Pushing and aligning device and method for automatically matching section angles of corrugated plates

Abstract

The invention aims to provide a pushing and aligning device and method for automatically matching the section angle of a corrugated plate, and belongs to the field of cold roll forming. The device comprises a material conveying device, a material receiving device, a pushing and aligning device and a cargo carrying table. The device builds a lifting coordinate system through a distance sensor, the material conveying device achieves stable feeding through transmission, the material receiving device receives materials through self-compensation reset, discharging is controlled through an air cylinder, the pushing and aligning device is provided with a lifting mechanism, an automatic angle adjuster and a plate pushing mechanism, the plate height is detected in real time based on the distance sensor, and the stroke s of a hydraulic cylinder is dynamically calculated. And after the matching is completed, the two-stage speed of the pushing and aligning hydraulic cylinder is changed, and the pushing and aligning process is completed. After being sheared, plates are sequentially positioned through the material conveying device, the material receiving device and the limiting stand columns and are pressed by the pushing and aligning device, the plates are decelerated and pushed to the distance M0, automatic pushing and aligning are completed, circulation is achieved, and a closed loop is achieved. The device realizes the self-matching of the push plate to the angle of the section of the corrugated plate through a closed-loop control system, and reduces the damage to the section of the stacked product.

Description

Technical Field

[0001] The present invention belongs to the technical field of cold bending forming, and relates to a device and method for aligning the cross-sectional angle of a self-matching corrugated plate. Specifically, the present invention relates to a method for aligning a plate after roller forming. Background Art

[0002] In the field of cold-bend forming intelligent manufacturing, corrugated sheets have the advantages of rich colors and strong corrosion resistance. In the process of industrialized construction production, corrugated sheets (corrugated sheets) are used as typical roof enclosure materials. The cross-sectional characteristics of this profile are characterized by continuous corrugated forms extending in the longitudinal direction, and its cross-sectional mechanical properties are positively correlated with the integrity of the corrugated structure. The plane contact pushing device used in the current stacking process has a topological mismatch between the geometric shape of the contact interface and the peak area of ​​the corrugated sheet, resulting in local stress concentration during the pushing process. The above problems directly affect the bearing performance and weather resistance indicators of the components, and constitute a hidden danger to product quality. Therefore, there is an urgent need to develop a pushing device with a self-matching corrugated sheet cross-sectional angle.

[0003] Because the alignment of corrugated sheet metal directly affects product quality during the rolling process, equipment for gripping the sheet metal has been designed to address this issue. For example, patent publication number CN202321963768.X provides a method for gripping the sheet metal using hydraulic pipes to apply pressure to multiple suction cup modules. This prevents stress concentration on the corrugated sheet metal's wavy raised areas during the rolling process, which could damage the corrugated cross-section. However, this solution can damage the sheet metal's roll-formed surface due to excessive suction.

[0004] In summary, providing a self-matching corrugated plate cross-section angle pushing device and method is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0005] The present invention aims to provide a self-aligning corrugated sheet cross-sectional angle pushing device and its use method to address the aforementioned problems of the prior art. The device features low cost and a high degree of automation, ensuring that the shear cross-section of the corrugated sheet is not deformed due to stress concentration, which could lead to poor product quality. Furthermore, the present invention utilizes a fan-shaped splicing plate that rotates to splice the material, resulting in simple mechanical movement and a simple structure, low failure rate, and a small footprint, significantly reducing factory commissioning and maintenance costs.

[0006] To achieve the above-mentioned purpose of the invention, the present invention adopts the following technical solution: a pushing device for self-matching the cross-sectional angle of the corrugated plate includes a first base frame and a second base frame, the second base frame is on the right side of the first base frame, and a feeding device is provided on the upper side of the first base frame, the material receiving device is located at the rear of the feeding device and is connected by a first connecting beam, the pushing device is located on the lower side of the first base frame, and the cargo platform is located on the lower side of the material receiving device.

[0007] The feeding device includes a first side plate, a second side plate, and a reduction motor mounting plate. The first side plate and the second side plate are symmetrically arranged on both sides of the upper end of the first base frame. The reduction motor positioning plate is arranged on the outside of the first side plate to form a reference surface. A worm gear reduction motor is arranged on the upper side of the reduction motor mounting plate, and a support seat is arranged on the lower side of the reduction motor mounting plate.

[0008] The worm gear reduction motor is connected to the feed driving shaft through the upper coupling. The feed driving gear is arranged on the other side of the feed driving shaft, and the feed driven gear is arranged on the same side as the feed driving gear. Rubber rollers are provided on the feed driving shaft and the feed driven shaft and are both arranged in the upper tile boxes of the first side plate and the second side plate through deep groove ball bearings A. A suspension rod and a positioning screw are provided on the upper sides of the first side plate and the second side plate.

[0009] Preferably, the material receiving device includes a rotating fan blade, which is arranged on the material receiving transmission shaft and has a longitudinal slot, each slot is provided with a roller and a roller shaft, the material receiving transmission shaft is arranged on an axis box on the first connecting beam of the second base frame, an infrared scanning device is arranged on the upper side of the second connecting beam, and the cylinder is arranged on the second connecting beam and the third connecting beam of the second base frame.

[0010] Preferably, the pushing device includes a lifting mechanism, an automatic angle adjuster, a pushing plate mechanism, a hydraulic cylinder connecting plate, and a hydraulic cylinder fixing frame. The hydraulic cylinder fixing frame is arranged on the upper part of the lifting mechanism, the pushing hydraulic cylinder is arranged on the upper part of the hydraulic cylinder fixing frame, a scanner is arranged above the hydraulic cylinder connecting plate and is connected to the pushing hydraulic cylinder, the automatic angle adjuster is arranged horizontally on the hydraulic cylinder connecting plate, and the pushing plate mechanism is arranged at the rear end of the automatic angle adjuster.

[0011] Preferably, the lifting mechanism includes a lifting platform and a base arranged in parallel, both the lifting platform and the base are provided with supports and slide rails on both sides, the lifting platform is arranged at the bottom of the pushing device, and a first connecting rod, a second connecting rod and a first connecting rod group are arranged between the base and the lifting platform.

[0012] The first connecting rod group is connected to the support on the base, and a lifting hydraulic cylinder is connected to the crossbeam on the first connecting rod group, and the tail end of the lifting hydraulic cylinder is connected to the base support. A first transmission shaft and a second transmission shaft are arranged in the lifting platform slide rail, and the first transmission shaft is connected to the first connecting rod group and a first slide rail roller is arranged at the outer end of the first transmission shaft. A third transmission shaft is arranged on the base slide rail and connected to the first connecting rod and the second connecting rod, and a second slide rail roller is arranged at the end of the third transmission shaft.

[0013] Preferably, the automatic angle adjuster includes a base and a push plate seat, a limit plate is provided below the base, a spherical limit block is provided inside the base, and the spherical limit block is connected to the push plate seat.

[0014] Preferably, the push plate mechanism includes a spring telescopic seat and a push plate, a pressure sensor is provided on the push plate, the spring telescopic seat is provided on the push plate seat, an elastic material layer of butadiene rubber is provided on the push plate and the height of the push plate is not less than 2.5 times the wave height of the corrugated plate.

[0015] Preferably, the cargo platform includes a bottom box, a support plate and a baffle, a spring support seat with an internal self-built sensor is provided between the bottom box and the support plate, the bottom box is provided with a distance sensor, 8 limiting columns are provided on the upper side of the support plate, and the baffle is provided on the support frame.

[0016] A device and method for self-aligning the cross-sectional angle of a corrugated plate, the specific steps are as follows:

[0017] Step S1: preliminary processing;

[0018] According to the length of the plate after cold rolling, calibrate the baffle position, and calculate the required number of pallets and the entire palletizing cycle time based on the various parameters of the corrugated plate and the corrugated plate feed speed;

[0019] Step S2: conveying and discharging;

[0020] The corrugated plate is transported to the rotating fan blades through the feeding device, and the discharge is controlled by the cylinder control system;

[0021] Step S3: Positioning and aligning;

[0022] After the sheet material falls onto the loading platform, the lifting mechanism is started. After the pushing plate of the pushing device is adjusted to the same angle as the cross section of the corrugated plate, the pushing hydraulic cylinder is started to push the sheet material into alignment.

[0023] Preferably, in step S1;

[0024] Step S1.1: Determine the feeding speed V1 of the conveying device for conveying the plate;

[0025] Step S1.2: Read the number of corrugated plate peaks d, consider that there are incomplete waves, set the number of push plate groups to d+1, and read the corrugated plate wave height l;

[0026] Step S1.3: Determine the length L1 of the plate and adjust the position of the baffle on the loading platform. According to V1 and L1, determine the maximum duration T = L1 / V1 of the entire cycle of stacking and aligning the corrugated plates.

[0027] In step S2;

[0028] Step S2.1: Start the worm gear reduction motor, and the corrugated plate is fed to the material receiving device at a speed of V1;

[0029] Step S2.2: During the conveying process, the corrugated plate is reset to a horizontal position in coordination with the rotating fan blades, and is continuously conveyed forward on the rollers;

[0030] Step S2.3: The infrared sensor detects the corrugated plate conveying status. When the infrared sensor signal q changes from 0 to 1, the cylinder retracts to complete the discharge.

[0031] In step S3:

[0032] Step S3.1: Start the lifting mechanism;

[0033] Step S3.11: The initial rod length of the lifting hydraulic cylinder is a0, the arm lengths of the first and second connecting rods are L, and the initial angle between them and the base is θ0. The initial height of the lifting mechanism is H0 = Lsinθ0, the stroke of the lifting hydraulic cylinder is Δs, and the angle between the lifting hydraulic cylinder and the base after extension is

[0034]

[0035] Final height of step lifting mechanism

[0036] The lifting height of the lifting mechanism is ΔH=H-H0=L(sinθ-sinθ0).

[0037] Step S3.12: Determine the vertical distance c0 between the top of the push plate and the distance sensor when there is no external force on the lifting mechanism, and the distance L measured by the distance sensor in real time from the peak of the corrugated plate. i , according to L i Adjust the top of the push plate with c0 until it is flush with the crest of the corrugated plate;

[0038] Step S3.2: Determine the cross-sectional angle of the corrugated plate and adjust the angle of the automatic angle adjuster to complete the angle matching

[0039] Step S3.21: The scanner is started and a spatial rectangular coordinate system is constructed. The XOY plane is set parallel to the ground, and the Y axis is parallel to the direction of plate movement. The XYZ spatial rectangular coordinate system is constructed according to the right-hand rule.

[0040] Step S3.22: The scanner collects three points Q at each wave for the corrugated plate section to be pushed.ij (x ij ,y ij ,z ij ),i∈[1,m],j∈{1,2,3}, m is the number of corrugated plate waves;

[0041] Step S3.23: Combine the three points on each wave in pairs to construct the direction vector a i and b i , construct the equations of two space lines according to the direction vector l i and l i’ ;

[0042] Step S3.24: Establish the spatial plane equation S where the corrugated plate section is located based on the two spatial straight line equations determined on each wave on the corrugated plate. i ;

[0043] Step S3.25: According to the normal vector s of the space plane equation corresponding to each wave of the corrugated plate i Adjust the angle of the automatic angle adjuster so that the push plate mechanism is perpendicular to s i , complete the cross-sectional angle matching of the corrugated plate.

[0044] Step S3.3: Determine the thrust of the hydraulic cylinder;

[0045] Step S3.31: With the leftmost end of each wave section of the corrugated plate as the origin, establish an XOY coordinate system perpendicular to the normal vector of the plane equation corresponding to each wave, with the X axis set horizontally.

[0046] Step S3.32: Collect the coordinates R of the upper and lower contours of a single wave of the corrugated plate every 1 mm mn上 (x mn上 ,y mn上 ) and R mn下 (x mn下 ,y mn下 ), perform curve fitting and obtain the upper contour curve equation D i and the lower contour curve equation D i’ ;

[0047] Step S3.33: Determine the wavelength t using Determine the contact area I between the corrugated plate and the push plate i ;

[0048] Step S3.34: Determine the thrust F of the hydraulic cylinder, the minimum empirical stress δ of the corrugated plate cross-section deformation, and the thrust F of each push plate on the corrugated plate. i =δI i ,but η is the mechanical efficiency of the hydraulic cylinder;

[0049] Step S3.4: Start the alignment hydraulic cylinder to complete the alignment;

[0050] Step S3.4.1: The push hydraulic cylinder extends and pushes at a speed of V2. After the push plate contacts the corrugated plate, when the pressure sensor signal i changes from 0 to 1, there is contact between the corrugated plate and the push plate, then the thrust F of the push hydraulic cylinder does not exceed F c On the premise that the entire pushing time does not exceed the maximum time T of the entire pushing cycle, reduce the push rod extension speed to V3 to ensure that the corrugated plate and the push plate are aligned at a low speed, and the pushing hydraulic cylinder continues to extend;

[0051] Step S3.4.2: When the alignment hydraulic cylinder reaches the alignment distance M at the speed V3 and reaches M0, the alignment is completed, and the self-matching corrugated plate cross-section angle alignment device is reset and retracted, and the work is completed. Compared with the prior art, the beneficial effects of the present invention are:

[0052] 1. The material receiving device adopts the non-powered autonomous compensation mechanism, which reduces the floor space and manufacturing costs while making the material receiving device change from traditional reciprocating motion to rotary motion, saving floor space and reducing cost budget. The gravity during the plate transmission process realizes automatic compensation and reset, that is, there is no need to set up an external power source, the work is relatively reliable, and the operation is easy when replacing and repairing.

[0053] 2. The present invention adopts the dynamic co-congruence method of the wave structure normal vector, and realizes the determination of the normal vector corresponding to the corrugated plate cross section through dynamic positioning. By adjusting the pushing plate mechanism to make the normal vector of the corrugated plate cross section orthogonal to its plane, the precise coordinated matching of the corrugated plate cross section angle is completed, which increases the contact area with the corrugated plate cross section during the pushing process and greatly reduces the stress generated during the pushing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0055] Figure 2 Schematic diagram of the feeding device of the present invention;

[0056] Figure 3 Schematic diagram of the pushing device of the present invention;

[0057] Figure 4 It is a schematic diagram of the lifting mechanism of the present invention;

[0058] Figure 5 Schematic diagram of the structure of the automatic angle adjuster in the alignment device of the present invention;

[0059] Figure 6 A schematic diagram of a cargo platform according to the present invention;

[0060] Figure 7 It is a workflow diagram of the present invention;

[0061] Figure 8 A schematic diagram of an embodiment of the present invention;

[0062] Figure 9 This is a schematic diagram of S3.2 in an embodiment of the present invention;

[0063] Figure 10 Schematic diagram of S3.3 in an embodiment of the present invention.

[0064] Reference numerals

[0065] 1. First base frame 2, second base frame 21, first connecting beam 22, second connecting beam 23, third connecting beam

[0066] 3. Feeding mechanism 31, first side plate 32, second side plate 33, reduction motor mounting plate 34, worm gear reduction motor 35, support base 301, upper coupling 302, feeding driving shaft 303, feeding gear 304, feeding driven shaft 305, feeding driven gear 306, rubber roller 307, deep groove ball bearing A308, tile box 309, suspension rod 310, positioning screw 311, feeding shaft clamp

[0067] 4. Material receiving device 41, rotating fan blade 42, cylinder 43, material receiving transmission shaft 401, material receiving shaft clamp 402, infrared scanning device 403, roller 404, roller shaft 405, cylinder 406, shaft box 407, deep groove ball bearing B

[0068] 5. Pushing device 51, lifting mechanism 52, automatic angle adjuster 53, pushing hydraulic cylinder 54, hydraulic cylinder connecting plate 55, hydraulic cylinder fixing frame 56, pushing plate mechanism 57, scanner 511, lifting platform 512, base 513, first connecting rod 514, second connecting rod 515, first connecting rod group 516, lifting hydraulic cylinder 517, first transmission shaft 518, second transmission shaft 519, third transmission shaft 521, pushing plate seat 522, base 523, limit plate 524, spherical limit block 561, spring expansion seat 562, pressure sensor 563, pushing plate 5171, first slide roller 5191, second slide roller

[0069] 6. Cargo platform 61, bottom box 62, support plate 63, baffle 601, spring support seat 602, distance sensor 603, limit column DETAILED DESCRIPTION

[0070] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "left", "right", "longitudinal", "lateral", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, or are the orientation or positional relationship in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "setting", "installation", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a communication between the internal parts of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0071] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0072] like Figure 1 and Figure 2As shown, a pushing device for self-matching the cross-sectional angle of a corrugated plate includes a first base frame 1 and a second base frame 2. The second base frame 2 is on the right side of the first base frame 1. A feeding device 3 is provided on the upper side of the first base frame 1. A receiving device 4 is located at the rear of the feeding device 3 and is connected to the first connecting beam 21. A pushing device 5 is located on the lower side of the first base frame 1, and a loading platform 6 is located on the lower side of the receiving device 4. The feeding device 3 includes a first side plate 31, a second side plate 32, and a reduction motor mounting plate 33. The first side plate 31 and the second side plate 32 are symmetrically arranged on both sides of the upper end of the first base frame 1 according to the adjustment spacing of the sheet width. The reduction motor positioning plate 33 is provided on the outside of the first side plate 31 to form a reference surface. A worm gear reduction motor 34 is provided on the upper side of the reduction motor mounting plate 33. A support seat 35 is provided on the lower side of the reduction motor mounting plate 33. The worm gear reduction motor 34 is connected to the feeding drive shaft 302 through an upper coupling 301. The feeding drive gear 303 is provided on the On the other side of the feeding active shaft 302, the feeding driven gear 305 is arranged on the same side as the feeding active gear 303, and its axial direction is fixed by the feeding shaft clamp 311, and the two are engaged in transmission and the matching transmission ratio is 1:1. Rubber rollers 306 are provided on the feeding active shaft 302 and the feeding driven shaft 304, and both are arranged in the tile box 308 on the first side plate 31 and the second side plate 32 through deep groove ball bearings A307. A hanger 309 and a positioning screw 310 are provided on the upper side of the first side plate 31 and the second side plate 32, and the position of the tile box 308 is locked by tightening the positioning screw 310. The material receiving device 4 includes a rotating fan blade 41, which is arranged on the material receiving transmission shaft 42, and its axial position is fixed by the shoulder of the material receiving transmission shaft 42 and the material receiving shaft clamp 401. A slot is longitudinally opened on the rotating fan blade 41, and each slot is provided with a roller 403 and a roller shaft 404. When the upper side passes through the plate, the roller 404 drives the plate forward to prevent wear. The material receiving transmission shaft 42 is arranged on the deep groove ball bearing B407 in the shaft box 406 on the first connecting beam 21 of the second base frame 2, and an infrared scanning device 402 is provided on the upper side of the second connecting beam 22. The cylinder 405 is arranged on the second connecting beam 23 and the third connecting beam 24 of the second base frame 2, and the initial state of the cylinder 405 is an extended state to limit the position of the rotating fan blade 41 so that the plate can be automatically compensated and reset with it during the advancement process.

[0073] like Figure 1 、 Figure 3 、 Figure 4 and Figure 5As shown, the pushing device 5 includes a lifting mechanism 51, an automatic angle adjuster 52, a hydraulic cylinder connecting plate 54, a hydraulic cylinder fixing frame 55, and a push plate mechanism 56. The hydraulic cylinder fixing frame 55 is arranged on the upper side of the lifting mechanism 51, and the pushing hydraulic cylinder 53 is arranged on the upper part of the hydraulic cylinder fixing frame 55. A scanner 57 is provided above the hydraulic cylinder connecting plate 54 and is fixed to the pushing hydraulic cylinder 53. The automatic angle adjuster 52 is arranged on the hydraulic cylinder connecting plate 54 at a fixed interval according to the distance of each wavelength of the corrugated plate. The push plate mechanism 56 is arranged at the rear end of the automatic angle adjuster 55. Each push plate 563 is arranged horizontally with a gap m=1mm between the two plates to prevent them from interfering with each other. A pressure sensor is provided on each push plate 563, and the spring telescopic seat 561 adjusts the distance longitudinally to prevent excessive impact and damage to the product. The lifting mechanism 51 includes a lifting platform 511 and a base 512 arranged in parallel. Both the lifting platform 511 and the base 512 are provided with supports and slide rails. The lifting platform 511 is arranged at the bottom of the pushing device 5. A first connecting rod 513, a second connecting rod 514 and a first connecting rod group 515 are arranged between the base 512 and the lifting platform 511, which are symmetrical on both sides and connected in an interlaced manner. The first connecting rod group 515 is connected and fixed to the support on the base 512, and the lifting hydraulic cylinder 516 is connected to the crossbeam on the first connecting rod group 515, and the lifting hydraulic cylinder 516 is connected to the support of the base 512. The first transmission shaft 517 and the second transmission shaft 518 are arranged in the slide rail of the lifting platform 511. The first transmission shaft 517 is connected to the first connecting rod group 515 and the outer end of the first transmission shaft 517 is provided with a first slide rail roller 5171. The third transmission shaft 519 is provided at the slide rail of the base 512 and is hinged to the first connecting rod 513 and the second connecting rod 514. The second slide rail roller 5191 is provided at the end of the third transmission shaft 519. The automatic recliner 52 includes a push plate seat 521 and a base 522. A spherical stopper 524 is positioned within the base 522 to limit its rotation angle, and a limit plate 523 is positioned below to prevent interference between adjacent push plates. The limit plate 523 is connected to the base 522 and limits the maximum lateral rotation angle of the automatic recliner 52 to 20°. The push plate mechanism 56 includes a spring retractable seat 561 and a push plate 563. The push plate 563 is equipped with a pressure sensor 562. The spring retractable seat 561 is positioned on the push plate seat 522 to prevent hard impact. The push plate 563 is outer-layered with an elastic material layer of butadiene rubber (BR), and its height is no less than 2.5 times the height of the corrugated plate.

[0074] like Figure 6 As shown, the cargo platform 6 includes a bottom box 61, a support plate 62, and a baffle 63. A spring support seat 601 with an internal self-built sensor is arranged between the bottom box 61 and the support plate 62. A distance sensor 602 is arranged on the bottom box 61. Eight limiting columns 603 are arranged on the upper side of the support plate 62 and are symmetrically arranged on both sides at a fixed interval. The baffle 63 is arranged on the support plate 62.

[0075] like Figure 6-10 As shown, a method for using a self-matching corrugated plate cross-sectional angle pushing device is shown. The embodiment takes a corrugated plate with a plate length L1 of 1500 mm and a plate width b of 600 mm as an example.

[0076] The specific steps are as follows:

[0077] Step S1: preliminary processing;

[0078] Calibrate the position of baffle 63 according to the processing board length, calculate the palletizing cycle time according to the processing parameters, and ensure that there is no interference between adjacent cycles;

[0079] Step S1.1: Determine the feeding speed V1 of the plate conveyed by the feeding device 3 = 100 mm / s;

[0080] Step S1.2: Read the number of corrugated plate peaks d. Considering that there are incomplete waves, the number of push plate groups required is d+1. Read the corrugated plate wave height l.

[0081] Step S1.3: Determine the length L1 of the sheet material and adjust the position of the baffle 63 on the loading platform 6. Calculate the number d of sheets that can be accommodated on the loading platform 6 based on the mass of the corrugated sheet material using the balancing force of the spring support 601.

[0082] Step S1.4: Determine the maximum duration of the entire cycle of stacking and aligning the corrugated boards based on V1 and L1: T = L1 / V1 = 15s.

[0083] Step S2: plate conveying;

[0084] The corrugated plate is transported to the rotating fan blade 41 through the feeding device 3 and discharged by the control system of the cylinder 405;

[0085] Step S2.1: Start the worm gear reduction motor 34, and the corrugated plate moves toward the material receiving device 4 at a speed of V1;

[0086] Step S2.2: During the conveying process, the corrugated board is reset to the horizontal position in coordination with the rotating blades 41 and continuously conveyed forward on the rollers 403;

[0087] Step S2.3: The infrared sensor 402 detects the conveying status of the corrugated plate. When the signal q of the infrared sensor 402 changes from 0 to 1, the cylinder 405 retracts to complete the discharge, and the corrugated plate reaches the positioning area of ​​the pushing device 5.

[0088] Step S3: Positioning and aligning;

[0089] After the sheet material falls onto the loading platform, the lifting mechanism 51 is started, and after the push plate 563 is adjusted to be consistent with the cross-section angle of the corrugated plate, the alignment hydraulic cylinder 53 is started to align the sheet material.

[0090] Step S3.1: Start the lifting mechanism 51;

[0091] Step S3.11: The initial rod length of the lifting hydraulic cylinder 516 is a0, the arm lengths of the first link 513 and the second link 514 are L, and the initial angle between them and the base 523 is θ0. The initial height of the lifting mechanism is H0 = Lsinθ0, the stroke of the lifting hydraulic cylinder 516 is Δs, and the angle between the lifting hydraulic cylinder 516 and the base 523 after extension is

[0092] Final height of lifting mechanism 51

[0093] The lifting mechanism 51 lifts the device to a height ΔH=H-H0=L(sinθ-sinθ0).

[0094] Step S3.12: Determine the vertical distance c0 between the top of the push plate and the distance sensor when there is no external force on the lifting mechanism 51, and the distance L measured by the distance sensor in real time from the peak of the corrugated plate. i， According to L i Adjust the top of the push plate with c0 until it is flush with the crest of the corrugated plate;

[0095] Step S3.2: Determine the cross-sectional angle of the corrugated plate and adjust the angle of the automatic angle adjuster 52 to complete the angle matching

[0096] Step S3.21: The scanner 57 is started and a spatial rectangular coordinate system is constructed. The XOY plane is set parallel to the ground, and the Y axis is parallel to the direction of advance of the plate. The XYZ spatial rectangular coordinate system is constructed according to the right-hand rule.

[0097] Step S3.22: The scanner 57 collects three points at each wave for the cross section of the corrugated plate to be pushed, such as Figure 9 , taking the first wave on the left of the corrugated plate as an example Q 11 (-281, 142, -26), Q 12 (-256, 147, -23), Q 13 (-236, 142, -26);

[0098] Step S3.23: Combine the three points on the wave in pairs to construct the direction vectors a1 (-25, 5, -2) and b1 (-20, -5, -3). Based on the direction vectors, construct the equations of the two spatial lines l. 1： and

[0099] Step S3.24: Based on the two spatial straight line equations determined on each wave on the corrugated plate, establish the spatial plane equation S1 where the corrugated plate section is located. Its S1 normal vector s1 is (5,7,-45), and the S1 plane equation is: 5x+7y-45z=759;

[0100] Step S3.25: According to the normal vector s of the space plane equation corresponding to each wave of the corrugated plate i Adjust the angle of the automatic angle adjuster 52 so that the push plate mechanism 56 is perpendicular to s i , complete the cross-sectional angle matching of the corrugated plate.

[0101] Step S3.3: Determine the thrust of the hydraulic cylinder 53;

[0102] Step S3.31: With the leftmost end of each wave section of the corrugated plate as the origin, establish an XOY coordinate system perpendicular to the normal vector of the plane equation corresponding to each wave, with the X axis set horizontally.

[0103] Step S3.32: Collect the coordinates of the upper and lower contours of a single wave of the corrugated plate every 1 mm, such as Figure 10 The first waveform on the left is shown as an example. 11上 、R 12上 ...、R 1n上 and R 11下 、R 12下 ...、R 1n下 , perform curve fitting and obtain the upper contour curve equation D 1: and the lower contour curve equation D 1’ :

[0104] Step S3.33: Determine the wavelength t = 60 mm, using Determine the contact area between the corrugated plate and the first push plate on the left to be I1 = 180 mm 2 ;

[0105] Step S3.34: Determine the thrust F of the hydraulic cylinder 53, the minimum empirical stress δ of the corrugated plate cross-section deformation, and the thrust F of each push plate 563 on the corrugated plate. i =δI i ,but η is the mechanical efficiency of the pushing hydraulic cylinder 53;

[0106] Step S3.4: Start the alignment hydraulic cylinder 53 to complete the alignment;

[0107] Step S3.4.1: The hydraulic cylinder 53 extends and pushes at a speed of V2. After the push plate 563 contacts the corrugated plate, when the pressure sensor signal i changes from 0 to 1, there is contact between the corrugated plate and the push plate 563. Then, when the thrust F of the hydraulic cylinder 53 does not exceed F cUnder the premise that the entire pushing time does not exceed the maximum time T of the entire pushing cycle, the push rod extension speed is reduced to V3 to ensure that the corrugated plate and the push plate 563 are aligned at a low speed, and the pushing hydraulic cylinder 53 is continuously extended;

[0108] Step S3.4.2: When the alignment hydraulic cylinder 53 reaches the alignment distance M at the speed V3 and reaches M0, the alignment is completed, the alignment device 5 is reset and retracted, and the work is completed.

[0109] Finally, it should be noted that 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 they can still modify or replace the technical solutions of the present invention with 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. A self-matching corrugated plate cross-sectional angle pushing device, characterized in that: It includes a first base frame and a second base frame, the second base frame is on the right side of the first base frame, and a feeding device is provided on the upper side of the first base frame. The material receiving device is located at the rear of the feeding device and is connected by a first connecting beam. The pushing device is located at the lower side of the first base frame, and the cargo platform is located at the lower side of the material receiving device. The feeding device includes a first side plate, a second side plate, and a reduction motor mounting plate. The first side plate and the second side plate are symmetrically arranged on both sides of the upper end of the first base frame. The reduction motor positioning plate is arranged on the outside of the first side plate to form a reference surface. A worm gear reduction motor is arranged on the upper side of the reduction motor mounting plate, and a support seat is arranged on the lower side of the reduction motor mounting plate. The worm gear reduction motor is connected to the feed driving shaft through the upper coupling. The feed driving gear is arranged on the other side of the feed driving shaft, and the feed driven gear is arranged on the same side as the feed driving gear. Rubber rollers are provided on the feed driving shaft and the feed driven shaft and are both arranged in the upper tile boxes of the first side plate and the second side plate through deep groove ball bearings A. A suspension rod and a positioning screw are provided on the upper sides of the first side plate and the second side plate.

2. The material receiving device according to claim 1, characterized in that: It includes rotating fan blades, which are arranged on the material receiving transmission shaft and have longitudinal slots, each slot is provided with a roller and a roller shaft, the material receiving transmission shaft is arranged on an axis box on the first connecting beam of the second base frame, an infrared scanning device is arranged on the upper side of the second connecting beam, and the cylinder is arranged on the second connecting beam and the third connecting beam of the second base frame.

3. The pushing device according to claim 1, characterized in that: It includes a lifting mechanism, an automatic angle adjuster, a push plate mechanism, a hydraulic cylinder connecting plate, and a hydraulic cylinder fixing frame. The hydraulic cylinder fixing frame is arranged on the upper part of the lifting mechanism, the pushing hydraulic cylinder is arranged on the upper part of the hydraulic cylinder fixing frame, a scanner is arranged above the hydraulic cylinder connecting plate and is connected to the pushing hydraulic cylinder, the automatic angle adjuster is arranged horizontally on the hydraulic cylinder connecting plate, and the push plate mechanism is arranged at the rear end of the automatic angle adjuster.

4. The lifting mechanism according to claim 3, characterized in that: It includes a lifting platform and a base arranged in parallel. Both the lifting platform and the base are provided with supports and slide rails on both sides. The lifting platform is arranged at the bottom of the pushing device. A first connecting rod, a second connecting rod and a first connecting rod group are arranged between the base and the lifting platform. The first connecting rod group is connected to the support on the base, and a lifting hydraulic cylinder is connected to the crossbeam on the first connecting rod group, and the tail end of the lifting hydraulic cylinder is connected to the base support. A first transmission shaft and a second transmission shaft are arranged in the lifting platform slide rail, and the first transmission shaft is connected to the first connecting rod group and a first slide rail roller is arranged at the outer end of the first transmission shaft. A third transmission shaft is arranged on the base slide rail and connected to the first connecting rod and the second connecting rod, and a second slide rail roller is arranged at the end of the third transmission shaft.

5. The automatic angle adjuster according to claim 3, characterized in that: It includes a base and a push plate seat, a limit plate is arranged under the base, a spherical limit block is arranged inside the base, and the spherical limit block is connected to the push plate seat.

6. The push plate mechanism according to claim 3, characterized in that: It includes a spring telescopic seat and a push plate, wherein a pressure sensor is arranged on the push plate, the spring telescopic seat is arranged on the push plate seat, an elastic material layer of butadiene rubber is arranged on the push plate and the height of the push plate is not less than 2.5 times the wave height of the corrugated plate.

7. The cargo platform according to claim 1, characterized in that: It includes a bottom box, a support plate and a baffle. A spring support seat with an internal self-placed sensor is provided between the bottom box and the support plate. The bottom box is provided with a distance sensor. 8 limiting columns are provided on the upper side of the support plate. The baffle is provided on the support frame.

8. A device and method for aligning the cross-sectional angle of a self-matching corrugated plate according to claims 1-7, characterized in that: The specific steps are as follows: Step S1: preliminary processing; According to the length of the plate after cold rolling, calibrate the baffle position, and calculate the required number of pallets and the entire palletizing cycle time based on the various parameters of the corrugated plate and the corrugated plate feed speed; Step S2: conveying and discharging; The corrugated plate is transported to the rotating fan blades through the feeding device, and the discharge is controlled by the cylinder control system; Step S3: Positioning and aligning; After the sheet material falls onto the loading platform, the lifting mechanism is started. After the pushing plate of the pushing device is adjusted to the same angle as the cross section of the corrugated plate, the pushing hydraulic cylinder is started to push the sheet material into alignment.

9. The method for using the self-aligning corrugated plate cross-sectional angle pushing device according to claim 8, characterized in that: In step S1; Step S1.1: Determine the feeding speed V1 of the conveying device for conveying the plate; Step S1.2: Read the number of corrugated plate peaks d, consider that there are incomplete waves, set the number of push plate groups to d+1, and read the corrugated plate wave height l; Step S1.3: Determine the length L1 of the plate and adjust the position of the baffle on the loading platform. According to V1 and L1, determine the maximum duration T = L1 / V1 of the entire cycle of stacking and aligning the corrugated plates. In step S2; Step S2.1: Start the worm gear reduction motor, and the corrugated plate is fed to the material receiving device at a speed of V1; Step S2.2: During the conveying process, the corrugated plate is reset to a horizontal position in coordination with the rotating fan blades, and is continuously conveyed forward on the rollers; Step S2.3: The infrared sensor detects the corrugated plate conveying status. When the infrared sensor signal q changes from 0 to 1, the cylinder retracts to complete the discharge. In step S3: Step S3.1: Start the lifting mechanism; Step S3.11: The initial rod length of the lifting hydraulic cylinder is a0, the arm lengths of the first and second connecting rods are L, and the initial angle between them and the base is θ0. The initial height of the lifting mechanism is H0 = Lsinθ0, the stroke of the lifting hydraulic cylinder is Δs, and the angle between the lifting hydraulic cylinder and the base after extension is Final height of step lifting mechanism The lifting height of the lifting mechanism is ΔH=H-H0=L(sinθ-sinθ0). Step S3.12: Determine the vertical distance c0 between the top of the push plate and the distance sensor when there is no external force on the lifting mechanism, and the distance L measured by the distance sensor in real time from the peak of the corrugated plate. i， According to L i Adjust the top of the push plate with c0 until it is flush with the crest of the corrugated plate; Step S3.2: Determine the cross-sectional angle of the corrugated plate and adjust the angle of the automatic angle adjuster to complete the angle matching; Step S3.21: The scanner is started and a spatial rectangular coordinate system is constructed. The XOY plane is set parallel to the ground, and the Y axis is parallel to the direction of plate movement. The XYZ spatial rectangular coordinate system is constructed according to the right-hand rule. Step S3.22: The scanner collects three points Q at each wave for the corrugated plate section to be pushed. ij (x ij ,y ij ,z ij ),i∈[1,m],j∈{1,2,3}, m is the number of corrugated plate waves; Step S3.23: Combine the three points on each wave in pairs to construct the direction vector a i and b i , construct the two space straight line equations l according to the direction vector i and l i '; Step S3.24: Establish the spatial plane equation S where the corrugated plate section is located based on the two spatial straight line equations determined on each wave on the corrugated plate. i ; Step S3.25: According to the normal vector s of the space plane equation corresponding to each wave of the corrugated plate i Adjust the angle of the automatic angle adjuster so that the push plate mechanism is perpendicular to s i , complete the cross-sectional angle matching of the corrugated plate. Step S3.3: Determine the thrust of the hydraulic cylinder; Step S3.31: With the leftmost end of each wave section of the corrugated plate as the origin, establish an XOY coordinate system perpendicular to the normal vector of the plane equation corresponding to each wave, with the X axis set horizontally. Step S3.32: Collect the coordinates R of the upper and lower contours of a single wave of the corrugated plate every 1 mm mn上 (x mn上 ,y mn (above) and R mn Next (x mn Next, y mn Next), curve fitting is performed to obtain the upper contour curve equation D i and the lower contour curve equation D i’ ; Step S3.33: Determine the wavelength t using Determine the contact area I between the corrugated plate and the push plate i ; Step S3.34: Determine the thrust F of the hydraulic cylinder, the minimum empirical stress δ of the corrugated plate cross-section deformation, and the thrust F of each push plate on the corrugated plate. i =δI i ,but η is the mechanical efficiency of the hydraulic cylinder; Step S3.4: Start the alignment hydraulic cylinder to complete the alignment; Step S3.4.1: The push hydraulic cylinder extends and pushes at a speed of V2. After the push plate contacts the corrugated plate, when the pressure sensor signal i changes from 0 to 1, there is contact between the corrugated plate and the push plate, then the thrust F of the push hydraulic cylinder does not exceed F c On the premise that the entire pushing time does not exceed the maximum time T of the entire pushing cycle, reduce the push rod extension speed to V3 to ensure that the corrugated plate and the push plate are aligned at a low speed, and the pushing hydraulic cylinder continues to extend; Step S3.4.2: When the alignment hydraulic cylinder reaches the alignment distance M at the speed V3 and reaches M0, the alignment is completed, and the self-matching corrugated plate cross-section angle alignment device is reset and retracted, and the work is completed.

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