L-shaped keel straightening device and use method

Abstract

The present invention discloses an L-shaped keel straightening device and a method for using the same, which relates to the field of metal processing technology, and includes a base, a scanning mechanism, a feeding mechanism, a rebending mechanism, and a detection mechanism. The scanning mechanism is placed along the left plane of the base, the feeding mechanism, the rebending mechanism, and the detection mechanism are placed in sequence along the middle reference plane of the base, and the detection mechanism is placed on the right side of the rebending mechanism and connected to the rebending mechanism. The present invention adopts the above-mentioned L-shaped keel straightening device and method for using the same to construct a digital closed-loop control system. Based on the feature point discrete analytical algorithm, by segmenting regions with different bending angles, a keel rebending device that can simultaneously handle multi-angle bending is formed; by adopting multi-axis collaborative drive technology, through the real-time compensation mechanism of the spatial coordinate system, the traditional rebending mode driven by operator experience is upgraded to a data-driven intelligent rebending mode, which significantly improves the process controllability while ensuring the geometric accuracy of the keel rebending.

Description

Technical Field

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

[0002] In contemporary high-end, special-shaped architectural structures and complex curved surface engineering, achieving precise spatial linearity for the keel, the core load-bearing element, is a key technical challenge in ensuring both the architectural visual artistry and structural mechanical performance. Translating the multi-segment parametric model of the keel's reflexion into a physical component and achieving closed-loop feedback for segmented reflexion has become a pressing issue.

[0003] The current mainstream traditional reverse bending forming process in the industry faces technical difficulties: First, the manual reverse bending process that relies on experience is limited by the operator's technical level. When dealing with spatial linear shapes with continuous gradual changes in curvature and multi-segmented torsional shapes, it is difficult to achieve high-precision control; more importantly, the traditional reverse bending process lacks a dynamic control mechanism for deformation and stress, resulting in nonlinear mechanical response of the material during the reverse bending process, affecting the material's performance.

[0004] To address the above technical issues, a dynamic correlation model is established between the segmented bending detection of the keel and the material properties and process parameters of each bending segment to achieve multi-curvature closed-loop control during the rebending process, providing an innovative and practical solution for the keel rebending 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 method for use, construct a digital closed-loop control system, and based on the characteristic point discrete analytical algorithm, by segmenting the areas with different bending angles, form a keel rebending device that can simultaneously handle multi-angle bending; adopt multi-axis collaborative drive technology, through the real-time compensation mechanism of the spatial coordinate system, upgrade the traditional rebending mode driven by operator experience to a data-driven intelligent rebending mode, while ensuring the geometric accuracy of the keel rebending, significantly improve the process controllability.

[0006] The present invention provides an L-shaped keel straightening device, comprising a base, a scanning mechanism, a feeding mechanism, a rebending 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 spatial point coordinates along the entire 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 rebending mechanism and the detection mechanism are placed in sequence along the middle reference plane of the base, and the detection mechanism is placed on the right side of the rebending mechanism and is connected to the rebending mechanism.

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

[0008] Preferably, the feeding mechanism includes a bearing seat, a hanging wire block, a transmission shaft, a feeding roller, a hanging wire rod and a transmission bearing. A transmission bearing is provided in the bearing seat, a hanging wire rod is provided above the bearing seat, the hanging wire rod and the hanging wire block are threadedly connected, the transmission bearing is nested on both sides of the transmission shaft, and a feeding roller is provided on the outside 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 crossbeam, a worm, a worm gear, a worm bracket, a reverse bending roller shaft, a pressure plate, a slide rail, a rotating frame, a cover plate, a longitudinal slider, a guide block, a reverse bending roller rack and a reverse bending roller wheel. The longitudinal adjustment servo motor is connected to the pressing screw through a coupling, threaded holes are provided on both sides of the crossbeam, a through hole is provided in the middle of the crossbeam, the first column, the second column and the pressure plate are threadedly connected; the cover plate is connected to the pressing screw, and there are five threaded holes in the middle and circumference of the cover plate. Fixed on the angle iron seat, the slider is welded to the lifting frame, and the slider slides up and down along the surface of the first column and the second column; the lateral 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 wheel is connected to the rotating frame, threaded holes are set on the worm wheel, and the rotating frame and the lifting frame are stacked; square through holes are set in the center of the rotating frame and the lifting frame; an axial hole is set in the center of the reverse bending roller, and a positioning groove is set on the reverse bending roller shaft, and both sides of the reverse bending roller shaft are placed on the reverse bending roller rack; the slide rail is stacked on the rotating frame, and the slide rail is fixed on the rotating frame; the guide block is provided with a limiting device.

[0010] Preferably, the detection mechanism includes an infrared sensor and a data processor, the infrared sensor has a built-in infrared ranging component; the data processor has a built-in computing module.

[0011] Preferably, a method for using an L-shaped keel straightening device comprises the following steps:

[0012] Step S1, determining the bending area of ​​the keel to be rebent;

[0013] Step S11: The scanner establishes a three-dimensional rectangular coordinate system, with the direction of movement of the rebent keel as the positive direction of the Y axis, establishes an XOY plane parallel to the base, and establishes 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;

[0014] Step S12: Place the keel to be rebent on the scanning mechanism, and the scanning mechanism begins to uniformly collect n spatial points P along the entire length of the angle line of the keel to be rebent. i , where i∈[1,n], adjacent space points P i The interval in the Y-axis direction is less than or equal to 20 mm, according to the spatial point P i Fit the ideal straight line L and obtain the standard direction vector on the ideal straight line L ;

[0015] Step S13: construct a direction vector sequence along the length direction of the keel to be rebent, and construct a direction vector for every two adjacent points. , i∈[1,n], by calculating the direction vector With the standard direction vector The angle between Reflects the torsional trend of the keel in the length direction and sets the vector angle threshold , when the direction vector With the standard direction vector The angle between ≥ , then the area is determined to be the bending area of ​​the keel to be re-bent S j , all the keel bending areas to be rebent are recorded as set {S};

[0016] Step S2, determining the rebending angle of each bending area;

[0017] According to the physical properties of the keel material to be rebent, set the rebending angle correction coefficient γ to determine the rebending angle of each area;

[0018] ;

[0019] Where γ is the correction coefficient of the backbend angle; is the bending angle;

[0020] Step S3, positioning the anti-bending mechanism;

[0021] 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 moves to be flush with the feeding mechanism, the longitudinal servo motor stops outputting torque.

[0022] Step S32: The guide block moves longitudinally on the slide rail, driving the upper and lower reversing roller frames to move until the roller gap is consistent with the keel thickness, and then the guide block is fixed;

[0023] Step S4, rebending the keel to be rebent;

[0024] Performing rebending processing on the curved area according to the curved set {S} detected in step S1 and the rebending angle required for each curved area calculated in step S2;

[0025] Step S41: Determine the cross-sectional parameters of the keel to be rebent 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 roller r ;

[0026] Step S42: Move the keel to be re-bent forward to the bending area S j , bending area S j When the front end just contacts the anti-bending roller, the lateral servo motor starts to apply anti-bending force to each area to be anti-bent F j Corresponding torque T j By rotating the worm, the worm wheel is driven to engage and rotate, so that the angle of the worm wheel 411 is aligned with the reverse bending angle. correspond;

[0027] Step S43, the keel to be rebent S j After the segment rebend is completed, continue to move forward and wait for the rebend keel to start the rebend of the next area until the set {S} is an empty set;

[0028] Step S5: The anti-bending device returns to its original position.

[0029] Preferably, in step S12:

[0030] Step S121, calculating the centroid c of the sampled spatial point Pi;

[0031] ;

[0032] Step S122, constructing a covariance matrix C;

[0033] ;

[0034] Step S123: Solve the main direction and perform eigendecomposition on the covariance matrix C. The eigenvector corresponding to the maximum eigenvalue is e=(a, b, c);

[0035] Step S124: fitting the ideal straight line equation.

[0036] Preferably, in step S42:

[0037] Step S421: Determine the internal torque of the material in each bending area T j ;

[0038] ;

[0039] Step S422: Determine the bending force F of each bending area j , reverse bending moment M j , It is the roller force arm;

[0040] ;

[0041] M j =KT j ;

[0042] in, K is the empirical coefficient, we get:

[0043] ;

[0044] Step S423: determining the servo motor torque corresponding to the anti-bending force of each bending area;

[0045] ;

[0046] in, T j is the servo motor torque; η is the transmission efficiency; r is the roller radius, we get:

[0047] .

[0048] Therefore, the present invention adopts the above-mentioned L-shaped keel straightening device and usage method to construct a digital closed-loop control system. Based on the characteristic point discrete analytical algorithm, by segmenting the areas with different bending angles, a keel reversal device that can simultaneously handle multi-angle bending is formed; by adopting multi-axis collaborative drive technology, through the real-time compensation mechanism of the spatial coordinate system, the traditional reversal mode driven by operator experience is upgraded to a data-driven intelligent reversal mode, which significantly improves the process controllability while ensuring the geometric accuracy of the keel reversal.

[0049] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a structural schematic diagram of an L-shaped keel straightening device of the present invention;

[0051] Figure 2 A schematic diagram of a scanning mechanism of an L-shaped keel straightening device according to the present invention;

[0052] Figure 3 This is a schematic diagram of a feeding mechanism of an L-shaped keel straightening device of the present invention;

[0053] Figure 4 This is a schematic diagram of a reversing mechanism of an L-shaped keel straightening device of the present invention;

[0054] Figure 5 This is a schematic diagram of the reverse bending mechanism of an L-shaped keel straightening device according to the present invention from another angle;

[0055] Figure 6 This is a schematic diagram of the reverse bending mechanism of an L-shaped keel straightening device according to the present invention from another angle;

[0056] Figure 7 A schematic diagram of a detection mechanism of an L-shaped keel straightening device according to the present invention;

[0057] Figure 8 This is a schematic diagram of step S1 of a method for using an L-shaped keel straightening device according to the present invention;

[0058] Figure 9 A diagram showing keel cross-section parameters in a specific embodiment of a method for using an L-shaped keel straightening device according to the present invention;

[0059] Figure 10 The present invention is a flow chart of a control method for using an L-shaped keel straightening device.

[0060] Reference numerals

[0061] 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. Drive shaft; 34. Feed roller; 35. Hanging wire rod; 36. Drive bearing; 41. Longitudinal servo motor; 42. Coupling; 43. Pressing screw; 44. Horizontal servo motor; 45. First column; 46. Second column; 47. Lifting frame; 48. Angle iron seat; 49. Crossbeam; 410. Worm; 411. Worm wheel; 412. Worm bracket; 413. Reverse bending roller shaft; 414. Pressing plate; 415. Slide rail; 416. Rotating frame; 417. Cover plate; 418. Longitudinal slider; 419. Guide block; 420. Reverse bending roller rack; 421. Reverse bending roller; 51. Infrared sensor; 52. Data processor. DETAILED DESCRIPTION

[0062] The technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.

[0063] Unless otherwise defined, technical or scientific terms used in the present invention shall have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs.

[0064] The words "first", "second" and similar terms used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0065] Example 1

[0066] like Figures 1-10 As shown, the present invention provides an L-shaped keel straightening device and method of use, comprising a base 1, a scanning mechanism 2, a feeding mechanism 3, a rebending mechanism 4, and a detecting mechanism 5. The scanning mechanism 2 is positioned along the left plane of the base 1. The scanner 21 in the scanning mechanism 2 uniformly collects spatial point coordinates along the entire length of the keel angle line. The positioning sensor 22 in the scanning mechanism 2 assists in locating the initial position of the keel. The feeding mechanism 3, rebending mechanism 4, and detecting mechanism 5 are positioned sequentially along the middle reference plane of the base 1. The detecting mechanism 5 is positioned to the right of the rebending mechanism 4 and is connected to the rebending mechanism 4. The base 1 serves as a support platform, providing an installation reference and stability for all mechanisms.

[0067] Scanning mechanism 2 includes a scanner 21 and a positioning sensor 22. Scanner 21 is located below positioning sensor 22 and includes a built-in virtual three-dimensional coordinate (XYZ) module. Scanner 21 uniformly collects spatial coordinates along the entire length of the keel's angular line. The built-in virtual three-dimensional coordinate module (XYZ) establishes a right-hand-rule coordinate system with the keel's motion direction as the Y-axis. Positioning sensor 22 assists in locating the keel's initial position.

[0068] The feeding mechanism 3 includes a bearing seat 31, a wire hanging block 32, a transmission shaft 33, a feeding roller 34, a wire hanging rod 35, and a transmission bearing 36. The transmission bearing 36 is provided in the bearing seat 31, and the wire hanging rod 35 is provided above the bearing seat 31. The wire hanging rod 35 and the wire hanging block 32 are threadedly connected. The transmission bearing 36 is nested on both sides of the transmission shaft 33, and the feeding roller 34 is provided on the outside of the transmission shaft 33.

[0069] 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 rod 35 and the hanging block 32 are connected by threads to adjust the height of the roller 34 to adapt to different thickness keels.

[0070] 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 base 48, a crossbeam 49, a worm 410, a worm gear 411, a worm support 412, a reverse bending roller shaft 413, a pressure 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 rack 420, and a reverse bending roller wheel 421. The longitudinal adjustment servo motor 41 is connected to the pressing screw 43 via the coupling 42, and the longitudinal adjustment servo motor 41 drives the pressing screw 43 through the coupling 42. The crossbeam 49 is provided with threaded holes on both sides and a through hole in the middle. The first column 45 and the second column 46 are threadedly connected to the pressure plate 414.

[0071] The cover plate 417 is connected to the screw rod 43. It has five threaded holes distributed in the center and around its circumference. The cover plate 417 is fixed to the angle iron base 48. The slider 418 is welded to the lifting frame 47 and slides up and down along the surfaces of the first and second columns 45 and 46. The lateral adjustment servo motor 44 is connected to the worm 410. The worm support 412 is connected to the lifting frame 47. The worm support 412 has threaded holes on its upper and lower sides. The worm gear 411 is connected to the rotating frame 416. The worm gear 411 is provided with threaded holes. The rotating frame 416 and the lifting frame 47 are stacked. Both the rotating frame 416 and the lifting frame 47 have square through-holes in their centers. The reversing roller 421 has an axial hole in its center. The reversing roller shaft 413 is provided with a positioning slot. Both sides of the reversing roller shaft 413 are placed on the reversing roller rack 420. The anti-bending roller 421 directly contacts the keel to apply the anti-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.

[0072] The detection mechanism includes an infrared sensor 51 and a data processor 52. The infrared sensor 51 has a built-in infrared distance measurement component; the data processor 52 has a built-in calculation module and a feedback program.

[0073] A method for using an L-shaped keel straightening device, Figure 9 The keel section shown is 600mm long as an example. The following steps are included:

[0074] Step S1, determining the bending area of ​​the keel to be rebent;

[0075] Step S11, the scanner establishes a three-dimensional rectangular coordinate system, with the direction of movement of the rebend keel as the positive direction of the Y axis, establishes an XOY plane parallel to the base, and establishes 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.

[0076] Step S12: Place the keel to be rebent on the scanning mechanism 2, and the scanning mechanism 2 starts to uniformly collect n spatial points P along the entire length of the angle line of the keel to be rebent.i (x i ,y i , z i ), where i∈[1,n], the adjacent space points P i The interval in the Y-axis direction is less than or equal to 20 mm, according to the spatial point P i Fit the ideal straight line L and obtain the standard direction vector on the ideal straight line L .

[0077] Scanning mechanism 2 begins to uniformly collect 31 spatial points along the entire length of the keel angle line, including 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), and P31 (-3.2, 600, 0).

[0078] In step S12, step S121, calculate the centroid c of the sampled spatial point Pi.

[0079] =(0.1, 300, -0.05);

[0080] Step S122, constructing a covariance matrix C;

[0081] = ;

[0082] Step S123: Solve the main direction and perform eigendecomposition on the covariance matrix C. The eigenvector corresponding to the maximum eigenvalue is e=(a, b, c)=(0.012, 1, 0.0001);

[0083] Step S124, fitting the ideal straight line equation:

[0084] ;

[0085] Step S13: construct a direction vector sequence along the length direction of the keel to be rebent, and construct a direction vector for every two adjacent points. , i=1~n-1, by calculating the direction vector With the standard direction vector The angle between Reflects the torsional tendency of the keel in the length direction. Set the vector angle threshold =2°, when the direction vector With the standard direction vector The angle between ≥ , then the area is determined to be the bending area of ​​the keel to be re-bent S j , all the bending areas of the keels to be rebent are recorded as a set {S}={S5=2.3°, S 12 =2.9°}.

[0086] Step S2, determining the rebending angle of each bending area;

[0087] According to the physical properties of the keel material to be rebent, set the rebending angle correction coefficient γ to determine the rebending angle of each area;

[0088] ;

[0089] in, is the correction factor for the backbend angle; is the bending angle; γ = 1.1;

[0090] Step S3, positioning the reverse bending mechanism 4;

[0091] 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.

[0092] Step S32: The guide block 419 moves longitudinally on the slide rail 415, driving the upper and lower reverse bending roller racks 420 to move until the roller gap is consistent with the keel thickness, and then the guide block 419 is fixed.

[0093] Step S4, rebending the keel to be rebent;

[0094] According to the bending set {S} detected in step S1 and the required rebending angle of each bending area calculated in step S2, the bending area is rebent.

[0095] Step S41: Determine the cross-sectional parameters of the keel to be rebent and calculate the elastic modulus E , shear modulus G , polar moment of inertia J, measure the distance d between the reverse bending rollers and the polar radius of the reverse bending rollers. Elastic modulus E = 206000 N / mm 2 , shear modulus G = 75GPa, polar moment of inertia J = 6×10 5 , the distance between the reverse bending rollers d = 1mm, and the extreme radius of the reverse bending rollers r = 145mm.

[0096] Step S42: Move the keel to be re-bent forward to the bending area S 5 、S 12 , bending area S5 When the front end just contacts the reverse bending roller 421, the lateral servo motor 44 starts to apply the reverse bending force to each area to be reversed. F j Corresponding torque T j By rotating the worm 410, the worm wheel 411 is driven to engage and rotate, so that the angle of the worm wheel 411 is aligned with the reverse bending angle. correspond.

[0097] In step S42, step S421, determine the internal torque of the material in each bending area T 5. T 12 ;

[0098] ;

[0099] Where G is the shear modulus 75GPa, J is the polar moment of inertia 6×10 5 , α j is the rebend angle, , , L j The length of the bending area is 20 mm;

[0100] in,

[0101] ; ;

[0102] Step S422: Determine the bending force F of each bending area j , reverse bending moment M j , It is the roller force arm;

[0103] ;

[0104] M j =KT j ;

[0105] in, K is the empirical coefficient. Since the rebend scenario is a dynamic load scenario, K=0.75 is taken, and the result is:

[0106] ;

[0107] Step S423: determining the servo motor torque corresponding to the anti-bending force of each bending area;

[0108] ;

[0109] in, Tj is the servo motor torque; r is the roller pole radius 145mm; η is the transmission efficiency; since the lateral servo motor is a worm gear transmission, the transmission efficiency η is taken as 70%, and we get:

[0110] ;

[0111] in, d l is the roller force arm 305mm, G is the shear modulus 75GPa, J is the polar moment of inertia 6×10 5 , α j is the reverse bending angle, α5=2.53°, α 12 =3.19°, L j The length of the bending area is 20 mm, and r is the roller radius of 145 mm.

[0112] get:

[0113] ;

[0114] ;

[0115] Step S43: the keel bending section to be re-bent S 5. After the reverse bend is completed, continue to the curved section S 12 Wait for the recurved keel to start the recurve of the next area, the curved section S 12 After the backbend is completed, the set {S} is an empty set.

[0116] Step S5: The anti-bending device returns to its original position.

[0117] Therefore, the present invention adopts the above-mentioned L-shaped keel straightening device and usage method to construct a digital closed-loop control system. Based on the characteristic point discrete analytical algorithm, by segmenting the areas with different bending angles, a keel reversal device that can simultaneously handle multi-angle bending is formed; by adopting multi-axis collaborative drive technology, through the real-time compensation mechanism of the spatial coordinate system, the traditional reversal mode driven by operator experience is upgraded to a data-driven intelligent reversal mode, which significantly improves the process controllability while ensuring the geometric accuracy of the keel reversal.

[0118] The above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can still be modified or replaced by equivalents, and these modifications or equivalent replacements cannot cause the modified technical solutions to 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. The scanner in the scanning mechanism uniformly collects spatial point coordinates along the entire 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 placed in sequence 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; 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 crossbeam, a worm, a worm gear, a worm bracket, a reverse bending roller shaft, a pressure plate, a slide rail, a rotating frame, a cover plate, a longitudinal slider, a guide block, a reverse bending roller rack and a reverse bending roller wheel, and the longitudinal adjustment servo motor is connected to the pressing screw through a coupling , threaded holes are provided on both sides of the beam, and a through hole is provided in the middle of the beam. The first column and the second column are threadedly connected to the pressure plate; the cover plate is connected to the pressing screw, and there are five threaded holes in the middle and circumference of the cover plate. The cover plate is fixed on the angle iron seat, and the slider is welded to the lifting frame, and the slider slides up and down along the surface of the first column and the second column; the lateral adjustment servo motor is connected to the worm, and the worm support is connected to the lifting frame. Threaded holes are distributed on the upper and lower sides of the worm support, and the worm wheel is connected to the rotating frame. Threaded holes are provided on the worm wheel, and the rotating frame and the lifting frame are stacked; square through holes are provided in the center of the rotating frame and the lifting frame; an axial hole is provided in the center of the reverse bending roller, and 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 rack; the slide rail is stacked with the rotating frame, and the slide rail is fixed on the rotating frame; the guide block is provided with a limiting device.

2. The L-shaped keel straightening device according to claim 1, characterized in that: The scanning mechanism includes a scanner and a positioning sensor. The scanner is located below the positioning sensor and has a built-in 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 hanging wire block, a transmission shaft, a feeding roller, a hanging wire rod and a transmission bearing. A transmission bearing is provided in the bearing seat, and a hanging wire rod is provided above the bearing seat. The hanging wire rod and the hanging wire block are threadedly connected. The transmission bearing is nested on both sides of the transmission shaft, and a feeding roller is provided on the outside of the transmission shaft.

4. 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 has a built-in infrared ranging component; the data processor has a built-in computing module.

5. A method for using the L-shaped keel straightening device according to any one of claims 1 to 4, characterized in that: The following steps are involved: Step S1, determining the bending area of ​​the keel to be rebent; Step S11: The scanner establishes a three-dimensional rectangular coordinate system, with the direction of movement of the rebent keel as the positive direction of the Y axis, establishes an XOY plane parallel to the base, and establishes 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 rebent on the scanning mechanism, and the scanning mechanism begins to uniformly collect n spatial points P along the entire length of the angle line of the keel to be rebent. i , where i∈[1,n], adjacent space points P i The interval in the Y-axis direction is less than or equal to 20 mm, according to the spatial point P i Fit the ideal straight line L and obtain the standard direction vector on the ideal straight line L ; Step S13: construct a direction vector sequence along the length direction of the keel to be rebent, and construct a direction vector for every two adjacent points. , i∈[1,n], by calculating the direction vector With the standard direction vector The angle between Reflects the torsional trend of the keel in the length direction and sets the vector angle threshold , when the direction vector With the standard direction vector The angle between ≥ , then the area is determined to be the bending area of ​​the keel to be re-bent , all the bending areas of the keels to be rebent are recorded as a set ; Step S2, determining the rebending angle of each bending area; Set the rebend angle correction coefficient according to the physical properties of the keel material to be rebent , determine the inflection angle of each area; ； in, is the correction factor for the backbend angle; is the bending angle; Step S3, positioning the anti-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 moves to be flush with the feeding mechanism, the longitudinal servo motor stops outputting torque. Step S32: The guide block moves longitudinally on the slide rail, driving the upper and lower reversing roller frames to move until the roller gap is consistent with the keel thickness, and then the guide block is fixed; Step S4, rebending the keel to be rebent; According to the bending set detected in step S1 and the required rebending angle of each bending area calculated in step S2, and rebending the bending area; Step S41: Determine the cross-sectional parameters of the keel to be rebent and calculate the elastic modulus , shear modulus , and polar moment of inertia , measure the distance between the reverse bending rollers and the polar radius of the reverse bending roller ; Step S42: Move the keel to be re-bent forward to the bending area , bending area When the front end just contacts the anti-bending roller, the lateral servo motor starts to apply anti-bending force to each area to be anti-bent Corresponding torque By rotating the worm, the worm wheel is driven to engage and rotate, so that the angle of the worm wheel 411 is aligned with the reverse bending angle. correspond; Step S43, the keel to be rebent After the section of reverse bending is completed, continue to move forward and wait for the reverse bending keel to start the reverse bending of the next area until the assembly is an empty set; Step S5: The anti-bending device returns to its original position.

6. The method for using the L-shaped keel straightening device according to claim 5, characterized in that: In step S12: Step S121, calculating the centroid c of the sampled spatial point Pi; ； Step S122, constructing a covariance matrix C; ； Step S123: Solve the main direction and perform eigendecomposition on the covariance matrix C. The eigenvector corresponding to the maximum eigenvalue is e=(a, b, c); Step S124: fitting the ideal straight line equation.

7. The method for using the L-shaped keel straightening device according to claim 5, characterized in that: In step S42: Step S421: Determine the internal torque of the material in each bending area ; ； Step S422: Determine the anti-bending force of each bending area , reverse bending moment , It is the roller force arm; ； ； in, is the empirical coefficient, we get: ； Step S423: determining the servo motor torque corresponding to the anti-bending force of each bending area; ； in, is the servo motor torque; is the transmission efficiency; is the roller radius, we get: ； in, It is the roller force arm; is the shear modulus; is the polar moment of inertia; is the recurve angle; is the length of the bending area; is the roller polar radius.

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