An angle steel stamping device and its control method

Abstract

The present invention relates to the field of angle steel stamping processing, and discloses an angle steel stamping device and its control method, including a bed body, the bed body is slidably connected to a base, a coding machine unit is installed at the bottom of the bed body, the coding machine unit includes a plurality of coaxially arranged character disks and an adjustment mechanism for driving the character disks to rotate, a stamping unit is installed at the top of the bed body, the stamping unit includes a first stamping component, a second stamping component and a positioning and conveying mechanism, the first stamping component is used to push the angle steel to the character disk for stamping, and the second stamping component is used to adjust the pressure of different areas of the angle steel. The present invention realizes the automatic stamping of angle steel in the form of a combination of software and hardware, controls the segmented stamping through the stamping unit, replaces manual labor, realizes fine operation, improves the processing efficiency, and through the positioning and conveying mechanism, the conveying of the angle steel and the positioning before angle steel stamping are linked and controlled to ensure the consistency of the indentation and improve the ability of continuous production.

Description

Technical Field

[0001] The present invention relates to the field of angle steel stamping processing, and particularly to an angle steel marking stamping device and a control method thereof. Background Art

[0002] At present, before the angle steel leaves the factory, it needs to be marked on the surface. The common method is to engrave on the surface of the angle steel by stamping. However, the pressure of the oil cylinder cannot be adjusted. No matter whether the marking content is different or not, it is all at one pressure, resulting in inconsistent depths of the letter imprints and uneven quality. Moreover, the transportation of the angle steel requires precise positioning to ensure accurate marking. In this process, the probability of errors is increased and the fineness of the marking is reduced.

[0003] Therefore, there is an urgent need for an angle steel marking stamping device and a control method thereof to solve the above problems. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an angle steel marking stamping device and a control method thereof that can improve the marking quality and ensure consistent depths of the letter imprints.

[0005] An angle steel marking stamping device of the present invention includes a bed body, the bed body is slidably connected to a base, a coding machine unit is installed at the bottom of the bed body, the coding machine unit includes a plurality of coaxially arranged character disks and an adjusting mechanism for driving the character disks to rotate, a stamping unit is installed at the top of the bed body, and the stamping unit includes a first stamping component, a second stamping component and a positioning and conveying mechanism;

[0006] The first stamping component is used to push the angle steel to the character disk for marking, and it includes a first oil cylinder and a support seat. The first oil cylinder is fixedly connected to the support seat, the support seat is slidably connected to a connecting frame, the output end of the first oil cylinder is drivingly connected to the connecting frame, the second stamping component is installed on the connecting frame, and the second stamping component is used to adjust the pressure in different areas of the angle steel. It includes a plurality of second oil cylinders, a proportional valve is installed on the second oil cylinder, the second oil cylinder is fixed to the connecting frame, the output end of the second oil cylinder is fixedly connected with a stamping head, and the position of each stamping head corresponds to the character block at the same part on the character disk;

[0007] Guide plates are respectively fixed at both ends of the bottom of the connecting frame along its length direction. There are two guide plates. A V-shaped hole is opened in each guide plate. The guide plates are used to receive the angle steel transported by the conveying mechanism, and the shape of the V-shaped hole is the same as that of the angle steel;

[0008] The positioning and conveying mechanism includes a positioning and picking component and a gravity regulator. The positioning and picking component includes a motor, which is fixed to the connecting frame. The output end of the motor is fixed to a lead screw, which is threadedly connected to a connecting block. The connecting block moves along a guide rod, which is fixed to the connecting frame. One end of the connecting block is rotatably connected to a support rod, and the other end of the support rod is fixed to a hook plate. The hook plate is drivingly connected to the gravity regulator, and the gravity regulator is used to rotate the hook plate to pick up the angle steel.

[0009] In a steel angle stamping device of the present invention, the gravity regulator includes a box body, which is fixed to the guide rod. The box body is provided with a guide hole, and an induction plate moving along the guide hole is arranged in the guide hole. The surface of the induction plate is inclined. The induction plate is fixed to a rack, and the rack meshes with a gear. The gear is coaxially fixed to a bushing, and the bushing is connected to the box body by bearings. The support rod is sleeved in the bushing, and the bushing is key-connected to the support rod. One end of an airbag is fixed to the bottom of the guide hole, and the other end of the airbag is fixed to the induction plate.

[0010] In a steel angle stamping device of the present invention, a limiting component is arranged on the hook plate. The limiting component includes two symmetrically arranged limiting blocks, which are fixed to both ends of the hook plate. The limiting blocks can be lapped with the side surface of the angle steel, and a magnet is fixed between the two limiting blocks. The height of the magnet is lower than that of the limiting blocks.

[0011] In a steel angle stamping device of the present invention, a plurality of installation grooves for inserting the character blocks and fixing grooves for fixing the character blocks are provided on the outer circumferential wall of the character disk. The fixing grooves are inclined, and a set screw is threadedly connected in the fixing grooves. The set screw is tightly lapped with the notch opened on the character block along the inclined direction of the fixing groove.

[0012] In a steel angle stamping device of the present invention, a character cleaning component is arranged on one side of the character disk. The character cleaning component includes a bracket and a cleaning disk. The bracket is fixed to the bed body, and a plurality of cleaning disks are rotatably connected to the bracket. A wire brush is fixed to the outer circumferential surface of the cleaning disk, and the cleaning disk corresponds to the position of the character disk.

[0013] In a steel angle stamping device of the present invention, the size of the V-shaped hole is larger than that of the angle steel, and the bottom angles of the two are the same.

[0014] A control method for a steel angle stamping device of the present invention, the control method includes:

[0015] S1, Steel Seal Parsing and Character Sequence Generation: Receive the input steel seal content, split it into multiple character segments by spaces, and insert null characters between segments to generate a segmented character sequence;

[0016] S2, Nonlinear Character Index Allocation: Based on historical data, statistically calculate the character occurrence probability , and allocate an index to each character according to the following formula:

[0017] Among them, high-frequency characters are allocated small index values, close to the starting position of the character disk, and low-frequency characters are allocated large index values. Output the index sequence and drive the servo motor to rotate to make the character disk rotate to the target angle;

[0018] S3, Dynamic Pressure Regulation and Synchronous Stamping: According to the character projection area and material hardness, calculate the target pressure of each stamping head: Among them, is the target pressure of the i-th stamping head, is the basic pressure value, calibrated according to the hardness of the material, is the projection area of the i-th character, is the reference character area, and α is the area gain coefficient. Independently control the pressure of each stamping head through a proportional valve to ensure consistent indentation.

[0019] A control method for an angle steel stamping device of the present invention further includes:

[0020] S4, Servo Control and Closed-loop Correction: Through the encoder, feedback the actual angle , combined with the prediction error of the LSTM neural network , correct the target angle of the servo motor:

[0021] Among them, is the target rotation angle of the servo motor, is the actual rotation angle real-time feedback by the encoder, is the inertial error predicted by the LSTM neural network, is the dynamic adjustment ratio coefficient, and the range is 0.5 ≤ ≤ 1.2.

[0022] For a control method of an angle steel stamping device of the present invention, the adjustment method of the dynamic adjustment ratio coefficient is: Among them, is the absolute value of the error, = - .

[0023] A control method for an angle steel stamping device of the present invention. In step S2, the target rotation angle of the servo motor The specific calibration method is as follows:

[0024] Among them, is 37, which is the total number of characters on the character disk. The total number of characters includes 26 letters, 10 digits, and 1 blank character. Each of the character blocks is evenly distributed on the character disk.

[0025] The difference between an angle steel stamping device and its control method of the present invention and the prior art lies in:

[0026] The present invention realizes automatic stamping of angle steel in the form of a combination of software and hardware. Through the stamping unit, segmented stamping is controlled to replace manual work, realizing fine operation and improving processing efficiency.

[0027] The present invention controls the linkage of the conveying angle steel and the positioning before angle steel stamping through the positioning and conveying mechanism, ensuring the consistency of the indentation, improving the ability of continuous production, ensuring the stability of angle steel stamping, further improving the automation degree of the angle steel production line, and reducing labor costs.

[0028] The present invention sets an intelligent control method for stamping on the surface of angle steel. Through non-linear character index allocation, the average rotation stroke of the servo motor is reduced. Also, through dynamic pressure regulation and synchronous stamping, the fluctuation of the indentation depth is reduced, and the consistency of the indentation depth is improved. Moreover, through servo control and closed-loop correction, the collaborative control of the prediction model and real-time feedback is used to compensate for system inertia in advance, reduce response delay, and correct the residual error in real-time feedback to avoid cumulative deviation, solving the accuracy problem of the traditional servo system under inertial error and dynamic disturbance.

[0029] The following further describes an angle steel stamping device of the present invention with reference to the accompanying drawings. Description of the Drawings

[0030] Figure 1 is the front view of the stamping unit;

[0031] Figure 2 is Figure 1 the axonometric view of;

[0032] Figure 3 is Figure 2 the schematic diagram of the motion change of;

[0033] Figure 4 is the axonometric view of the positioning and conveying mechanism;

[0034] Figure 5 is Figure 4 the partial enlarged view at A in;

[0035] Figure 6 is Figure 4 The partial enlarged view at position B in

[0036] Figure 7 is a schematic structural diagram of an angle steel stamping device for embossing;

[0037] Figure 8 is a schematic structural diagram of a character plate;

[0038] Figure 9 is a sectional view of the character plate;

[0039] Figure 10 is a schematic structural diagram of a character cleaning assembly;

[0040] Figure 11 is a schematic structural diagram of a conveying mechanism.

[0041] In the figure:

[0042] Bed body 1, base 2, coding machine unit 3, character plate 32, character block 33, stamping unit 4, angle steel 5, first stamping assembly 40, second stamping assembly 41, positioning conveying mechanism 7;

[0043] First oil cylinder 401, support seat 402, connecting frame 403, guiding plate 404, V-shaped hole 405, second oil cylinder 601, stamping head 602;

[0044] Positioning hook component 71, gravity regulator 72, motor 701, lead screw 702, connecting block 703, guide rod 704, support rod 705, hook plate 706, limit component 700, limit block 7001, magnet 7002;

[0045] Box body 80, guide hole 81, induction plate 82, rack 83, gear 84, bushing 85, air bag 86;

[0046] Mounting groove 301, fixing groove 302, set screw 303, character cleaning assembly 9, bracket 91, cleaning disk 92. Detailed implementation manners

[0047] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0048] Please refer to Figures 1 to 11 , which specifically includes the following embodiments: Embodiment 1

[0049] An angle steel stamping device for making imprints includes a bed 1. The bed 1 is composed of two front and rear side plates and multiple connecting plates fixedly connected to the edges of the two side plates. The coding machine unit 3 is installed at the bottom of the bed 1, and the stamping unit 4 is installed at the top of the bed 1. In the present invention, the angle steel stamping device for making imprints is installed in front of the punching unit of the angle steel processing line. When the marking area of the angle steel reaches the appropriate position for coding, the angle steel stamping device for making imprints receives the instruction of the host for coding, aligns the stamping unit 4 with the marking area of the angle steel 5, and the stamping unit 4 works to push the angle steel 5 and the coding machine unit 3 to stamp and code. This angle steel imprinting device further includes a base 2. The base 2 is of an L-shaped structure and is fixedly installed on the angle steel processing line through bolts. A guiding and sliding mechanism is installed between the base 2 and the bed 1. The guiding and sliding mechanism is used to drive the bed 1 to slide along the length direction of the base 2. By setting the guiding and sliding mechanism to adjust the position of the bed 1, the coding machine unit 3 and the stamping unit 4 are moved to the marking area of the angle steel 5 to ensure the coding accuracy. The coding machine unit 3 includes a plurality of coaxially arranged character disks 32 and an adjusting mechanism for driving the rotation of the character disks 32. The number of the character disks 32 can be determined according to the number of marks required to be coded on the angle steel. A plurality of uniformly arranged character blocks 33 are provided on the outer circumferential wall of the character disk 32. The content of the character blocks 33 on each character disk 32 includes 26 letters, 10 digits, and a blank imprint.

[0050] It should be noted that the conveying mechanism of the angle steel 5 is Figure 11 As shown, the common method is that a sprocket drives a plurality of symmetrically arranged tapered rollers to transport the angle steel 5. The bottom of the angle steel 5 is located between two tapered rollers, and its two sides are lapped with the surfaces of the tapered rollers. The angle steel 5 is placed approximately in a V shape. In view of the transportation method of the angle steel 5 and the spatial position of the angle steel 5, the stamping unit 4 is perpendicular to the marking area of the angle steel 5 and is located on different side surfaces of the marking area of the angle steel 5. Therefore, the overall structure of the stamping unit 4 is arranged at an angle with the horizontal plane. The coding machine unit 3 is also perpendicular to the marking area of the angle steel 5 and is located on the same side surface of the marking area of the angle steel 5. The marking area is generally the upper edge position of the angle steel 5.

[0051] As a further explanation of this embodiment, refer to Figures 1 to 5, in this embodiment, the stamping process is divided into two stages. Specifically, the first stamping assembly 40 is used to push the angle steel 5 to the character plate 32 for stamping. It includes a first oil cylinder 401 and a support base 402. The first oil cylinder 401 is fixedly connected to the support base 402, and the support base 402 is fixed on the machine body 1. A slide rail is fixed on the support base 402, and there is a sliding block moving along it inside the slide rail. The sliding block is fixedly connected to a connecting frame 403. The output end of the first oil cylinder 401 is fixedly connected to the connecting frame 403, so that the connecting frame 403 can slide along the support base 402. At both ends of the bottom of the connecting frame 403 along its length direction, guide plates 404 are respectively fixed. Two guide plates 404 are provided. The area between the two guide plates 404 corresponds to the area of all the character plates 32, and the area between the two guide plates 404 coincides with the marking area of the angle steel 5. A V-shaped hole 405 is opened in the guide plate 404. The guide plate 404 is used to receive the angle steel 5 transported by the conveying mechanism. During operation, the output end of the first oil cylinder 401 drives the connecting frame 403 to move, so that the angle steel 5 in the guide plate 404 moves to the character plate 32, and stamping is performed by applying pressure. This is the first stage of the stamping process and also a conventional stamping method. However, the problem with this stamping method is that it cannot ensure that the contents of different character blocks 33 have the same imprint after stamping. Therefore, after the first stage of stamping in the present invention, the second stage of stamping is continued, specifically as follows. The second stamping assembly 41 is installed on the connecting frame 403. The second stamping assembly 41 is used to adjust the pressure of different areas of the angle steel 5. It includes a plurality of second oil cylinders 601. A proportional valve is installed on the second oil cylinder 601. The second oil cylinder 601 is fixed to the connecting frame 403. The output end of the second oil cylinder 601 is fixed with a stamping head 602. The position of each stamping head 602 corresponds to the character block 33 at the same part on the character plate 32. The character block 33 corresponds to the position where the angle steel 5 is printed with a mark. Each second oil cylinder 601 drives the stamping head 602 to squeeze the angle steel 5. The pressure applied by the stamping head 602 is adjusted through the proportional valve, so that the position where the angle steel 5 needs to be printed with a mark is divided into different pressure-receiving areas, and the pressure between each angle steel 5 and the character block 33 is changed, so that the indentation depths generated by different character blocks 33 with different contents are consistent.

[0052] It should be noted that the shape of the V-shaped hole 405 is the same as that of the angle steel 5, the size of the V-shaped hole 405 is larger than the size of the angle steel 5, and their included angles are the same. Generally, the included angle of the commonly used angle steel 5 is 90 degrees. That is to say, when the angle steel 5 is transported from the conveying mechanism into the two guide plates 404, due to the size of the V-shaped hole 405 being larger than the size of the angle steel 5, the angle steel 5 will have sufficient space to fall into the guide plate 404 and can accommodate angle steels 5 with different thicknesses. When the angle steel 5 reaches a certain position, the state of the angle steel 5 in the guide plate 404 is as follows Figure 1As shown, the two outer sides of the angle steel 5 and the bottom with an included angle are in contact with the V-shaped hole 405, and there is a certain gap between the two inner sides of the angle steel 5 and the V-shaped hole 405. The present invention designs it in this state so that the angle steel 5 is not restricted in movement during the first-stage printing. During the stamping process, the angle steel 5 will be pushed back by the character plate 32 in the opposite direction of the stamping direction, leaving a slight imprint on the surface of the angle steel 5, but it has not reached the imprint with a consistent formation depth required by the present invention. However, the stroke of the first oil cylinder 401 is determined and has extended in place. The angle steel 5 has been in the printing position, and related components such as the guide plate 404 have been in place. If there is no first-stage printing and only the second-stage printing is carried out, it will cause various problems. For example, during the stamping process, the stamping heads 602 with different pressures drive the angle steel 5 to complete stamping, and the load on the stamping head 602 will fluctuate during this stamping stroke. Therefore, the shorter the stamping distance, the more uniform the load on each stamping head 602, increasing the printing accuracy and reducing the cumulative error. Moreover, the load on the stamping head 602 refers to the weight of the angle steel 5 itself, the weight of the guide plate 404 carrying the angle steel 5, and the weights of the various components connected to the guide plate 404. These loads are difficult to measure. And if only the second-stage printing is used, then the guide plate 404 needs to be able to hover at the initial position, and be able to move with the stamping head 602 of the second oil cylinder 601 after the angle steel 5 enters it, and reset after the stamping is completed. Therefore, to meet these requirements, the conventional means is that the guide plate 404 needs to be equipped with a slide rail-slider mechanism and a spring that can be reset. However, these means will increase the load on the second oil cylinder 601 and cause uneven loads on each second oil cylinder 601. The final result is that the depth of the imprint is difficult to control and the error is difficult to eliminate. Therefore, the present invention cleverly designs two-stage printing, so that the second oil cylinder 601 only needs to bear the load of the angle steel 5 and is not interfered by the guide plate 404 and related components, facilitating the adjustment of the proportional valve and controlling the pressure of different stamping heads 602, so that the second oil cylinder 601 stamps the angle steel 5 in place, and the second-stage printing can achieve the purpose of consistent imprint depth.

[0053] As a further explanation of this embodiment, refer to Figures 2 to 6 , before printing, it is necessary to accurately convey and position the angle steel 5 conveyed by the conveying mechanism onto the two guide plates 404. The conveying order of the angle steel 5 is from right to left. The present invention takes the side of the first guide plate 404 flush with the side of the angle steel 5 as the positioning starting point, and the area between the two guide plates 404 is the printing area. In view of the fact that conventional conveying mechanisms such as belt conveying and sprocket conveying do not have the function of positioning and conveying, the present invention sets up a positioning and conveying mechanism 7 for the conveying and positioning of the angle steel 5, and conveys the angle steel 5 to the positioning starting point, specifically as follows:

[0054] The positioning and conveying mechanism 7 includes a positioning and picking component 71 and a gravity regulator 72. The positioning and picking component 71 includes a motor 701, which is fixed to the connecting frame 403. The output end of the motor 701 is fixed to a lead screw 702. The lead screw 702 is threadedly connected to a connecting block 703. The connecting block 703 moves along a guide rod 704, which is fixed to the connecting frame 403. One end of the connecting block 703 is rotatably connected to one end of a support rod 705. The other end of the support rod 705 is fixed to a hook plate 706. The hook plate 706 is drivingly connected to the gravity regulator 72, and the gravity regulator 72 is used to rotate the hook plate 706 to pick up the angle steel 5.

[0055] The way the hook plate 706 is drivingly connected to the gravity regulator 72 is as follows: The gravity regulator 72 includes a box body 80, which is fixed to the guide rod 704. The box body 80 is provided with a guide hole 81, and an induction plate 82 that moves along it is arranged in the guide hole 81. The surface of the induction plate 82 is inclined. The induction plate 82 is fixed to a rack 83. The rack 83 meshes with a gear 84. The gear 84 is coaxially fixed to a bushing 85, and the bushing 85 is connected to the box body 80 by bearings. The support rod 705 is sleeved in the bushing 85. The bushing 85 is provided with a strip-shaped groove, and a strip-shaped block is fixed to the surface of the support rod 705. The strip-shaped groove and the strip-shaped block cooperate to enable the support rod 705 to move horizontally and rotate. One end of an airbag 86 is fixed to the bottom of the guide hole 81, and the other end of the airbag 86 is fixed to the induction plate 82.

[0056] It should be noted that the two guiding plates 404 serve as a bearing structure, and conveying mechanisms are respectively arranged at both ends of the two guiding plates 404 for cooperation. During the process of the conveying mechanism conveying the angle steel 5, generally, the angle steel 5 gradually disengages from the carrier of the conveying mechanism and enters the V-shaped hole 405 of the guiding plate 404. The conveying mechanism generally generates a conveying effect by relying on friction and will convey the angle steel 5 to a position at least half of the length between the two guiding plates 404. On this premise, it is necessary to position the conveying mechanism 7 to convey the angle steel 5 in place, that is, to convey the angle steel 5 to the positioning starting point. During operation, the hook plate 706 extends to the conveying mechanism through the support rod 705 without obstructing the transportation of the angle steel 5. The support rod 705 is located on the side of the angle steel 5. When the angle steel 5 is transported to the box body 80, the angle steel 5 presses the induction plate 82 into the guide hole 81. The movement of the induction plate 82 drives the rack 83 to drive the gear 84 to rotate, thereby causing the sleeve 85 to rotate, and further causing the support rod 705 to rotate, so that the hook plate 706 parallel to the side of the angle steel 5 rotates, making the hook plate 706 perpendicular to the side of the angle steel 5. Then, the motor 701 is started to rotate the lead screw 702, and then drive the connecting block 703 to move along the guide rod 704, so that the support rod 705 drives the hook plate 706 to move in the direction close to the positioning starting point, that is, to pull back the hook plate 706, so that the hook plate 706 on the support rod 705 hooks the angle steel 5 to the positioning starting point. Therefore, in the present invention, the moving distance of the support rod 705 is set as the distance from the positioning starting point to the hook plate 706.

[0057] Among them, the airbag 86 in the present invention is used as an elastic member. Compared with the traditional spring, since the spring is prone to failure after long-term use, the airbag 86 is selected, which can extend the service life, and it can be refilled with gas when it is short of gas.

[0058] As a further explanation of this embodiment, in order to ensure that the hook plate 706 can hook the angle steel 5 to the positioning starting point and prevent the angle steel 5 from continuing to move a certain distance due to inertia after reaching the positioning starting point, a limiting component 700 is arranged on the hook plate 706. The limiting component 700 includes two symmetrically arranged limiting blocks 7001. The limiting blocks 7001 are fixed at both ends of the hook plate 706. The limiting blocks 7001 can be lapped with the side surface of the angle steel 5. A magnet 7002 is fixed between the two limiting blocks 7001. The height of the magnet 7002 is lower than the height of the limiting blocks 7001. The magnet 7002 can adsorb the angle steel 5 but does not contact the angle steel 5, which not only avoids the movement of the angle steel 5 due to its own inertia but also enables the angle steel 5 to move along the stamping direction in the V-shaped hole 405 during the first-stage stamping.

[0059] Among them, the magnet 7002 in the present invention can be replaced with an electromagnet, which can be controlled more precisely.

[0060] Among them, conveying mechanisms are arranged on both sides of the two guiding plates 404. After printing is completed, the angle steel 5 needs to move out from between the two guiding plates 404. In the present invention, a manipulator can be used for grasping and placing it on the conveying mechanism to realize the conveying of the angle steel 5. Embodiment 2

[0061] Refer to Figures 8 to 9 , a plurality of mounting grooves 301 for inserting the character blocks 33 and fixing grooves 302 for fixing the character blocks 33 are formed on the outer circumferential wall of the character disk 32. The fixing grooves 302 are inclined. A set screw nut 303 is threadedly connected in the fixing groove 302, and the set screw nut 303 is in close overlap with the notch formed in the character block 33 along the inclined direction of the fixing groove 302.

[0062] In the present invention, through the inclined fixing groove 302, the set screw nut 303 is used to fix the character block 33, replacing the traditional direct fixing method of the character block 33 along the radial direction of the character disk 32. It can avoid the jumping of the character block 33, ensure consistent imprints, and moreover, the set screw nut 303 can share the pressure on the character block 33 during stamping, making the character block 33 more durable. Embodiment 3

[0063] Refer to Figure 7 and Figure 10 , a character cleaning assembly 9 is arranged on one side of the character disk 32. The character cleaning assembly 9 includes a bracket 91 and a cleaning disk 92. The bracket 91 is fixed to the bed body 1. A plurality of cleaning disks 92 are rotatably connected to the bracket 91. Steel wire brushes are fixed on the outer circumferential surface of the cleaning disk 92, and the cleaning disk 92 corresponds to the position of the character disk 32.

[0064] In the present invention, when the character disk 32 rotates, the character block 33 can contact the steel wire brush on the cleaning disk 92, thereby cleaning the surface stains, making the printing clear, prolonging the service life of the character block 33, and replacing manual cleaning of the character block 33, reducing the labor cost.

[0065] A control method for an angle steel printing and stamping device includes the following steps:

[0066] S1, steel seal parsing and character sequence generation: Receive the input steel seal content, split it into multiple character segments by spaces, and insert null characters between the segments to generate a segmented character sequence, ensuring a clear separation between the segments. Subsequent modules can adjust the pressure according to the segmentation. Specifically, in the present invention, six character disks 32 are adopted. For example, when inputting "ABC 12", it is parsed into , for driving subsequent modules;

[0067] S2, non - linear character index assignment: Based on historical data, statistically calculate the character occurrence probability , assign an index to each character according to the following formula:

[0068] wherein, high-frequency characters are assigned small index values, close to the starting position of the character disk, and low-frequency characters are assigned large index values. The index values range from 0 to 36. Output the index sequence , drive the servo motor to rotate so that the character disk 32 rotates to the target angle;

[0069] In the present invention, the index value is calculated by calculating the character usage frequency within one month of the production line. High-frequency characters are concentrated at the front end of the character disk 32. Among them, the target rotation angle of the servo motor is determined by the character index. , calibrated according to the following formula:

[0070] wherein, is 37, the total number of characters on the character disk 32. The total number of characters includes 26 letters, 10 digits and 1 blank character. Each character block 33 is evenly distributed on the character disk 32. Therefore, the central angle occupied by each character is 360° / 37≈9.7297°. Specifically, for example, if the index of the character "B" is 1, it corresponds to 1*9.7297°≈9.7297°. And so on, index 36 corresponds to 36×9.7297°≈350.27°. After calculating the angle from the character index, it is sent to the servo driver, so that the servo motor in the coding machine unit 3 drives the character disk 32 to rotate to obtain the required character.

[0071] Of course, the servo motor in the present invention can automatically select the shortest path to rotate. For example, if the current angle is 350.27° and the target angle is 0°, it will rotate counterclockwise by 9.73°, rather than rotating clockwise by 350.27°.

[0072] The present invention accurately maps the character index to the target rotation angle of the servo motor, which can ensure that the angle positioning error ≤0.1°, thus meeting the requirements of high-precision printing on the surface of angle steel.

[0073] The following chart is Output index sequence , the rotation angle and rotation path of the servo motor.

[0074]

[0075] S3, dynamic pressure regulation and synchronous stamping: According to the character projection area and material hardness, calculate the target pressure of each stamping head:

[0076]

[0077] wherein, is the target pressure of the i-th stamping head, is the base pressure value, calibrated according to the hardness of the material, is the projected area of the i-th character, is the reference character area, α is the area gain coefficient, and the pressure of each stamping head is independently controlled by a proportional valve to ensure consistent indentation.

[0078] The present invention combines the mechanical device used to solve the problem that the larger the character area, the higher the required pressure. By setting up a dynamic pressure regulation system to ensure consistent indentation depth. Among them, the area gain coefficient α is calibrated by the following formula:

[0079] Among them, is the pressure difference between different characters, is the character area difference, k is the material compensation factor. The present invention repeats experiments on angle steels of different materials, with the area difference as the independent variable and the pressure difference as the dependent variable, and confirms that the data fully conforms to the linear model to ensure the universality of the area gain coefficient α.

[0080] S4, servo control and closed-loop correction: The actual angle is fed back through an encoder , combined with the prediction error of the LSTM neural network , to correct the target angle of the servo motor:

[0081]

[0082] Among them, is the target rotation angle of the servo motor, is the actual rotation angle fed back by the encoder in real time, is the inertial error predicted by the LSTM neural network, is the dynamic adjustment proportional coefficient, and the range is 0.5 ≤ ≤ 1.2. The adjustment method of the dynamic adjustment proportional coefficient is:

[0083] Among them, is the absolute value of the error, = - , which can represent the error at the current moment, that is, the difference between the target value and the actual value. The attenuation coefficient takes the value of -0.05 to control the rate of change of

[0084] In the present invention, an LSTM neural network is used to predict the inertial errors of a servo motor, such as mechanical clearance and motor response delay. Specifically, for example, the input data includes: historical angular error sequence, motor current fluctuation, ambient temperature, and surface hardness of the angle steel, and the output is the error value predicted at the future moment t+1. If the average historical error is +0.3°, then = 0.3°.

[0085] Wherein, - is the deviation between the current actual angle and the target. In the initial stage, when the error is large, the larger the error, the smaller it is, to avoid the motor from generating severe oscillations or overshoot due to excessive gain; in the stage close to the target value, when the error is small, the smaller the error, the larger it is, to accelerate the convergence speed and reduce the steady-state error. That is to say, when the servo motor accelerates from rest to rotate to the target angle, the error is large in the initial stage, reducing can prevent the sudden increase of current; when approaching the target, increasing ensures accurate stopping. If the current = 0.5°, using the above formula, ≈ 0.78.

[0086] Among them, the closed-loop correction process is divided into the following four steps: 1. Data acquisition, the encoder gives real-time feedback , and the temperature sensor and current sensor collect environmental parameters. 2. Error prediction, the LSTM inputs the historical 10 angular errors and outputs the predicted error . 3. Dynamic adjustment, calculate the proportional coefficient according to the absolute value of the error . 4. Calculate the final target angle according to the formula and drive the servo motor to rotate.

Claims

1. An angle steel stamping and embossing device, comprising a bed body, the bed body is slidably connected to a base, a coding machine unit is installed at the bottom of the bed body, the coding machine unit includes a plurality of coaxially arranged character disks and an adjusting mechanism for driving the character disks to rotate, and is characterized in that: A stamping unit is installed on the top of the bed body. The stamping unit includes a first stamping component, a second stamping component, and a positioning and conveying mechanism; The first stamping component is used to push the angle steel to the character plate for printing. It includes a first oil cylinder and a support seat. The first oil cylinder is fixedly connected to the support seat. The support seat is slidably connected to the connecting frame. The output end of the first oil cylinder is drivingly connected to the connecting frame. The second stamping component is installed on the connecting frame. The second stamping component is used to adjust the pressure in different areas of the angle steel. It includes a plurality of second oil cylinders. A proportional valve is installed on the second oil cylinder. The second oil cylinder is fixed to the connecting frame. The output end of the second oil cylinder is fixedly connected with a stamping head. The position of the stamping head corresponds to the character block on the character plate; Two guiding plates are fixed at the bottom of the connecting frame. The guiding plates are provided with V-shaped holes. The guiding plates are used to receive the angle steel transported by the conveying mechanism. The shape of the V-shaped hole is the same as that of the angle steel; The positioning and conveying mechanism includes a positioning and picking component and a gravity regulator. The positioning and picking component includes a motor. The motor is fixed to the connecting frame. The output end of the motor is fixed to a lead screw. The lead screw is threadedly connected to a connecting block. The connecting block moves along a guiding rod. The guiding rod is fixed to the connecting frame. One end of the connecting block is rotatably connected to a support rod. The other end of the support rod is fixed to a hook plate. The hook plate is drivingly connected to the gravity regulator. The gravity regulator is used to rotate the hook plate to pick up the angle steel; The gravity regulator includes a box body. The box body is fixed to the guiding rod. The box body is provided with a guiding hole. An induction plate that moves along the guiding hole is arranged in the guiding hole. The surface of the induction plate is inclined. The induction plate is fixed to a rack. The rack is engaged with a gear. The gear is coaxially fixed to a bushing. The bushing is connected to the box body by a bearing. The support rod is sleeved in the bushing. The bushing is key-connected to the support rod. One end of an airbag is fixed to the bottom of the guiding hole. The other end of the airbag is fixed to the induction plate.

2. The angle steel stamping device according to claim 1, characterized in that: A limiting component is arranged on the hook plate. The limiting component includes two symmetrically arranged limiting blocks. The limiting blocks are fixed at both ends of the hook plate. The limiting blocks can be lapped with the side surface of the angle steel. A magnet is fixed between the two limiting blocks. The height of the magnet is lower than that of the limiting blocks.

3. The angle steel stamping device according to claim 2, characterized in that: A plurality of installation grooves for inserting the character blocks and fixing grooves for fixing the character blocks are arranged on the outer circumferential wall of the character plate. The fixing grooves are inclined. A set screw is threadedly connected in the fixing groove. The set screw is tightly lapped with the notch opened on the character block along the inclined direction of the fixing groove.

4. The angle steel stamping device according to claim 3, characterized in that: A character cleaning component is arranged on one side of the character plate. The character cleaning component includes a bracket and a cleaning disc. The bracket is fixed to the bed body. A plurality of the cleaning discs are rotatably connected to the bracket. A wire brush is fixed on the outer circumferential surface of the cleaning disc. The cleaning disc corresponds to the position of the character plate.

5. The angle steel stamping device according to claim 4, characterized in that: The size of the V-shaped hole is larger than that of the angle steel, and the bottom angles of both are the same.

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