Novel nine-roller straightening machine automatic rapid alignment method

Abstract

The invention discloses a novel nine-roller straightening machine automatic rapid alignment method, and relates to the technical field of metal bar straightening, and the alignment method comprises the following specific steps: a material stirring arm grabs a rack bar and places the rack bar on an automatic lifting roller way, encoders at two ends of the roller way collect position data and transmit the position data to a PLC, a laser distance measuring sensor scans the bar to generate curvature data, and the curvature data is transmitted to a PLC; when the bending degree exceeds the standard, the PLC calculates the compensation amount to adjust the roller way, the axis is calibrated when the distance between the head of the bar and the straightening machine is 1.2 m, the pinch roll and the roller way are in linkage feeding after centering, and finally parameters are extracted to generate a process file which is stored in a server; by integrating the incremental encoder, the laser ranging sensor and the PLC control system, full-process automatic accurate alignment of bars from feeding to a straightening inlet is achieved, the PLC control system dynamically adjusts the height of a roller section according to curvature data, the compensation amount is distributed according to the gradient principle, and the stability of synchronous lifting of a roller way is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of metal bar straightening, in particular to a novel automatic and rapid alignment method for a nine-roller straightening machine. Background Art

[0002] In the field of metal bar processing, the straightening process is a key link to ensure the straightness and surface quality of the product. With the growing demand for high-precision bars in the automotive, aerospace and energy equipment industries, traditional straightening machines have gradually exposed problems of low efficiency and insufficient alignment accuracy when dealing with bars with complex curved shapes. At present, the core challenge of the nine-roll straightening machine as a mainstream equipment is how to quickly and accurately achieve dynamic alignment between the bar axis and the straightening roller gap, especially for large-size, high-strength or special-shaped cross-section bars. Traditional mechanical positioning methods are prone to straightening defects due to fluctuations in the curvature of the bars, affecting the qualified rate of finished products. The integration of automation and intelligent technology has become an important direction for improving the stability of the straightening process. By integrating sensor networks, real-time data processing and PLC control systems, accurate perception and dynamic compensation of the bar curvature can be achieved, thereby meeting the stringent requirements of high-end manufacturing for straightening accuracy.

[0003] The traditional nine-roller straightening machine alignment method mainly relies on manual vision or fixed mechanical limits, which has significant limitations. First, manual operation relies on experience and is difficult to cope with the random distribution of bar curvature, resulting in low alignment efficiency and poor repeatability, especially in large-scale production, which is prone to quality fluctuations. Secondly, the fixed roller cannot adjust the height according to the real-time curvature of the bar. For bars with curvature exceeding the critical value, local stress concentration is likely to occur during the straightening process, causing cracks or shape rebound. In addition, the traditional guide mechanism only realizes bar positioning through passive guidance and lacks active calibration capabilities. When the bar axis deviates greatly, it is easy to cause feed jams or increased wear of the straightening rollers. Although some equipment has introduced basic sensors, the data acquisition frequency is low and the processing delay is high, which makes it difficult to meet the real-time control requirements of high-speed production lines, limiting the further improvement of the straightening process.

[0004] Therefore, the development of a new automatic and rapid alignment method for the nine-roller straightening machine has promoted the development of the straightening process towards automation and intelligence, providing key technical support for high-end manufacturing. Summary of the Invention

[0005] The purpose of the present invention is to make up for the shortcomings of the existing technology and provide a new automatic and rapid alignment method for a nine-roller straightening machine. By integrating automated sensors, PLC control systems and intelligent algorithms, precise alignment of the entire process before bar straightening is achieved. Laser ranging sensors and incremental encoders are used to collect the three-dimensional profile and position data of the bars in real time. Combined with the PLC control system, the curvature is dynamically evaluated and the roller table is driven for segmented compensation. At the same time, the self-rotating guide mechanism is used to actively calibrate the axis of the bar, solving the problems of traditional methods that rely on manual labor, are inefficient and have insufficient alignment accuracy.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: a novel automatic and rapid alignment method for a nine-roller straightening machine, the specific steps of which are as follows:

[0007] S100, bar loading and position information collection: The feeding arm grabs the bar from the rack using a mechanical claw and moves it above an automatic lifting roller table consisting of three independent roller segments. Incremental encoders at both ends of the roller table collect real-time bar position data and transmit it to the PLC control system via the RS485 bus.

[0008] S200, bar curvature scanning and data generation: A laser ranging sensor is placed above the automatic lifting roller table to scan the upper surface of the bar to obtain discrete points, fit them into a 3D contour curve, and calculate the maximum curvature. The contour data and curvature value are packaged into a JSON data packet and transmitted to the PLC control system via industrial Ethernet.

[0009] S300, height compensation adjustment of the lifting roller table: The PLC control system receives data and evaluates the curvature. When the curvature exceeds 10° / m, it calculates the lifting compensation amount for each roller segment and controls the servo motor to drive the chain transmission mechanism to control the synchronous lifting and lowering of the roller segments.

[0010] S400, self-rotating guide mechanism axis alignment: When the bar head is 1.2m away from the straightening machine entrance, the mechanism is triggered, and the servo motor drives the guide wheel to rotate at a speed of 35r / min, driving the bar to rotate and achieve axis alignment;

[0011] S500, pinch roller and roller table linked feeding: After alignment is completed, the PLC control system controls the upper roller of the pinch roller to press down and clamp the bar, and the pinch roller and the automatic lifting roller table are linked to feed the material. The encoder monitors the feed amount during transmission;

[0012] S600, archiving and storage of alignment process parameters: After the bars enter the straightening machine, parameters such as the lifting roller adjustment amount, guide wheel speed, pinch roller clamping pressure, and alignment time are extracted, associated with the bar specifications, and a process file is generated and stored on the server.

[0013] Furthermore, in the S100, during the bar loading and position information collection, the length of each roller segment of the automatic lifting roller is 2m, the roller surface is made of wear-resistant cast iron, and 4 sets of guide wheels are installed at the bottom to slide along the guide rail with a straightness of ≤0.1mm / m.

[0014] Furthermore, in the S200, in the bar curvature scanning and data generation, the sampling frequency of the laser ranging sensor is 100 Hz, the measurement accuracy is ±0.1 mm, and two groups are arranged at intervals of 1.5 m along the length direction of the roller, and more than 2,000 discrete points on the bar surface are obtained by triangulation.

[0015] Furthermore, in the step S200, in the bar curvature scanning and data generation, the maximum curvature is calculated by using the least squares method to calculate the fitting straight line of the curve, thereby obtaining the maximum curvature δ within the entire length range, and the calculation formula is: ,in, and is the maximum positive and negative deviation of the contour curve from the fitting straight line, is the actual measured length of the bar.

[0016] Furthermore, in the S300, when adjusting the height compensation of the lifting roller, the compensation amount of each section is The calculation formula is: , where k is the proportional coefficient, The deviation between the actual height of the corresponding position of each saw segment and the ideal straight line, and the three groups of roller segments of the automatic lifting roller table rise and fall independently, and the compensation amount is allocated according to the gradient principle: the first segment is ; The middle section is ; The last paragraph is: The maximum adjustment amount of the first section roller is 80mm, the maximum adjustment amount of the middle section roller is 60mm, and the maximum adjustment amount of the last section roller is 40mm.

[0017] Furthermore, in the S300, the lifting stroke of the automatic lifting roller in the height compensation adjustment of the lifting roller is ±150 mm, and the height data is fed back in real time through the magnetostrictive displacement sensor.

[0018] Furthermore, in the S400, during the calibration of the axis of the self-rotating guide mechanism, the self-rotating guide mechanism has a built-in 6-axis force sensor with a measurement range of 0-50N, which adjusts the guide wheel speed when the lateral pressure fluctuation exceeds ±10%.

[0019] Furthermore, in the S400, the contact surface between the guide wheel and the rod is calibrated to be a 30° conical surface by the axis of the self-rotating guide mechanism, and is driven to rotate by a servo motor with a reduction ratio of 1:60.

[0020] Furthermore, in the S500, when the pinch roller and the roller conveyor are linked to feed, the speed synchronization error between the pinch roller and the automatic lifting roller conveyor is ≤0.1m / s, and the bar feed amount is monitored by the grating ruler. When the feed amount error exceeds ±5mm, the pinch roller speed is corrected.

[0021] Furthermore, in the S500, when the pinch roller and the roller conveyor are linked to feed, the surfaces of the upper roller and the lower roller of the pinch roller are provided with anti-slip grooves with a depth of 0.5mm-1mm, and the clamping pressure range is 50N-200N, which is adjusted in real time by a proportional valve.

[0022] Compared with the existing technology, the new automatic and rapid alignment method of the nine-roller straightening machine has the following beneficial effects:

[0023] 1. The present invention integrates an incremental encoder, a laser ranging sensor, and a PLC control system to achieve automated and precise alignment of the entire process from loading to the straightening entrance of the bar. The automatic lifting roller adopts a three-group independent roller segment design. Combined with the laser ranging sensor, it scans more than 2,000 discrete points on the bar surface at a sampling frequency of 100 Hz, generates a three-dimensional contour curve, and calculates the maximum curvature with an error control within ±0.1 mm. The PLC control system dynamically adjusts the roller segment height based on the curvature data and allocates compensation according to the gradient principle to ensure the stability of the synchronous lifting of the roller. The self-rotating guide mechanism monitors the lateral pressure in real time through a 6-axis force sensor, automatically corrects the guide wheel speed to maintain the alignment of the bar axis, and combines the control of the synchronization error between the pinch roller and the roller to ≤0.1 m / s to improve the feeding accuracy.

[0024] 2. The present invention establishes a PLC control system to extract data on the adjustment amount of the lifting roller, the speed of the guide wheel, and the pressure of the pinch roller in real time, and generates an SQL format process file based on the bar specifications and stores it on the server. The system supports rapid retrieval of historical parameters by specifications, providing a traceable basis for process optimization for bars of different materials and diameters. In terms of equipment design, the roller adopts a wear-resistant cast iron roller surface and a guide rail sliding structure with a straightness of ≤0.1mm / m, and cooperates with a magnetostrictive displacement sensor to feedback height data in real time to ensure long-term operational stability. The 30° conical surface design of the guide wheel of the self-rotating guide mechanism and the servo drive with a reduction ratio of 1:60 effectively reduce the sliding offset during bar rotation. The combination of the anti-slip grooves of the pinch roller and the pressure adjustment of the proportional valve further enhances the clamping reliability of thin-walled bars.

[0025] Other advantages, objects and features of the present invention will be described in part in the following description and, in part, will be apparent to those skilled in the art based on an examination of the following or may be learned from the practice of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0027] Figure 1 This is a flow chart of a new automatic and rapid alignment method for a nine-roller straightening machine. DETAILED DESCRIPTION

[0028] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0029] Example 1:

[0030] Example of straightening and aligning Φ50mm carbon steel bars.

[0031] The bar workshop of a steel plant needs to straighten a batch of Φ50mm 45# carbon steel bars. These bars have a certain degree of curvature during the rolling process, and the maximum curvature is expected to be between 8° / m and 12° / m. They need to be automatically and quickly aligned by a nine-roll straightening machine before being straightened.

[0032] S100, bar loading and position information collection: The workshop operator starts the loading system. The feeding arm uses a mechanical claw to accurately grab the Φ50mm carbon steel bar on the platform and smoothly moves it to the top of the automatic lifting roller table composed of three independent roller segments. Each roller segment is 2m long and the roller surface is made of wear-resistant cast iron. Four sets of guide wheels are installed at the bottom to slide along the guide rail with a straightness of ≤0.1mm / m. The incremental encoders at both ends of the roller table collect the bar position data in real time and transmit the collected data to the PLC control system via the RS485 bus, providing an accurate position reference for subsequent operations. Figure 1 shown.

[0033] S200, bar curvature scanning and data generation: The laser distance measuring sensors arranged above the automatic lifting roller table start working. Their sampling frequency is 100Hz, and the measurement accuracy is ±0.1mm. Two groups are arranged at intervals of 1.5m along the length of the roller table. Through triangulation, the laser distance measuring sensors obtain more than 2000 discrete points on the bar surface. The system processes these discrete points and fits them into a three-dimensional contour curve. At the same time, it calculates the maximum curvature of the bar. The calculation formula is: ,in, and is the maximum positive and negative deviation of the contour curve from the fitting straight line, The actual length of the bar is measured, and the profile data and curvature value are packaged into a JSON data packet and transmitted to the PLC control system via industrial Ethernet so that the PLC control system can evaluate and subsequently process the bending condition.

[0034] S300, height compensation adjustment of lifting roller: After receiving the 3D profile data, the PLC control system evaluates the curvature of the bar. If the curvature exceeds 10° / m (assuming the maximum curvature of this batch of bars is 11° / m), the PLC control system calculates the lifting compensation amount of each roller segment. The calculation formula is: , where k is the proportional coefficient, The deviation value between the actual height of the corresponding position of each saw segment and the ideal straight line, and the three groups of roller segments of the automatic lifting roller are lifted and lowered independently, and the compensation amount is allocated according to the gradient principle: the first segment is 50% of the total compensation amount, the middle segment is 30% of the total compensation amount, and the last segment is 20% of the total compensation amount. Among them, the maximum adjustment amount of the first segment roller is 80mm, the maximum adjustment amount of the middle segment roller is 60mm, and the maximum adjustment amount of the last segment roller is 40mm. The lifting stroke of the automatic lifting roller is ±150mm. During the adjustment process, the magnetostrictive displacement sensor feeds back the height data in real time to ensure the accuracy of the adjustment. The servo motor drives the chain transmission mechanism through the Profinet bus, thereby controlling the synchronous lifting and lowering of the roller segments to complete the height compensation adjustment, so that the posture of the bar on the roller is preliminarily corrected.

[0035] S400, self-rotating guide mechanism axis calibration: When the head of the bar is 1.2m away from the straightener entrance, the self-rotating guide mechanism is triggered. The mechanism has a built-in 6-axis force sensor with a measuring range of 0-50N. The servo motor drives the guide wheel to rotate at a speed of 35r / min through a reduction ratio of 1:60. The contact surface between the guide wheel and the bar is a 30° cone surface, which drives the bar to rotate. During the rotation process, the 6-axis force sensor monitors the lateral pressure in real time. When the lateral pressure fluctuation exceeds ±10%, the PLC control system automatically adjusts the guide wheel speed to ensure the accuracy of the bar axis alignment. Through this process, the bar axis and the straightener axis are accurately calibrated.

[0036] S500, feeding by pinch roller and roller table in linkage: after the bar axis is calibrated, the PLC control system issues a command to control the upper roller of the pinch roller to press down and clamp the bar. The upper and lower roller surfaces of the pinch roller are provided with anti-slip grooves with a depth of 0.5mm-1mm. The clamping pressure is adjusted in real time by the proportional valve in the range of 50N-200N to ensure that the clamping is firm and does not cause damage to the surface of the bar. The pinch roller and the automatic lifting roller table start to be linked to feed the bar into the straightening machine. During the transmission process, the bar feed amount is monitored by the grating ruler. The speed synchronization error of the pinch roller and the automatic lifting roller table is ≤0.1m / s. When the feed amount error exceeds ±5mm, the PLC control system automatically corrects the pinch roller speed to ensure the accuracy of feeding.

[0037] S600, archiving and storage of alignment process parameters: After the bars successfully enter the straightening machine, the PLC control system automatically extracts parameters such as the adjustment amount of the lifting roller, the speed of the guide wheel, the clamping pressure of the pinch roller, and the alignment time. These parameters are then associated with the bar specifications (Φ50mm carbon steel) to generate a process archive. The process archive is stored on the server in SQL database format, supporting the retrieval of historical parameters by specification, facilitating query and reference in subsequent production processes and providing data support for optimizing production processes.

[0038] In summary, in the straightening and alignment process of Φ50mm carbon steel bars, this automatic and rapid alignment method achieves precise adjustment of the bars through the orderly coordination of various steps, from the loading and position information collection of the bars, to the scanning and data generation of the curvature, to the height compensation adjustment of the lifting roller, the axis calibration of the self-rotating guide mechanism, and the linked feeding of the pinch roller and the roller. Each link is closely connected and works together. In this process, the PLC control system calculates the curvature and compensation amount, realizes precise control through a variety of sensors and transmission mechanisms, and archives and stores key process parameters to provide a reference for subsequent production. This method can effectively deal with the bending problem of carbon steel bars during the rolling process, ensure that the bars are accurately aligned before entering the straightening machine, and improve the straightening efficiency and product quality.

[0039] Example 2:

[0040] Example of straightening and alignment of Φ30mm alloy steel bars.

[0041] A special steel company needed to straighten a batch of Φ30mm 40Cr alloy steel bars. Due to the high alloy content, these bars underwent complex bending deformation during the cooling process. The maximum bending degree of some bars reached 15° / m, requiring precise adjustment through the automatic rapid alignment method of the nine-roll straightening machine.

[0042] S100, bar loading and position information collection: The operator starts the loading device on the bar production line of the special steel enterprise. The mechanical claw of the feeding arm accurately grabs the Φ30mm alloy steel bar on the platform and slowly moves it to the top of the automatic lifting roller. The automatic lifting roller is also composed of three sets of independent roller segments. Each set of roller segments is 2m long. The roller surface is made of wear-resistant cast iron. The four sets of guide wheels at the bottom slide along the guide rail with a straightness of ≤0.1mm / m to ensure the smooth movement of the roller. The incremental encoders at both ends of the roller continuously collect the position data of the bar and transmit the data to the PLC control system in real time via the RS485 bus, so that the PLC control system can accurately grasp the position information of the bar on the roller.

[0043] S200, bar curvature scanning and data generation: The laser ranging sensor located above the automatic lifting roller starts working with a sampling frequency of 100Hz and a measurement accuracy of ±0.1mm. Two groups are arranged every 1.5m along the length of the roller. Through triangulation, the laser ranging sensor obtains more than 2000 discrete points on the bar surface. These discrete points are processed and fitted into a three-dimensional contour curve to calculate the maximum curvature of the bar. The calculation formula is: ,Then the contour data and curvature value are packaged into a JSON data packet and transmitted to the PLC control system via industrial Ethernet, providing a data basis for subsequent height compensation adjustment.

[0044] S300, height compensation adjustment of lifting roller: After receiving the 3D profile data, the PLC control system evaluates the curvature of the bar. Since the maximum curvature of this batch of bars is 15° / m, which exceeds the threshold of 10° / m, the PLC control system calculates the lifting compensation amount of each roller segment based on the calculated maximum curvature. The calculation formula is: The three groups of roller segments of the automatic lifting roller are allocated compensation amounts according to the gradient principle: the first segment is 50% of the total compensation amount, the middle segment is 30%, and the last segment is 20%. The maximum adjustment amount of the first segment roller is 80mm, the maximum adjustment amount of the middle segment is 60mm, and the maximum adjustment amount of the last segment is 40mm. The lifting stroke of the automatic lifting roller is ±150mm. During the adjustment process, the magnetostrictive displacement sensor feeds back height data in real time to ensure that the lifting and lowering compensation amount of each roller segment is accurate. The PLC control system controls the servo motor to drive the chain transmission mechanism through the Profinet bus, so that each roller segment rises and falls synchronously according to the calculated compensation amount, completing the height compensation adjustment of the bar and improving the bending state of the bar.

[0045] S400, self-rotating guide mechanism axis calibration: When the bar head moves to a position 1.2m away from the straightening machine entrance, the self-rotating guide mechanism is triggered. The mechanism has a built-in 6-axis force sensor with a measuring range of 0-50N. The servo motor drives the guide wheel with a reduction ratio of 1:60, making it rotate at a speed of 35r / min. The contact surface between the guide wheel and the bar is a 30° cone surface, which drives the bar to rotate. During the bar rotation process, the 6-axis force sensor monitors the lateral pressure in real time. If the lateral pressure fluctuation exceeds ±10%, the PLC control system will automatically adjust the guide wheel speed to ensure that the bar axis can be accurately aligned with the straightening machine axis, preparing for the subsequent straightening process.

[0046] S500, pinch roller and roller table linked feeding: after the bar axis is calibrated, the PLC control system controls the upper roller of the pinch roller to press down and clamp the bar. The upper and lower roller surfaces of the pinch roller are provided with anti-slip grooves with a depth of 0.5mm-1mm. The clamping pressure is adjusted in real time by the proportional valve. The pressure range is between 50N-200N, which can not only firmly clamp the bar but also not damage its surface. The pinch roller and the automatic lifting roller table start to be linked to feed the bar into the straightening machine. During the transmission process, the grating ruler monitors the bar feed amount in real time. The speed synchronization error of the pinch roller and the automatic lifting roller table is controlled at ≤0.1m / s. When the feed amount error exceeds ±5mm, the PLC control system will automatically correct the pinch roller speed to ensure that the bar is accurately fed into the straightening machine.

[0047] S600, archiving and storage of alignment process parameters: After the bars enter the straightening machine, the PLC control system automatically extracts parameters such as the adjustment amount of the lifting roller, the speed of the guide wheel, the clamping pressure of the pinch roller, and the alignment time. These parameters are then associated with the bar specifications (Φ30mm alloy steel) to generate a process archive. The process archive is stored in the server in SQL database format and supports retrieval of historical parameters by specification. This allows companies to refer to these process parameters when subsequently producing alloy steel bars of similar specifications, thereby improving production efficiency and product quality.

[0048] In summary, for the straightening and alignment of Φ30mm alloy steel bars, this automatic and rapid alignment method shows good adaptability and accuracy. During the entire implementation process, each step is closely linked, starting from the loading and position information collection of the bars, scanning and data generation of the curvature through the laser ranging sensor, and calculation using a specific algorithm. The height compensation adjustment is performed through the lifting roller, and the axis calibration is achieved by the self-rotating guide mechanism. Finally, the bars are fed into the straightening machine through the linkage of the pinch roller and the roller, and the process parameters are archived and stored. This method fully considers the complex bending deformation of the alloy steel bars during the cooling process. Through the coordinated work of multiple precision sensors and control mechanisms, the precise adjustment of the bars is achieved. The archiving and storage of process parameters provides valuable experience data for the subsequent production of similar products by special steel enterprises, which helps to improve production efficiency and product quality. It has significant technical advantages and practical value in the straightening processing of alloy steel bars in special steel enterprises.

[0049] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as above in terms of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art can, without departing from the scope of the technical solution of the present invention, make some changes or modifications to equivalent embodiments using the technical contents disclosed above. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A new automatic and rapid alignment method for a nine-roller straightening machine, characterized in that: The specific steps of this alignment method are: S100, bar loading and position information collection: The feeding arm grabs the bar from the rack using a mechanical claw and moves it above an automatic lifting roller table consisting of three independent roller segments. Incremental encoders at both ends of the roller table collect real-time bar position data and transmit it to the PLC control system via the RS485 bus. S200, bar curvature scanning and data generation: A laser ranging sensor is placed above the automatic lifting roller table to scan the upper surface of the bar to obtain discrete points, fit them into a 3D contour curve, and calculate the maximum curvature. The contour data and curvature value are packaged into a JSON data packet and transmitted to the PLC control system via industrial Ethernet. S300, height compensation adjustment of the lifting roller table: The PLC control system receives data and evaluates the curvature. When the curvature exceeds 10° / m, it calculates the lifting compensation amount for each roller segment and controls the servo motor to drive the chain transmission mechanism to control the synchronous lifting and lowering of the roller segments. S400, self-rotating guide mechanism axis alignment: When the bar head is 1.2m away from the straightening machine entrance, the mechanism is triggered, and the servo motor drives the guide wheel to rotate at a speed of 35r / min, driving the bar to rotate and achieve axis alignment; S500, pinch roller and roller table linked feeding: After alignment is completed, the PLC control system controls the upper roller of the pinch roller to press down and clamp the bar, and the pinch roller and the automatic lifting roller table are linked to feed the material. The encoder monitors the feed amount during transmission; S600, archiving and storage of alignment process parameters: After the bars enter the straightening machine, parameters such as the lifting roller adjustment amount, guide wheel speed, pinch roller clamping pressure, and alignment time are extracted, associated with the bar specifications, and a process file is generated and stored on the server.

2. A novel automatic and rapid alignment method for a nine-roller straightening machine according to claim 1, characterized in that: In the above S100, in the bar loading and position information collection, each roller segment of the automatic lifting roller is 2m long, the roller surface is made of wear-resistant cast iron, and 4 sets of guide wheels are installed at the bottom to slide along the guide rail with a straightness of ≤0.1mm / m.

3. A novel automatic and rapid alignment method for a nine-roller straightening machine according to claim 1, characterized in that: In the S200, bar curvature scanning and data generation, the sampling frequency of the laser ranging sensor is 100 Hz, the measurement accuracy is ±0.1 mm, and two groups are arranged at intervals of 1.5 m along the length of the roller table. More than 2,000 discrete points on the bar surface are obtained by triangulation.

4. A novel automatic and rapid alignment method for a nine-roller straightening machine according to claim 1, characterized in that: In the above S200, in the bar curvature scanning and data generation, the maximum curvature is calculated by using the least square method to calculate the fitting straight line of the curve, and then the maximum curvature δ within the entire length range is obtained. The calculation formula is: ,in, and is the maximum positive and negative deviation of the contour curve from the fitting straight line, is the actual measured length of the bar.

5. A novel automatic and rapid alignment method for a nine-roller straightening machine according to claim 1, characterized in that: In the S300, the lifting roller height compensation adjustment, the lifting compensation amount of each section The calculation formula is: , where k is the proportional coefficient, The deviation between the actual height of the corresponding position of each saw segment and the ideal straight line, and the three groups of roller segments of the automatic lifting roller table rise and fall independently, and the compensation amount is allocated according to the gradient principle: the first segment is ; The middle section is ; The last paragraph is: The maximum adjustment amount of the first section roller is 80mm, the maximum adjustment amount of the middle section roller is 60mm, and the maximum adjustment amount of the last section roller is 40mm.

6. A novel automatic and rapid alignment method for a nine-roller straightening machine according to claim 1, characterized in that: In the S300, the lifting stroke of the automatic lifting roller in the height compensation adjustment of the lifting roller is ±150 mm, and the height data is fed back in real time through the magnetostrictive displacement sensor.

7. A novel automatic and rapid alignment method for a nine-roller straightening machine according to claim 1, characterized in that: The S400, during the calibration of the axis of the self-rotating guide mechanism, has a built-in 6-axis force sensor with a measurement range of 0-50N. When the lateral pressure fluctuation exceeds ±10%, the guide wheel speed is adjusted.

8. A novel automatic and rapid alignment method for a nine-roller straightening machine according to claim 1, characterized in that: In the S400, the contact surface between the guide wheel and the rod is calibrated to be a 30° conical surface by the axis of the self-rotating guide mechanism, and is driven to rotate by a servo motor with a reduction ratio of 1:

60.

9. A novel automatic and rapid alignment method for a nine-roller straightening machine according to claim 1, characterized in that: In the S500, when the pinch roller and the roller conveyor are linked to feed, the speed synchronization error between the pinch roller and the automatic lifting roller conveyor is ≤0.1m / s, and the bar feed amount is monitored by the grating ruler. When the feed amount error exceeds ±5mm, the pinch roller speed is corrected.

10. A novel automatic and rapid alignment method for a nine-roller straightening machine according to claim 1, characterized in that: In the S500, in the linked feeding of the pinch roller and the roller table, the surfaces of the upper and lower rollers of the pinch rollers are provided with anti-slip grooves with a depth of 0.5mm-1mm, and the clamping pressure range is 50N-200N, which is adjusted in real time by a proportional valve.

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