifting point is located on the long side of the curved plate where point E1 is located and is L / 4+S / 8 away from the center line of the curved plate, the second lifting point is located on the long side of the curved plate where point E1' is located and is L / 4-S / 8 away from the center line of the curved plate, the first lifting point and the second lifting point are symmetrically distributed with the fourth lifting point and the third lifting point about the center line of the curved plate respectively; the first lifting point and the second lifting point are connected to the second lifting device and the first lifting device of the first lifting trolley respectively; the third lifting point and the fourth lifting point are connected to the first lifting device and the second lifting device of the second lifting trolley respectively; When 5S / 2<L, six lifting points of two lifting trolleys are used at the same time, among which the first lifting point, the second lifting point and the third lifting point are all located on the left side of the first intersection line, the first lifting point is located at point O1 and is L / 2 away from the first intersection line, the second lifting point and the third lifting point are respectively arranged on the long side where E1 is located and the long side where E1' is located, the second lifting point is L / 2-3S / 4 away from the first intersection line, the third lifting point is L / 2-S away from the first intersection line, the first lifting point, the second lifting point and the third lifting point are respectively symmetrical with the fifth lifting point, the sixth lifting point and the fourth lifting point about the first intersection line; the first lifting point, the second lifting point and the third lifting point are respectively connected to the third lifting fixture, the second lifting fixture and the first lifting fixture of the first lifting trolley, and the fourth lifting point, the fifth lifting point and the sixth lifting point are respectively connected to the first lifting fixture, the second lifting fixture and the third lifting fixture of the second lifting trolley.

8. The lifting method according to claim 7, characterized in that: The method also includes step S7: using a lifting plan generation module to calculate the translation distance of lifting the curved plate from the current position to the processing station according to the lifting position of the lifting equipment, the current position of the curved plate and the position of the curved plate at the processing station.

9. The lifting method according to claim 8, characterized in that: Step S7 specifically includes: The position of the curved plate at the processing station is calculated according to the processing technology, including the position of the center of gravity of the curved plate at the processing station Ot (Xt, Yt, Zt), the midpoint of the first short side Ot1, the midpoint of the second short side Ot2; When the curved plate is hoisted to the processing station, there is a posture adjustment of rotation around the center point, and there is an angle θ between the straight line Ot1Ot2 of the processing station and the straight line O1O2 of the current state; Calculate the translation distance of the suspension point. The translation distance of the trolley in the X direction is: The translation distance in the Y direction is △ The translation distance in the Z direction is 10. The lifting method according to claim 1, characterized in that: The step S8 is also included: using the lifting equipment execution module to execute the curved plate lifting according to the lifting equipment translation distance provided by the lifting plan, specifically including: Move the lifting trolley horizontally to the top of the curved plate, and according to the length of the curved plate, move the lifting device horizontally to the top of the corresponding lifting point; The sling is lowered to the lifting point, and all lifting points rise to a height of △Z at the same time; The suspension point is translated along the Y axis by △Y; The car moves △X along the X direction; The curved plate reaches the target position of the processing station and the lifting of the curved plate is completed.

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