A comprehensive detection method and detection device on a steel plate conveying line

Abstract

The present application relates to steel plate size detection technical field, disclose a kind of comprehensive detection method and detection device on steel plate conveying line, including lifting steel plate, obtain the first thickness data of steel plate;Determine the maximum allowable force of centering unit, obtain the centering distance of centering unit;Calculate the width data of guiding distance and steel plate;Obtain the second thickness data of steel plate;Calculate the weight per unit length of steel plate, and based on unit length weight, adjust the support force of length measuring unit to the lower surface of steel plate;Obtain the length data of steel plate.The present application adjusts the force of centering piece to steel plate by the first thickness data of steel plate, so that the center line thereof coincides with the center line of conveying line, adjusts the guiding distance of guiding unit and thickness measuring piece by the centering distance of centering piece, forms guiding channel, obtains the width, thickness and length of steel plate, realizes steel plate thickness measurement, centering and length measurement dynamic control, improves steel plate detection precision.

Description

Technical Field

[0001] This invention relates to the field of steel plate size inspection technology, specifically to a comprehensive inspection method and device for steel plate conveying lines. Background Technology

[0002] In the steel plate processing and conveying process, to ensure the processing accuracy and product quality of subsequent processes, multiple online inspections and position corrections are usually required for the steel plate, mainly including thickness measurement, centering adjustment, and length measurement. The accuracy and stability of these processes directly affect the production efficiency and quality control level of the steel plate. In existing technologies, for steel plate centering adjustment, there are schemes that use flexible components to drive guide components, utilizing the elastic buffering characteristics of the flexible components to absorb impact forces and avoid the breakage or jamming problems caused by sudden collisions in traditional screw drives. To further improve centering accuracy, an improved scheme has emerged that incorporates sensing devices on the guide components. Through feedback of the contact pressure between the centering mechanism and the steel plate, the moving speed of the flexible components is adjusted in real time to prevent deformation of the steel plate due to excessive force. Furthermore, to reduce frictional wear between the steel plate and the conveying rollers during centering, existing technologies have also proposed lifting device schemes. These devices use rollers at the centering position to lift the steel plate away from the conveying rollers, allowing the steel plate to be adjusted under rolling friction, significantly reducing energy consumption and surface wear. In thickness measurement, existing technology uses two thickness measuring units, one above the other, to contact the upper and lower surfaces of the steel plate, respectively. The thickness value is calculated based on the distance between the measuring unit and the zero-point line. To address the difficulty in debugging two coaxially positioned thickness measuring units, one solution involves offsetting the two measuring units from the axis, improving the error tolerance of zero-point line determination and simplifying the debugging process. In length measurement, existing technology uses a measuring roller in conjunction with an encoder. Length information is obtained through the frictional rolling of the measuring wheel against the steel plate surface. An elastic element causes an adjusting rod to swing, allowing the measuring wheel to adaptively conform to steel plate surfaces of different thicknesses, ensuring the contact pressure meets measurement requirements.

[0003] However, the aforementioned existing technologies all have the following shortcomings: First, the various processes are independent of each other, lacking information exchange and collaborative control. The thickness measurement results cannot be used for dynamic adjustment of the centering clamping force, which may lead to over-clamping of thin plates causing deformation, or under-clamping of thick plates affecting centering accuracy. Furthermore, the length measurement process cannot dynamically adjust the contact pressure between the measuring wheel and the steel plate based on the steel plate's thickness and width information. In short, during the continuous conveying of steel plates, each process is executed independently in sequence, making it impossible to dynamically adjust the execution parameters of subsequent processes based on real-time detection data, thus making it difficult to ensure both detection accuracy and conveying efficiency.

[0004] Therefore, there is an urgent need for a technical solution that can achieve dynamic coordinated control of thickness measurement, centering and length measurement during the continuous conveying of steel plates, in order to solve technical problems such as mismatch of clamping force caused by differences in steel plate specifications, and improve the overall accuracy and stability of online steel plate inspection. Summary of the Invention

[0005] To address the limitations of existing technologies that cannot dynamically adjust the execution parameters of subsequent processes based on real-time detection data, making it difficult to balance detection accuracy with conveying efficiency, this invention provides a comprehensive detection method and device for steel plate conveying lines. The specific technical solution is as follows:

[0006] A comprehensive inspection method for a steel plate conveyor line includes: lifting a steel plate moving along the conveyor line; a first thickness measuring unit approaching the steel plate in a direction perpendicular to the conveyor line until it contacts the side of the steel plate to obtain first thickness data of the steel plate; determining the maximum allowable force for centering and pushing the steel plate based on the first thickness data; centering and pushing the steel plate in a direction perpendicular to the conveyor line, ensuring that the applied force does not exceed the maximum allowable force, so that the steel plate coincides with the centerline of the conveyor line, and obtaining the centering distance of the centering unit used for centering and pushing the steel plate; and calculating the guide distance required for a guide unit and a second thickness measuring unit to move to the centering working position based on the centering distance. The system obtains the width data of the steel plate after posture adjustment; based on the guide distance, it drives the steel plate after posture adjustment to descend until it contacts the conveyor line, and drives the guide unit and the second thickness measuring unit to move to their respective centering working positions to obtain the second thickness data of the steel plate after posture adjustment; based on the width data and the second thickness data, it calculates the weight per unit length of the steel plate along the length direction, and based on the weight per unit length, it adjusts the support force of the length measuring unit on the lower surface of the steel plate so that the deformation of the measuring wheel of the length measuring unit is less than the preset deformation, and that the measuring wheel does not slide relative to the lower surface of the steel plate; the length measuring unit detects the movement of the steel plate, and the length data of the steel plate is determined based on the detection results.

[0007] Furthermore, the specific steps for obtaining the first thickness data of the steel plate include: the steel plate enters the measurement area of ​​the first thickness measuring unit, the first thickness measuring unit receives a measurement command; the first thickness measuring unit contacts the upper and lower surfaces of the steel plate to obtain the first thickness data of the steel plate.

[0008] Furthermore, the specific steps for determining the maximum allowable force for centering and pushing the steel plates based on the first thickness data of the steel plates include: based on the first thickness data, using the formula... The maximum permissible force Fmax is calculated, where t is the first thickness data, and k and j are empirical constants.

[0009] Furthermore, the guiding distance is equal to the centering distance, which is the total distance the centering unit moves from the starting position to the ending position. The ending position is the position of the centering unit relative to the conveyor line when the steel plate coincides with the center line of the conveyor line.

[0010] Furthermore, the specific calculation steps for the width data of the steel plate after posture adjustment include: obtaining the overall width of the conveyor line; calculating the difference between the overall width and the centering distance, with the difference being the width data.

[0011] Furthermore, the specific steps for moving the guide unit or the second thickness measuring unit to the centering working position include: responding to the guide command, synchronously starting the guide unit or the second thickness measuring unit set on both sides of the steel plate, driving the guide unit or the second thickness measuring unit to move towards each other at equal intervals along the direction perpendicular to the conveyor line, until the total distance that the guide unit or the second thickness measuring unit moves towards each other is the guide distance.

[0012] Furthermore, the specific steps for calculating the weight per unit length of the steel plate along its length include: obtaining the width data L, the second thickness data T, and the density ρ of the steel plate; setting the length to 1m; and applying the mass density formula... The weight per unit length, M, is then obtained.

[0013] Furthermore, based on the unit length weight, the specific steps for adjusting the support force of the measuring unit on the lower surface of the steel plate include: determining the target support force of the measuring unit on the lower surface of the steel plate according to the preset support force-weight correspondence, and controlling the measuring unit to press against the steel plate with the target support force.

[0014] Furthermore, the preset support force-weight correspondence is constructed in the following way:

[0015] Obtain the weight per unit length of multiple sets of sample steel plates;

[0016] For each group of sample steel plates, adjust the support force of the length measuring unit until the deformation of the measuring wheel is less than the preset deformation and the sample steel plate and the measuring wheel do not slide relative to each other. Record the weight per unit length and the corresponding support force range at this time.

[0017] Based on the recorded multiple sets of unit length weights and corresponding support force ranges, curve 1 corresponding to the unit length weight and the minimum support force within the range is fitted, and curve 2 corresponding to the unit length weight and the maximum support force within the range is fitted, which serve as the preset support force-weight correspondence.

[0018] A detection device comprising:

[0019] Conveyor lines used for transporting steel plates;

[0020] A lifting device for lifting and lowering steel plates, the lifting device includes a lifting cylinder, and a centering roller is installed on the telescopic end of the lifting cylinder. The axis of the centering roller is consistent with the conveying direction of the conveyor line.

[0021] Several thickness measuring components for obtaining first thickness data or second thickness data, the thickness measuring component located before the steel plate is aligned is the first thickness measuring unit, the thickness measuring component located after the steel plate is aligned is the second thickness measuring unit, and the thickness measuring component includes measuring heads arranged with upper and lower axes intersecting.

[0022] Several centering components are used for centering and pushing steel plates. The centering components include centering plates that move towards each other at equal distances or away from each other and compression rods with adjustable compression coefficients. The compression rods control the distance that the centering plates move towards each other at equal distances according to the amount of compression, so as to adjust the force on the steel plates.

[0023] Several guide units for guiding the steel plate to move in the center;

[0024] A length measuring component for acquiring length data, comprising a measuring wheel tangent to the lower surface of the steel plate, wherein the length data is equal to the product of the number of rotations of the measuring wheel and the circumference of the measuring wheel; and

[0025] The control center is used to receive signals. It is electrically connected to the conveyor line, lifting components, thickness measuring components, centering components, and length measuring components, and issues control commands.

[0026] As can be seen from the above technical solution, the present invention has the following beneficial effects:

[0027] This invention adjusts the force exerted by the centering component on the steel plate based on its initial thickness data, ensuring that the centerline coincides with the centerline of the conveyor line without causing bending deformation. By adjusting the centering distance of the centering component, the guiding distance of the guide unit and the thickness measuring component is adjusted, thereby forming a guide channel to guide the centering movement of the steel plate and obtaining the width and thickness of the steel plate. Based on the thickness and width, the force exerted by the length measuring component on the steel plate is adjusted, thereby obtaining the length of the steel plate without affecting the length measurement accuracy. This enables dynamic control of steel plate thickness measurement, centering, and length measurement, improving the accuracy of steel plate detection. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of Embodiment 2 of the present invention;

[0029] Figure 2 for Figure 1 Enlarged view of the structure at point A in the image;

[0030] Figure 3 for Figure 1 Enlarged view of the structure at point B in the image;

[0031] Figure 4 for Figure 1 Enlarged view of the structure at point C in the image;

[0032] Figure 5 for Figure 1 Enlarged view of the structure at point D in the image;

[0033] Figure 6 This is a structural schematic diagram of an embodiment of the centering component;

[0034] Figure 7 for Figure 6 Enlarged view of the structure at point E in the image.

[0035] In the diagram: 1. Conveyor line; 2. Lifting component; 3. Thickness measuring component; 4. Centering component; 41. Centering plate; 42. Compression rod; 5. Length measuring component; 6. Control center. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] In the description of the embodiments of the present invention, it should be noted that the terms "inner", "outer", "upper", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0038] Example 1

[0039] like Figure 1 As shown in the figure, the left and right directions are the Y-axis directions, the rightward direction is the positive Y-axis direction, the front and back directions are the X-axis directions, the forward direction is the positive X-axis direction, which is also the conveying direction of the steel plate, the up and down directions are the Z-axis directions, and the upward direction is the positive Z-axis direction.

[0040] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, this embodiment 1 is a comprehensive detection method on a steel plate conveyor line 1, which includes: Step 1: Lifting a steel plate moving along the conveyor line 1, and a first thickness measuring unit approaches the steel plate in a direction perpendicular to the conveyor line 1 until it contacts the side of the steel plate to obtain the first thickness data of the steel plate. Specifically, a robot or crane places the steel plate on a roller, and a lifting cylinder installed in the gap between the rollers drives the centering roller to rise and lift the steel plate, separating it from the roller. Then, the thickness measuring unit 3 located at the rear end of the centering unit 4 moves along the Y-axis until the thickness measuring unit 3 on one side contacts the side of the steel plate first. The steel plate enters the measurement area of ​​the thickness measuring unit 3 on that side and then sends an arrival signal to the control center 6. The control center 6 sends a measurement command to the thickness measuring unit 3 on that side, controlling its measuring head to contact the upper and lower surfaces of the steel plate, thereby obtaining the height difference of the thickness measuring head at the upper and lower positions, and then the control center 6 obtains the first thickness data of the steel plate.

[0041] Step 2: Determine the maximum allowable force for centering and pushing the steel plate based on the first thickness data of the steel plate. Center and push the steel plate in a direction perpendicular to the conveyor line 1, and the applied force shall not exceed the maximum allowable force, so that the steel plate coincides with the center line of the conveyor line 1, and obtain the centering distance of the centering unit used for centering and pushing the steel plate.

[0042] Specifically, the centering component 4 pushes the steel plate along the Y-axis, and the compression rods 42 on both sides of the steel plate approach each other at equal distances, thereby applying force to the steel plate one after another, causing the steel plate to move or deflect along the centering roller until the compression rods 42 on both sides apply force to the steel plate at the same time, and the force cannot exceed the maximum allowable force to avoid deformation of the steel plate due to excessive force. Since the compression rods 42 on both sides of the steel plate are symmetrically arranged about the X-axis, the center line of the compression rods 42 on both sides coincides with the X-axis at this time, and the center line of the conveyor line 1 always coincides with the X-axis, thus the center line of the steel plate coincides with the center line of the conveyor line 1.

[0043] In this process, after the control center 6 inputs the first thickness data t, it follows the formula... The maximum permissible force Fmax is calculated, and the centering movement distance of the compression rod 42 is controlled to prevent the force exerted by the compression rod 42 on the steel plate from exceeding the maximum permissible force. Here, k and j are empirical constants derived by the operator based on experiments. The experimental conditions are as follows: four groups of sample steel plates of the same material with progressively increasing thickness are set up for the experiment. In this embodiment, the thickness increases in increments of 5 mm. A linearly increasing compressive force is applied to both sides of the sample steel plate using a centering member until the centering member can no longer move closer together, and the linearly increasing compressive force is maintained for 10 seconds or until the sample steel plate bends and deforms. The compressive force at this point is the maximum permissible force Fmax of the steel plate. The corresponding maximum permissible force Fmax data is statistically analyzed, and the specific values ​​of k and j are obtained using polynomial fitting.

[0044] Step 3: Based on the centering distance, calculate the guide distance required for the guide unit and the second thickness measuring unit to move to the centering working position, as well as the width data of the steel plate after attitude adjustment.

[0045] Specifically, the centering distance is twice the distance that the single-sided compression rod 42 moves from the starting position to the ending position, that is, the total distance that the two compression rods 42 move to center. The ending position is the position of the compression rod 42 relative to the conveyor line 1 when the steel plate coincides with the center line of the conveyor line 1. Secondly, the thickness measuring component 3 located at the front end of the centering component 4 is the second thickness measuring unit, which is fixedly installed on the guide unit. Both are symmetrically arranged on both sides of the steel plate about the X-axis. The starting position of both coincides with the projection of the starting position of the compression rod 42 on the Y-axis, and the centering working position of both coincides with the projection of the ending position of the compression rod 42 on the Y-axis, so that the guiding distance of both is equal to the centering distance of the compression rod 42. Then, the two move closer to each other at equal distances along the Y-axis until they move to the centering working position, forming a guide channel to guide the steel plate through the centering.

[0046] Secondly, the steel plate after posture adjustment refers to the steel plate that has completed the centering operation, and its width direction is the Y-axis direction; secondly, the initial position of the compression rod 42 coincides with the projection of the side position of the conveyor line 1 on the Z-axis, so that the distance between the initial positions on both sides is the total width of the conveyor line 1. When the compression rod 42 pushes the steel plate to complete the centering, the centering distance moved by the compression rod 42 is equal to the width data of the steel plate on the machine, which is equal to the distance between the initial positions of the two compression rods 42, that is, the total width of the conveyor line 1. This allows the control center 6 to calculate the width data of the steel plate based on the width of the conveyor line 1 and the centering distance.

[0047] Step 4: Based on the guide distance, drive the steel plate after attitude adjustment to descend until it contacts the conveyor line 1, and drive the guide unit and the second thickness measuring unit to move to their respective centering positions to obtain the second thickness data of the steel plate after attitude adjustment.

[0048] Specifically, after the steel plate completes the centering operation, the control center 6 issues a guiding command, which drives the lifting cylinder to lower the centering roller, causing the steel plate to contact the roller. The roller then drives the steel plate forward. Simultaneously, the compression rod 42 moves equidistantly in opposite directions, so that the compression rod 42 only applies a small force to the side of the steel plate, thereby reducing the resistance when the roller moves the steel plate while maintaining the compression of the compression rod 42. Next, the control center 6 drives the guide unit and the thickness measuring component 3 located at the front end of the centering component 4 to move equidistantly towards each other until the centering working position. The total distance they move is the guiding distance, so that the cylinder of the guide unit is tangent to the side of the steel plate, forming a guide channel to guide the centering movement of the steel plate, and allowing the side of the steel plate to move to the measuring area of ​​the thickness measuring component 3. Finally, when the steel plate and the compression rod 42 are completely separated, the compression rod 42 is no longer compressed, the control center 6 no longer receives the compression signal of the compression rod 42, and it controls the roller to stop rotating.

[0049] Step 5: Based on the width data and the second thickness data, calculate the weight per unit length of the steel plate along the length direction, and based on the weight per unit length, adjust the support force of the measuring unit on the lower surface of the steel plate so that the deformation of the measuring wheel of the measuring unit is less than the preset deformation and that the measuring wheel does not slip relative to the steel plate.

[0050] Specifically, control center 6 acquires the width data L, the second thickness data T, and the density ρ of the steel plate, sets the length of the steel plate to 1m, and then uses the mass density formula... The weight per unit length, M, is obtained. Then, based on the preset support force-weight correspondence, the target support force of the measuring wheel of the length measuring unit on the lower surface of the steel plate is determined. The measuring wheel is controlled by a cylinder to push against the steel plate with the target support force, so that when the steel plate moves relative to the measuring wheel, the measuring wheel does not slip relative to the steel plate, and the steel plate is not lifted by the measuring wheel and separated from the roller surface. When the measuring wheel lifts the steel plate and separates it from the roller, one end of the steel plate will tilt up, and the other end will move downward, causing the steel plate to tilt and there is a risk of hard collision with the roller, which may cause the steel plate to stop conveying or the roller to be damaged. For example, when the steel plate just contacts the measuring wheel, the measuring wheel lifts the front end of the steel plate, and the rear end of the steel plate naturally moves downward, or even moves below the roller. As a result, during the steel plate conveying process, the roller continuously lifts the rear end of the steel plate, and the rear end of the steel plate continuously falls into the gap between the rollers under the action of gravity, causing damage to the surface of the steel plate and the roller.

[0051] The specific steps for measuring the length of the steel plate include: after the steel plate completes the centering operation, it moves forward and is located in the guide channel formed by the guide unit and the measurement area formed by the thickness measuring component 3. The control center 3 controls the measuring head of the front thickness measuring component 3 to contact the head, middle and tail of the steel plate in sequence, and then measures the head, middle and tail of the steel plate in sequence with the same measurement interval, thereby obtaining the second thickness data of the head, middle and tail of the steel plate in sequence; based on the second thickness data obtained each time, the calculated unit length weight M and the preset support force-weight correspondence, the support force of the length measuring unit on the lower surface of the head, middle or tail of the steel plate is adjusted, and then the head, middle and tail of the steel plate are adjusted three times until the measuring wheel separates from the steel plate. The control center calculates the length of the steel plate based on the number of rotations of the measuring wheel and the circumference of the measuring wheel.

[0052] Secondly, by summarizing the three second thickness data, the average thickness of the steel plate is calculated.

[0053] The preset support force-weight correspondence is constructed in the following way: the unit length weight of multiple sample steel plates is obtained; for each sample steel plate, the operator controls the length measuring unit through the operation control center 6. The length measuring unit drives the measuring wheel to abut the lower surface of the steel plate through the cylinder, so as to adjust the support force applied by the length measuring unit to the steel plate, and then adjust the reverse force applied by the steel plate to the measuring wheel.

[0054] Secondly, establishing the preset support force-weight correspondence requires simultaneously satisfying two constraints: no relative slippage occurs between the measuring wheel and the steel plate, and the elastic deformation of the measuring wheel under the support force is controlled within a preset threshold. The preset deformation value defines the maximum allowable elastic deformation of the measuring wheel's radial direction. In this embodiment, the measuring wheel is made of polyurethane material with a Shore hardness of 90A and a diameter of 100mm. Based on material properties and the requirement that the measurement circumference error be less than 1%, the preset deformation value is set to 0.1mm, ensuring that the deformation of the measuring wheel does not introduce significant measurement errors. Through controlled variable experiments, a series of "weight per unit length - support force range" data are obtained. The experimental conditions in this embodiment are as follows: four groups of sample steel plates are set, with different weights per unit length. The minimum support force Fmin and maximum support force Fmax corresponding to each group of sample steel plates when satisfying the above two conditions are recorded, thereby obtaining a series of "weight per unit length - support force range" data.

[0055] Based on four sets of experimental data, this invention employs a numerical fitting method. The specific steps include: using the unit length weight M as the independent variable and the minimum support force Fmin as the dependent variable, performing polynomial fitting to generate curve one; and using the unit length weight M as the independent variable and the maximum support force Fmax as the dependent variable, performing polynomial fitting to generate curve two. These two curves together constitute the "preset support force-weight correspondence" of this invention. In actual length measurement, after measuring the unit length weight Mx of the current steel plate, the control center 6 quickly calculates the allowable support force range [Fmin(Mx), Fmax(Mx)] using this correspondence, and preferably selects an intermediate value (such as the median) within this range as the actual target support force for the length measurement unit, thereby ensuring measurement accuracy and steel plate surface quality.

[0056] Those skilled in the art will understand that the fitting method is not limited to polynomial fitting; other mathematical methods such as linear fitting and exponential fitting can also be used based on the data distribution characteristics, as long as they can accurately reflect the mapping relationship between weight and the range of supporting force. Secondly, the specific value of the preset deformation amount can be adaptively adjusted according to different measuring wheel materials, diameters, and different steel plate materials and thicknesses; these adjustments all fall within the protection scope of this invention.

[0057] Step Six: The movement of the steel plate is detected by the length measuring unit, and the length of the steel plate is determined based on the detection results. Specifically, during the movement of the steel plate relative to the measuring wheel, the control center 6 continuously records the number of rotations of the measuring wheel. After the steel plate separates from the measuring wheel, the control center 6 calculates the total rotation length of the measuring wheel based on the recorded number of rotations and the diameter of the measuring wheel, and thus obtains the length of the steel plate.

[0058] Control Center 6 then summarizes the length, width, and average thickness of each steel plate into a table.

[0059] Example 2

[0060] This second embodiment is a detection device using the first embodiment, comprising: a conveyor line 1 for conveying steel plates; a lifting component 2 for lifting and lowering the steel plates, the lifting component 2 including a lifting cylinder, the telescopic end of the lifting cylinder being equipped with a centering roller, the axis of the centering roller being consistent with the conveying direction of the conveyor line 1; a plurality of thickness measuring components 3 for acquiring first thickness data or second thickness data, the thickness measuring component 3 located before the steel plate is centered being a first thickness measuring unit, the thickness measuring component 3 located after the steel plate is centered being a second thickness measuring unit, the thickness measuring component 3 including measuring heads arranged with staggered upper and lower axes; and a plurality of centering components 4 for centering and pushing the steel plates, the centering components 4 including equidistant opposing moving components. The system includes a centering plate 41 that moves or moves away from the centering plate, and a compression rod 42 with an adjustable compression coefficient. The compression rod 42 controls the distance the centering plate 41 moves equidistantly towards the centering plate according to the amount of compression, so as to adjust the force on the steel plate. It also includes several guide units for guiding the centering movement of the steel plate; a length measuring element 5 for acquiring length data, which is a length measuring unit including a measuring wheel tangent to the lower surface of the steel plate. The length data is equal to the product of the number of rolling revolutions of the measuring wheel and the circumference of the measuring wheel; and a control center 6 for receiving signals. The control center 6 is electrically connected to the conveyor line 1, the lifting element 2, the thickness measuring element 3, the centering element 4, and the length measuring element 5, and issues control commands.

[0061] Specifically, conveyor line 1 consists of rollers parallel to the Y-axis. The robot picks up a rectangular steel plate and places it on conveyor line 1, with the conveying direction being the positive X-axis. Next, lifting components 2 are positioned in the gap between adjacent rollers. The lifting cylinder and the mounting bracket of conveyor line 1 are fixedly connected. Several centering rollers are installed at the telescopic end of the lifting cylinder, with their axes all in the X-axis direction. When the lifting cylinder pushes the centering rollers upward along the Z-axis, the centering rollers lift the steel plate, making it tangent only to the centering rollers. This allows the steel plate to roll and align with the centering rollers during X-axis alignment, reducing the impact on the lower surface of the steel plate. Secondly, the first thickness measuring unit is located in the negative X-axis direction of the second thickness measuring unit. The two are thickness measuring components 3 in different positions. The thickness measuring component 3 approaches the side of the steel plate along the Y-axis through a servo motor and synchronous belt or a servo motor and chain. The contact position between the thickness measuring component 3 and the steel plate forms a measuring head with the upper and lower axes arranged alternately. The area between the two is the measuring area. The upper measuring head contacts the upper surface of the steel plate, and the lower measuring head contacts the lower surface of the steel plate. The position difference between the upper and lower measuring heads along the Z-axis is the first thickness data. Secondly, this embodiment includes four centering components 4. The centering components 4 are symmetrical about the X-axis and are fixedly installed on both sides of the conveyor line 1 so that their center lines coincide with the center line of the conveyor line 1. The centering components 4 include centering plates 41 set on both sides of the conveyor line 1. The centering plates 41 on both sides are equidistant from each other or equidistant from each other through a servo motor and a ring synchronous belt so that the center lines of the centering plates 41 on both sides always coincide with the center line of the conveyor line 1. Secondly, the middle plate 41 pushes the steel plate through the compression rod 42, thus the compression rod 42 is gradually compressed and a force is applied to the steel plate. The compression rod 42 can be an air spring with adjustable internal air pressure or an electric miniature servo cylinder. In this embodiment, the compression rod 42 is preferably an air spring. The air spring is connected to an external air source through a regulating valve to adjust its internal air pressure, thereby adjusting its stiffness, i.e., the compression coefficient. That is, the higher the internal air pressure, the more difficult it is to compress the air spring, and the lower the internal air pressure, the easier it is to compress the air spring. This allows the compression rod 42 to adjust the force applied to the steel plate. The steel plate with a larger unit length weight is more difficult to push, thus increasing the compression coefficient of the compression rod 42. The steel plate with a smaller unit length weight is easier to push, thus decreasing the compression coefficient of the compression rod 42. Secondly, the centering component 4 drives the centering plate 41 and the compression rod 42 to move in the centering position. This is a driving structure. Several guide units include the driving structure of the centering component 4. This driving structure drives the cylinder that can rotate freely around the Z-axis to move in the centering position by the centering distance. At this time, the cylinders that are symmetrically distributed about the X-axis are tangent to the steel plate, forming a guide channel to guide the centering movement of the steel plate.

[0062] Secondly, the length measuring component 5 includes a measuring wheel tangent to the lower surface of the steel plate, and a cylinder that drives the measuring wheel to be tangent to the lower surface of the steel plate. The cylinder adjusts the force exerted by the measuring wheel on the steel plate by adjusting the extension amount, so that the measuring wheel has no obvious deformation and the steel plate is in close contact with the roller surface. Then, during the steel plate conveying process, the total number of rotations of the measuring wheel is counted by a counter, and the total length of the steel plate, i.e., the length data, is calculated based on the circumference of the measuring wheel and the total number of rotations.

[0063] Secondly, in this second embodiment, the control center 6 is preferably a PLC, but it can also be an industrial computer. Specifically, when the steel plate is placed on the conveyor line 1 for conveying, the control center 6 controls the thickness measuring component 3 to obtain the first thickness data of the steel plate. Then, based on the first thickness data, it controls the centering component 4 to center and push the steel plate until the force applied by the centering component 4 to the steel plate is the maximum allowable force. Then, it controls the guide unit and another thickness measuring component 3 to move in center, which not only guides the steel plate to move in center, but also obtains the second thickness data and the width of the steel plate. Then, it calculates the weight per unit length of the steel plate. Based on the weight per unit length of the steel plate, it controls the length measuring component 5, and then adjusts the force of the measuring wheel on the steel plate until the control center 6 identifies the separation of the measuring wheel from the steel plate based on the pressure data of the measuring wheel. Then, it calculates the length of the steel plate based on the number of rotations of the measuring wheel and the circumference of the measuring wheel, and then obtains the three-dimensional dimension data of the steel plate in length, width and thickness.

[0064] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

[0065] The technologies, shapes, and structures not described in detail in this invention are all known technologies.

Claims

1. A comprehensive inspection method for steel plate conveying lines, characterized in that, include: S1: Lift the steel plate that is moving along the conveyor line. The first thickness measuring unit approaches the steel plate in a direction perpendicular to the conveyor line until it contacts the side of the steel plate to obtain the first thickness data of the steel plate. S2: Determine the maximum allowable force for centering and pushing the steel plate according to the first thickness data of the steel plate, center and push the steel plate in a direction perpendicular to the conveyor line, and the applied force does not exceed the maximum allowable force, so that the steel plate coincides with the center line of the conveyor line, and obtain the centering distance of the centering unit used for centering and pushing the steel plate. S3: Based on the centering distance, calculate the width data of the steel plate after posture adjustment, and the guide unit and the second thickness measuring unit are the guide distances required to move to the centering working position; S4: Based on the guide distance, drive the steel plate after attitude adjustment to descend until it contacts the conveyor line, and drive the guide unit and the second thickness measuring unit to move to their respective centering working positions to obtain the second thickness data of the steel plate after attitude adjustment; S5: Calculate the weight per unit length of the steel plate along the length direction based on the width data and the second thickness data, and adjust the support force of the measuring unit on the lower surface of the steel plate based on the weight per unit length, so that the deformation of the measuring wheel of the measuring unit is less than the preset deformation, and the measuring wheel does not slide relative to the lower surface of the steel plate. S6: The movement of the steel plate is detected by the length measuring unit, and the length data of the steel plate is determined based on the detection results.

2. The comprehensive detection method according to claim 1, characterized in that: In S1, the specific steps for obtaining the first thickness data of the steel plate include: the steel plate enters the measurement area of ​​the first thickness measuring unit, the first thickness measuring unit receives a measurement command; the first thickness measuring unit contacts the upper and lower surfaces of the steel plate to obtain the first thickness data of the steel plate.

3. The comprehensive detection method according to claim 1, characterized in that: In S2, the specific steps of determining the maximum allowable force for centering and pushing the steel plates based on the first thickness data of the steel plates include: based on the first thickness data, using the formula... The maximum permissible force Fmax is calculated, where t is the first thickness data, and k and j are empirical constants.

4. The comprehensive detection method according to claim 1, characterized in that: In S3, the guiding distance is equal to the centering distance, which is the total distance the centering unit moves from the starting position to the ending position, and the ending position is the position of the centering unit relative to the conveyor line when the steel plate coincides with the center line of the conveyor line.

5. The comprehensive detection method according to claim 4, characterized in that: In S3, the specific calculation steps for the width data of the steel plate after posture adjustment include: obtaining the overall width of the conveyor line; calculating the difference between the overall width and the centering distance, wherein the difference is the width data.

6. The comprehensive detection method according to claim 1, characterized in that: In S4, the specific steps of driving the guide unit or the second thickness measuring unit to move to the centering working position include: responding to the guide command, synchronously starting the guide unit or the second thickness measuring unit set on both sides of the steel plate, driving the guide unit or the second thickness measuring unit to move towards each other at equal distances along the direction perpendicular to the conveyor line, until the total distance that the guide unit or the second thickness measuring unit moves towards each other is the guide distance.

7. The comprehensive detection method according to claim 1, characterized in that: In S5, the specific steps for calculating the unit length weight of the steel plate along its length include: obtaining the width data L, the second thickness data T, and the density ρ of the steel plate; setting the length to 1m; and applying the mass density formula... The weight per unit length, M, is then obtained.

8. The comprehensive detection method according to claim 7, characterized in that: The specific steps of adjusting the support force of the measuring unit on the lower surface of the steel plate based on the unit length weight include: determining the target support force of the measuring unit on the lower surface of the steel plate according to the preset support force-weight correspondence, and controlling the measuring unit to press against the steel plate with the target support force.

9. The comprehensive detection method according to claim 8, characterized in that: The preset support force-weight correspondence is constructed in the following way: Obtain the weight per unit length of multiple sets of sample steel plates; For each group of sample steel plates, adjust the support force of the length measuring unit until the deformation of the measuring wheel is less than the preset deformation and the sample steel plate and the measuring wheel do not slide relative to each other. Record the weight per unit length and the corresponding support force range at this time. Based on the recorded multiple sets of unit length weights and corresponding support force ranges, a first curve corresponding to the unit length weight and the minimum support force within the range is fitted and a second curve corresponding to the unit length weight and the maximum support force within the range is fitted and generated, which serve as the preset support force-weight correspondence.

10. A detection apparatus using the comprehensive detection method according to any one of claims 1 to 9, characterized in that, include: Conveyor line (1) for conveying the steel plate; A lifting component (2) for lifting and lowering the steel plate, the lifting component (2) includes a lifting cylinder, and a centering roller is installed at the telescopic end of the lifting cylinder. The axial direction of the centering roller is consistent with the conveying direction of the conveyor line. Several thickness measuring elements (3) for obtaining the first thickness data or the second thickness data, the thickness measuring element (3) located before the steel plate is aligned is the first thickness measuring unit, the thickness measuring element (3) located after the steel plate is aligned is the second thickness measuring unit, the thickness measuring element (3) includes measuring heads arranged with staggered upper and lower axes; A plurality of centering members (4) for centering and pushing the steel plate, the centering members (4) including centering plates (41) that move equidistantly towards each other or away from each other and compression rods (42) with adjustable compression coefficients, the compression rods (42) controlling the distance the centering plates (41) move equidistantly towards each other according to the amount of compression, so as to adjust the force on the steel plate; Several guide units for guiding the steel plate to move in a centered position; The length measuring component (5) is used to obtain the length data. The length measuring component (5) is the length measuring unit. The length measuring component (5) includes a measuring wheel that is tangent to the lower surface of the steel plate. The length data is equal to the product of the number of rolling revolutions of the measuring wheel and the circumference of the measuring wheel. as well as The control center (6) is used to receive signals. The control center (6) is electrically connected to the conveyor line, the lifting component (2), the thickness measuring component (3), the centering component (4) and the length measuring component (5) and issues control commands.

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