L-shaped keel straightening device and using method

Abstract

The invention discloses an L-shaped keel straightening device and a using method, and relates to the technical field of metal processing.The L-shaped keel straightening device comprises a base, a scanning mechanism, a feeding mechanism, an anti-bending mechanism and a detecting mechanism, the scanning mechanism is placed along the left side plane of the base, and the feeding mechanism, the anti-bending mechanism and the detecting mechanism are sequentially placed along the middle datum plane of the base; the detection mechanism is placed on the right side of the anti-bending mechanism and connected with the anti-bending mechanism. According to the L-shaped keel straightening device and the using method, a digital closed-loop control system is constructed, and the keel anti-bending device capable of simultaneously processing multi-angle bending is formed by segmenting areas with different bending angles on the basis of a feature point discrete analysis algorithm; a multi-axis cooperative driving technology is adopted, through a real-time compensation mechanism of a space coordinate system, a traditional anti-bending mode driven by experience of an operator is upgraded into a data-driven intelligent anti-bending mode, and the process controllability is remarkably improved while the keel anti-bending geometric precision is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of metal processing, and particularly to an L-shaped keel straightening device and a usage method thereof. Background Art

[0002] In the field of contemporary high-end special-shaped building structures and complex curved surface projects, as the core load-bearing unit, the precise realization of the spatial linearity of the keel is a key technical challenge to ensure the visual artistry and structural mechanical properties of the building. How to transform the multi-segment parameter model of the keel reverse bending into an entity component and achieve the closed-loop feedback of segmented reverse bending has become an urgent problem to be solved.

[0003] The current mainstream traditional reverse bending forming process in the industry faces technical problems: First, the manual reverse bending process relying on experience is limited by the technical level of the operator, and it is difficult to achieve high-precision control when dealing with spatial line types with continuously changing curvature and multi-segmented torsion forms; more critically, the traditional reverse bending process lacks a dynamic regulation mechanism for deformation and stress, resulting in non-linear mechanical responses of materials during the reverse bending process and affecting the performance of materials.

[0004] In view of the above technical problems, by establishing a dynamic correlation model between the segmented bending detection of the keel and the material properties and process parameters of each bending segment, the multi-curvature closed-loop regulation during the reverse bending process is realized, providing an innovative and practical solution for the keel reverse bending under the new industrialization system. Summary of the Invention

[0005] The purpose of the present invention is to provide an L-shaped keel straightening device and a usage method thereof, which constructs a digital closed-loop control system. Based on the discrete analytical algorithm of feature points, by segmenting the regions with different bending angles, a keel reverse bending device capable of simultaneously processing multi-angle bending is formed; the multi-axis coordinated drive technology is adopted, and through the real-time compensation mechanism of the spatial coordinate system, the traditional reverse bending mode driven by the operator's experience is upgraded to a data-driven intelligent reverse bending mode, significantly improving the process controllability while ensuring the geometric accuracy of the keel reverse bending.

[0006] The present invention provides an L-shaped keel straightening device, including a base, a scanning mechanism, a feeding mechanism, a reverse bending mechanism, and a detection mechanism. The scanning mechanism is placed along the left side plane of the base, and the scanner in the scanning mechanism uniformly collects the spatial point coordinates along the entire length of the keel corner line; the positioning sensor in the scanning mechanism assists in positioning the initial position of the keel. The feeding mechanism, the reverse bending mechanism, and the detection mechanism are sequentially placed along the middle reference plane of the base, and the detection mechanism is placed on the right side of the reverse bending mechanism and is connected to the reverse bending mechanism.

[0007] Preferably, the scanning mechanism includes a scanner and a positioning sensor. The scanner is located below the positioning sensor, and the scanner is built-in with a virtual three-dimensional coordinate XYZ module.

[0008] Preferably, the feeding mechanism includes a bearing seat, a wire hanging block, a transmission shaft, a feeding roller, a wire hanging rod, and a transmission bearing. A transmission bearing is provided inside the bearing seat. A wire hanging rod is provided above the bearing seat. The wire hanging rod is threadedly connected to the wire hanging block. The transmission bearing is nested on both sides of the transmission shaft. A feeding roller is provided on the outer side of the transmission shaft.

[0009] Preferably, the reverse bending mechanism includes a longitudinal servo motor, a coupling, a pressing screw, a transverse servo motor, a first column, a second column, a lifting frame, an angle iron seat, a cross beam, a worm, a worm gear, a worm support, a reverse bending roller shaft, a pressing plate, a slide rail, a rotating frame, a cover plate, a longitudinal slider, a guiding block, a reverse bending roller row frame, and a reverse bending roller. The longitudinal adjustment servo motor is connected to the pressing screw through the coupling. Threaded holes are provided on both sides of the cross beam, and a through hole is provided in the middle of the cross beam. The first column and the second column are threadedly connected to the pressing plate. The cover plate is connected to the pressing screw. There are a total of five threaded holes distributed in the middle and circumferentially of the cover plate. The cover plate is fixed on the angle iron seat. The slider is welded to the lifting frame. The slider slides up and down along the surfaces of the first column and the second column. The transverse adjustment servo motor is connected to the worm. The worm support is connected to the lifting frame. Threaded holes are distributed on the upper and lower sides of the worm support. The worm gear is connected to the rotating frame. Threaded holes are provided on the worm gear. The rotating frame and the lifting frame are stacked. Square through holes are provided in the centers of the rotating frame and the lifting frame. A shaft hole is provided in the center of the reverse bending roller. A positioning groove is provided on the reverse bending roller shaft. Both sides of the reverse bending roller shaft are placed on the reverse bending roller row frame. The slide rail is stacked with the rotating frame. The slide rail is fixed on the rotating frame. The guiding block is provided with a limiting device.

[0010] Preferably, the detection mechanism includes an infrared sensor and a data processor. The infrared sensor is internally provided with an infrared ranging component; the data processor is internally provided with a calculation module.

[0011] Preferably, a method for using an L-shaped keel straightening device includes the following steps: Step S1, determine the bending area of the keel to be reverse-bent; Step S11, the scanner establishes a three-dimensional rectangular coordinate system. Taking the movement direction of the keel to be reverse-bent as the positive direction of the Y axis, establish an XOY plane parallel to the base, and establish the Z axis according to the cross product method to form a three-dimensional space coordinate system XYZ that conforms to the right-hand rule; Step S12, place the keel to be reverse-bent on the scanning mechanism, and the scanning mechanism starts to uniformly collect n spatial points P along the entire length of the corner line of the keel to be reverse-bent i , where i ∈ [1, n], and the adjacent spatial points P i are spaced less than or equal to 20 mm in the Y-axis direction. According to the collected spatial points P i , fit an ideal straight line L, and obtain a standard direction vector on the ideal straight line L ; Step S13: Construct a sequence of direction vectors along the length direction of the keel to be reverse-bent, and construct a direction vector for every two adjacent points. , i ∈ [1, n]. By calculating the angle between the direction vector and the standard direction vector , it reflects the torsional trend of the keel in the length direction. Set a vector angle threshold . When the angle between the direction vector and the standard direction vector ≥ , then determine this area as the bending area of the keel to be reverse-bent S j . Denote all the bending areas of the keel to be reverse-bent as the set {S}; Step S2: Determine the reverse-bending angles of each bending area; According to the physical property parameters of the material of the keel to be reverse-bent, set a reverse-bending angle correction coefficient γ, and determine the reverse-bending angles of each area; ; where γ is the reverse-bending angle correction coefficient; is the bending angle; Step S3: Position the reverse-bending mechanism; Step S31: The longitudinal servo motor outputs torque, and the longitudinal slider slides longitudinally along the first column and the second column. After the lifting frame to be moved reaches the same level as the feeding mechanism, the longitudinal servo motor stops outputting torque; Step S32: The guiding block makes a longitudinal movement on the slide rail, driving the upper reverse-bending roller row frame and the lower reverse-bending roller row frame to move. When the roll gap is consistent with the keel thickness, fix the guiding block; Step S4: Reverse-bend the keel to be reverse-bent; According to the bending set {S} detected in Step S1 and the reverse-bending angles required for each bending area calculated in Step S2, perform reverse-bending treatment on the bending area; Step S41: Determine the cross-section parameters of the keel to be reverse-bent, and calculate the elastic modulus E , shear modulus G and polar moment of inertia J, measure the distance between the reverse-bending roller wheels d and the polar radius of the reverse-bending roller wheels r ; Step S42: Move the keel to be reverse-bent forward to the bending area S j . When the front end of the bending area S j just touches the reverse-bending roller wheels, the transverse servo motor starts to apply a torque F j corresponding to the reverse-bending force of each area to be reverse-bent Tj , drive the worm gear to rotate meshingly by rotating the worm, so that the angle of the worm gear 411 corresponds to the reverse bending angle ; Step S43, after the reverse bending of the reverse bending keel in the S j segment is completed, continue to move forward, and wait for the reverse bending keel to start the reverse bending of the next area until the set {S} is an empty set; Step S5, the reverse bending device returns to its original position.

[0012] Preferably, in step S12: Step S121, calculate the centroid c of the spatial point Pi collected; ; Step S122, construct the covariance matrix C; ; Step S123, solve the main direction, perform eigenvalue decomposition on the covariance matrix C, and the eigenvector corresponding to the largest eigenvalue is e = (a, b, c); Step S124, fit the ideal straight line equation.

[0013] Preferably, in step S42: Step S421, determine the internal torque of the material in each bending area T j ; ; Step S422, determine the reverse bending force F in each bending area j , the reverse bending moment M j , is the acting force arm of the roller; ; M j =KT j ; Among them, K is the empirical coefficient, and we get: ; Step S423, determine the servo motor torque corresponding to the reverse bending force in each bending area; ; Among them, T j is the servo motor torque; η is the transmission efficiency; r is the roller radius, and we get: .

[0014] Therefore, the present invention adopts the above L-shaped keel straightening device and its usage method to construct a digital closed-loop control system. Based on the feature point discrete analysis algorithm, by segmenting the areas with different bending angles, a keel reverse bending device capable of simultaneously processing multi-angle bending is formed. The multi-axis coordinated driving technology is adopted, and through the real-time compensation mechanism of the space coordinate system, the traditional reverse bending mode driven by the operator's experience is upgraded to a data-driven intelligent reverse bending mode, which significantly improves the process controllability while ensuring the geometric accuracy of the keel reverse bending.

[0015] The technical solution of the present invention will be further described in detail below with reference to the drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of an L-shaped keel straightening device of the present invention; Figure 2 is a schematic diagram of a scanning mechanism of an L-shaped keel straightening device of the present invention; Figure 3 is a schematic diagram of a feeding mechanism of an L-shaped keel straightening device of the present invention; Figure 4 is a schematic diagram of a reverse bending mechanism of an L-shaped keel straightening device of the present invention; Figure 5 is another perspective schematic diagram of a reverse bending mechanism of an L-shaped keel straightening device of the present invention; Figure 6 is another perspective schematic diagram of a reverse bending mechanism of an L-shaped keel straightening device of the present invention; Figure 7 is a schematic diagram of a detection mechanism of an L-shaped keel straightening device of the present invention; Figure 8 is a schematic diagram of step S1 of the usage method of an L-shaped keel straightening device of the present invention; Figure 9 is a cross-sectional parameter diagram of a keel in a specific embodiment of the usage method of an L-shaped keel straightening device of the present invention; Figure 10 is a control method flow chart of the usage method of an L-shaped keel straightening device of the present invention.

[0017] Reference Signs 1. Base; 2. Scanning mechanism; 3. Feeding mechanism; 4. Reverse bending mechanism; 21. Scanner; 22. Positioning sensor; 31. Bearing seat; 32. Hanging wire block; 33. Transmission shaft; 34. Feeding roller; 35. Hanging wire rod; 36. Transmission bearing; 41. Longitudinal servo motor; 42. Coupling; 43. Pressing screw; 44. Transverse servo motor; 45. First column; 46. Second column; 47. Lifting frame; 48. Angle iron seat; 49. Cross beam; 410. Worm; 411. Worm gear; 412. Worm support; 413. Reverse bending roller shaft; 414. Pressure plate; 415. Slide rail; 416. Rotating frame; 417. Cover plate; 418. Longitudinal slider; 419. Guide block; 420. Reverse bending roller row frame; 421. Reverse bending roller; 51. Infrared sensor; 52. Data processor. Detailed implementation manners

[0018] The technical solutions of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Unless otherwise defined, the technical terms or scientific terms used in the present invention should have the ordinary meanings understood by those of ordinary skill in the field to which the present invention belongs.

[0020] The "first", "second" and similar terms used in the present invention do not denote any order, quantity or importance, but are only used to distinguish different components. The terms such as "including" or "comprising" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "upper", "lower", "left" and "right" are only used to represent relative position relationships, and when the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0021] Embodiment 1 As Figures 1 - 10 shown, an L-shaped keel straightening device and its use method of the present invention include a base 1, a scanning mechanism 2, a feeding mechanism 3, a reverse bending mechanism 4 and a detection mechanism 5. The scanning mechanism 2 is placed along the left plane of the base 1, and the scanner 21 in the scanning mechanism 2 uniformly collects the spatial point coordinates along the entire length of the keel corner line; the positioning sensor 22 in the scanning mechanism 2 assists in positioning the initial position of the keel. The feeding mechanism 3, the reverse bending mechanism 4 and the detection mechanism 5 are placed in sequence along the middle reference plane of the base 1, and the detection mechanism 5 is placed on the right side of the reverse bending mechanism 4 and is connected to the reverse bending mechanism 4. The base 1 serves as a support platform, providing an installation reference and stability for all mechanisms.

[0022] The scanning mechanism 2 includes a scanner 21 and a positioning sensor 22. The scanner 21 is located below the positioning sensor 22, and the scanner 21 is built-in with a virtual three-dimensional coordinate XYZ module. The scanner 21 uniformly collects spatial point coordinates along the entire length of the keel angle line; with a built-in virtual three-dimensional coordinate module (XYZ), taking the keel movement direction as the Y-axis, a right-hand rule coordinate system is established. The positioning sensor 22 assists in positioning the initial position of the keel.

[0023] The feeding mechanism 3 includes a bearing seat 31, a wire hanger block 32, a transmission shaft 33, a feeding roller 34, a hanging wire rod 35, and a transmission bearing 36. A transmission bearing 36 is provided inside the bearing seat 31, a hanging wire rod 35 is provided above the bearing seat 31, the hanging wire rod 35 is threadedly connected to the wire hanger block 32, the transmission bearing 36 is nested on both sides of the transmission shaft 33, and a feeding roller 34 is provided outside the transmission shaft 33.

[0024] The transmission shaft 33 is the core of power transmission. The transmission bearing 36 supports the rotation of the shaft body, and the bearing seat 31 fixes the transmission bearing 36. To ensure the stable rotation of the transmission shaft 33, the hanging wire rod 35 and the wire hanger block 32 adjust the height of the roller 34 through threaded connection to adapt to keels of different thicknesses.

[0025] The reverse bending mechanism 4 includes a longitudinal servo motor 41, a coupling 42, a pressing screw 43, a transverse servo motor 44, a first column 45, a second column 46, a lifting frame 47, an angle iron seat 48, a cross beam 49, a worm 410, a worm gear 411, a worm support 412, a reverse bending roller shaft 413, a pressing plate 414, a slide rail 415, a rotating frame 416, a cover plate 417, a longitudinal slider 418, a guide block 419, a reverse bending roller row frame 420, and a reverse bending roller 421. The longitudinal adjustment servo motor 41 is connected to the pressing screw 43 through the coupling 42, and the longitudinal adjustment servo motor 41 drives the pressing screw 43 through the coupling 42. Threaded holes are provided on both sides of the cross beam 49, and a through hole is provided in the middle of the cross beam 49. The first column 45 and the second column 46 are threadedly connected to the pressing plate 414.

[0026] The cover plate 417 is connected to the pressing screw 43. There are a total of five threaded holes distributed in the middle and circumference of the cover plate 417. The cover plate 417 is fixed on the angle iron seat 48. The slider 418 is welded to the lifting frame 47, and the slider 418 slides up and down along the surfaces of the first upright column 45 and the second upright column 46. The lateral adjustment servo motor 44 is connected to the worm 410, and the worm support 412 is connected to the lifting frame 47. There are threaded holes distributed on both the upper and lower sides of the worm support 412. The worm gear 411 is connected to the rotating frame 416. There is a threaded hole on the worm gear 411, and the rotating frame 416 and the lifting frame 47 are stacked; square through holes are provided at the centers of both the rotating frame 416 and the lifting frame 47. A shaft hole is provided at the center of the reverse bending roller 421, a positioning groove is provided on the reverse bending roller shaft 413, and both sides of the reverse bending roller shaft 413 are placed on the reverse bending roller row frame 420. The reverse bending roller 421 directly contacts the keel to apply a reverse bending force. The slide rail 415 is stacked with the rotating frame 416, and the slide rail 415 is fixed on the rotating frame 416; the guide block 419 is provided with a limiting device.

[0027] The detection mechanism includes an infrared sensor 51 and a data processor 52. The infrared sensor 51 is internally provided with an infrared ranging component; the data processor 52 is internally provided with a calculation module and a feedback program.

[0028] A method for using an L-shaped keel straightening device, taking Figure 9 the shown keel cross-section with a length of 600 mm as an example. It includes the following steps: Step S1, determine the bending area of the keel to be reverse-bent; Step S11, the scanner establishes a three-dimensional rectangular coordinate system. Taking the movement direction of the keel to be reverse-bent as the positive direction of the Y-axis, establish an XOY plane parallel to the base, and establish the Z-axis according to the cross product method to form a three-dimensional space coordinate system XYZ that conforms to the right-hand rule.

[0029] Step S12, place the keel to be reverse-bent on the scanning mechanism 2, and the scanning mechanism 2 starts to uniformly collect n spatial points P i (x i , y i , z i ) within the full length of the angular line of the keel to be reverse-bent. Among them, i ∈ [1, n], and the adjacent spatial points P i are spaced less than or equal to 20 mm in the Y-axis direction. According to the collected spatial points P i , fit the ideal straight line L, and obtain the standard direction vector .

[0030] The scanning mechanism 2 starts to uniformly collect 31 spatial points P1(0.3, 0, -0.2), P2(3.1, 20, 0.4), P3(4.8, 40, -0.3), P4(2.5, 60, 0.1), P5(-3.2, 80, 0) …… P27(0.3, 520, -0.2), P28(3.1, 540, 0.4), P29(4.8, 560, -0.3), P30(2.5, 580, 0.1), P31(-3.2, 600, 0) along the entire length of the keel angle line.

[0031] In step S12, in step S121, calculate the centroid c of the collected spatial points Pi.

[0032] = (0.1, 300, -0.05); In step S122, construct the covariance matrix C; = ; In step S123, solve the main direction, perform eigenvalue decomposition on the covariance matrix C, and the eigenvector corresponding to the largest eigenvalue is e = (a, b, c) = (0.012, 1, 0.0001); In step S124, fit the ideal straight-line equation: ; In step S13, construct a sequence of direction vectors along the length direction of the keel to be reverse-bent, and construct a direction vector for every two adjacent points , i = 1~n - 1, by calculating the direction vector and the standard direction vector The included angle between them reflects the torsion trend of the keel in the length direction. Set the vector included angle threshold = 2°, when the included angle between the direction vector and the standard direction vector ≥ , then determine this area as the bending area of the keel to be reverse-bent S j , and record all the bending areas of the keel to be reverse-bent as the set {S} = {S5 = 2.3°, S 12 = 2.9°}.

[0033] In step S2, determine the reverse-bending angles of each bending area; According to the physical property parameters of the material of the keel to be reverse-bent, set the reverse-bending angle correction coefficient γ and determine the reverse-bending angles of each area; ; Among them, is the reverse bending angle correction coefficient; is the bending angle; γ = 1.1; Step S3, position the reverse bending mechanism 4; In step S31, the longitudinal servo motor 41 outputs torque, and the longitudinal slider 418 slides longitudinally along the first column 45 and the second column 46. After the lifting frame 47 moves to be flush with the feeding mechanism 3, the longitudinal servo motor 41 stops outputting torque.

[0034] In step S32, the guide block 419 moves longitudinally on the slide rail 415, driving the upper reverse bending roller row frame and the lower reverse bending roller row frame 420 to move. When the roll gap is consistent with the keel thickness, the guide block 419 is fixed.

[0035] Step S4, reverse bend the keel to be reverse bent; According to the bending set {S} detected in step S1 and the reverse bending angles required for each bending region calculated in step S2, perform reverse bending treatment on the bending regions.

[0036] Step S41, determine the cross-sectional parameters of the keel to be reverse bent and calculate the elastic modulus E , shear modulus G , polar moment of inertia J, measure the distance d between the reverse bending roller wheels and the polar radius of the reverse bending roller wheels. Elastic modulus E = 206000 N / mm 2 , shear modulus G = 75 GPa, polar moment of inertia J = 6×10 5 , distance d between the reverse bending roller wheels = 1 mm, polar radius r of the reverse bending roller wheels = 145 mm.

[0037] Step S42, move the keel to be reverse bent forward to the bending region S 5 、S 12 , the bending region S 5 When the front end of the bending region just touches the reverse bending roller wheel 421, the transverse servo motor 44 starts to apply torque F j corresponding to the reverse bending force of each region to be reverse bent T j . Drive the worm wheel 411 to mesh and rotate by rotating the worm 410, so that the angle of the worm wheel 411 corresponds to the reverse bending angle .

[0038] In step S42, in step S421, determine the internal torque of the material in each bending region T 5, T 12 ; ; Among them, G is the shear modulus of 75 GPa, J is the polar moment of inertia of 6×10 5 , αj is the reverse bending angle, , , L j is the bending region length of 20 mm; Among them, ; ; Step S422: Determine the reverse bending force F j of each bending region, and the reverse bending moment M j , is the acting force arm of the roller; ; M j =KT j ; Among them, K is the empirical coefficient. Since this reverse bending scenario is a dynamic load scenario, take K = 0.75, and we get: ; Step S423: Determine the servo motor torque corresponding to the reverse bending force of each bending region; ; Among them, T j is the servo motor torque; r is the pole radius of the roller of 145 mm; η is the transmission efficiency; Since the lateral servo motor is a worm and worm gear transmission, take the transmission efficiency η = 70%, and we get: ; Among them, d l is the acting force arm of the roller of 305 mm, G is the shear modulus of 75 GPa, J is the polar moment of inertia of 6×10 5 , α j is the reverse bending angle, α5 = 2.53°, α 12 = 3.19°, L j is the bending region length of 20 mm, and r is the pole radius of the roller of 145 mm.

[0039] We get: ; ;

[0040] Step S43, after the bending section S 5 of the keel to be reverse bent is reverse bent, continue to move forward to the bending section S 12 . Wait for the keel to be reverse bent to start the reverse bending of the next region, and the bending sectionS 12 After the reverse bending is completed, the set {S} is an empty set.

[0041] Step S5: The reverse bending device returns to its original position.

[0042] Therefore, the present invention adopts the above-mentioned L-shaped keel straightening device and its usage method, constructs a digital closed-loop control system, based on the discrete analysis algorithm of feature points, and forms a keel reverse bending device that can simultaneously process multi-angle bending by segmenting areas with different bending angles; adopts multi-axis coordinated drive technology, and through the real-time compensation mechanism of the space coordinate system, upgrades the traditional reverse bending mode driven by the operator's experience to a data-driven intelligent reverse bending mode, which not only ensures the geometric accuracy of the keel reverse bending, but also significantly improves the process controllability.

[0043] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that they can still modify or equivalently replace the technical solutions of the present invention, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. An L-shaped keel straightening device, characterized in that, It includes a base, a scanning mechanism, a feeding mechanism, a reverse bending mechanism and a detection mechanism. The scanning mechanism is placed along the left plane of the base, and the scanner in the scanning mechanism uniformly collects the spatial point coordinates along the full length of the keel angle line. The positioning sensor in the scanning mechanism assists in positioning the initial position of the keel. The feeding mechanism, the reverse bending mechanism and the detection mechanism are sequentially placed along the middle reference plane of the base, and the detection mechanism is placed on the right side of the reverse bending mechanism and connected to the reverse bending mechanism.

2. The L-shaped keel straightening device according to claim 1, wherein The scanning mechanism includes a scanner and a positioning sensor. The scanner is located below the positioning sensor, and the scanner is built-in with a virtual three-dimensional coordinate XYZ module.

3. The L-shaped keel straightening device according to claim 1, characterized in that, The feeding mechanism includes a bearing seat, a wire hanging block, a transmission shaft, a feeding roller, a wire hanging rod and a transmission bearing. A transmission bearing is arranged in the bearing seat. A wire hanging rod is arranged above the bearing seat. The wire hanging rod is threadedly connected with the wire hanging block. The transmission bearing is nested on both sides of the transmission shaft, and a feeding roller is arranged on the outer side of the transmission shaft.

4. The L-shaped keel straightening device according to claim 1, wherein, The reverse bending mechanism includes a longitudinal servo motor, a coupling, a pressing screw, a transverse servo motor, a first upright post, a second upright post, a lifting frame, an angle iron seat, a cross beam, a worm, a worm gear, a worm support, a reverse bending roller shaft, a pressing plate, a slide rail, a rotating frame, a cover plate, a longitudinal slider, a guiding block, a reverse bending roller row frame and a reverse bending roller. The longitudinal adjusting servo motor is connected to the pressing screw through the coupling. Threaded holes are arranged on both sides of the cross beam, and a through hole is arranged in the middle of the cross beam. The first upright post and the second upright post are threadedly connected with the pressing plate. The cover plate is connected to the pressing screw. There are a total of five threaded holes distributed in the middle and circumferentially of the cover plate, and the cover plate is fixed on the angle iron seat. The slider is welded to the lifting frame, and the slider slides up and down along the surfaces of the first upright post and the second upright post. The transverse adjusting servo motor is connected to the worm. The worm support is connected to the lifting frame. Threaded holes are distributed on the upper and lower sides of the worm support. The worm gear is connected to the rotating frame, and threaded holes are arranged on the worm gear. The rotating frame and the lifting frame are stacked. Square through holes are arranged in the centers of the rotating frame and the lifting frame. A shaft hole is arranged in the center of the reverse bending roller. A positioning groove is arranged on the reverse bending roller shaft. Both sides of the reverse bending roller shaft are placed on the reverse bending roller row frame. The slide rail is stacked with the rotating frame, and the slide rail is fixed on the rotating frame. The guiding block is provided with a limiting device.

5. The L-shaped keel straightening device according to claim 1, characterized in that, The detection mechanism includes an infrared sensor and a data processor. The infrared sensor is built-in with an infrared ranging component. The data processor is built-in with a calculation module.

6. The usage method of an L-shaped keel straightening device according to any one of claims 1-5, characterized in that, It includes the following steps: Step S1, determine the bending area of the keel to be reverse bent; Step S11, the scanner establishes a three-dimensional rectangular coordinate system. Taking the movement direction of the keel to be reverse bent as the positive direction of the Y axis, an XOY plane parallel to the base is established, and the Z axis is established according to the cross product method to form a three-dimensional space coordinate system XYZ that conforms to the right-hand rule. Step S12: Place the keel to be reverse-bent on the scanning mechanism, and the scanning mechanism starts to uniformly collect n spatial points P within the full length of the angular line of the keel to be reverse-bent, where i ∈ [1, n]. The adjacent spatial points P are spaced less than or equal to 20 mm in the Y-axis direction. Fit an ideal straight line L based on the collected spatial points P, and obtain a standard direction vector on the ideal straight line L; i where i ∈ [1, n], and the adjacent spatial points P i are spaced less than or equal to 20 mm in the Y-axis direction. Fit an ideal straight line L based on the collected spatial points P i and obtain a standard direction vector on the ideal straight line L ; Step S13: Construct a sequence of direction vectors along the length direction of the keel to be reverse-bent, and construct a direction vector for every two adjacent points , where \(i\in[1,n]\). By calculating the angle between the direction vector and the standard direction vector , the torsion trend of the keel in the length direction is reflected. Set a vector angle threshold . When the angle between the direction vector and the standard direction vector ≥ , then determine this area as the bending area of the keel to be reverse-bent S j . Denote all the bending areas of the keel to be reverse-bent as the set \(\{S\}\); Step S2, determine the reverse bending angles of each bending area; According to the physical property parameters of the material of the keel to be reverse bent, set the reverse bending angle correction coefficient γ to determine the reverse bending angles of each area. ； where γ is the correction coefficient of the reverse bending angle; is the bending angle; Step S3, position the reverse bending mechanism; Step S31, the longitudinal servo motor outputs torque, and the longitudinal slider slides longitudinally along the first upright post and the second upright post. After the lifting frame moves to be flush with the feeding mechanism, the longitudinal servo motor stops outputting torque. Step S32, the guiding block makes a longitudinal movement on the slide rail, driving the upper reverse bending roller row frame and the lower reverse bending roller row frame to move. When the roll gap is consistent with the keel thickness, fix the guiding block. Step S4, reverse bend the keel to be reverse bent; According to the bending set {S} detected in step S1 and the reverse bend angles required for each bending area calculated in step S2, perform reverse bending on the bending areas; Step S41: Determine the cross-sectional parameters of the keel to be reverse-bent, and calculate the elastic modulus E , shear modulus G and polar moment of inertia J, measure the distance between the reverse-bending rollers d and the polar radius of the reverse-bending rollers r ; Step S42: Move the keel to be reverse-bent forward to the bending area S j , when the front end of the bending area S j just touches the reverse-bending roller, the lateral servo motor starts to apply a torque corresponding to the reverse-bending force of each area to be reverse-bent F j ; drive the worm to rotate and engage with the worm wheel, so that the angle of the worm wheel 411 corresponds to the reverse-bending angle T j ; corresponding; Step S43, after the S j segment of the keel to be reverse-bent is reverse-bent, continue to move forward, and wait for the keel to be reverse-bent to start reverse-bending in the next area until the set {S} is an empty set; Step S5, return the reverse bending device to its original position.

7. The method of using an L-shaped keel straightening device according to claim 6, characterized in that, In step S12: Step S121, calculate the centroid c of the space point Pi collected; ； Step S122, construct the covariance matrix C; ； Step S123, solve the principal direction, perform eigenvalue decomposition on the covariance matrix C, and the eigenvector corresponding to the largest eigenvalue is e=(a, b, c); Step S124, fit the ideal straight line equation.

8. The usage method of an L-shaped keel straightening device according to claim 6, characterized in that, In step S42: Step S421: Determine the internal torque of the material in each bending region T j ; ； Step S422: Determine the reverse bending force F of each bending region j , the reverse bending moment M j , is the acting arm of the roller force; ； M j =KT j ； wherein, K is an empirical coefficient, and we get: ； Step S423, determine the servo motor torque corresponding to the reverse bending force of each bending area; ； Among them, T j is the servo motor torque; η is the transmission efficiency; r is the roller radius, and we get: ； Among them, d l is the force arm of the roller; G is the shear modulus; J is the polar moment of inertia; α j is the reverse bending angle; L j is the length of the bending region; r is the polar radius of the roller.

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