Blank centering unit, system and method for head of stamping line

Abstract

A blank centering unit, system and method for the head of a stamping line. The blank centering unit for the head of a stamping line comprises a base (10), wherein a support frame (6) is provided on the base (10); a static platform (1) is provided on the support frame (6); three adjustment assemblies are provided on the static platform (1); each adjustment assembly comprises a movable seat (14), the movable seat (14) being linearly and movably arranged on the static platform (1); the moving directions of the three movable seats (14) form a triangular structure; each movable seat (14) is rotatably connected to a connecting end (122) of a connecting rod (12), and adjustment ends (121) of three connecting rods (12) are all rotatably connected to an identical movable platform (2); the movable platform (2) and the static platform (1) are arranged in parallel; and a conveying assembly (8) is provided on the movable platform (2). The blank centering unit for the head of a stamping line has a relatively simple structure and relatively small overall volume and mass, and is easy to control.

Description

A centering unit, centering system and centering method for the first sheet of material in a stamping line. Technical Field

[0001] This invention relates to the field of stamping sheet metal alignment, and more particularly to an alignment unit, alignment system and alignment method for the first sheet of a stamping line. Background Technology

[0002] Currently, many products in daily life (such as automotive parts) are made by stamping metal sheets. During the sheet metal stamping process, it is necessary to ensure the relative positional relationship between the die and the sheet metal to avoid defects. However, the sheet metal at the beginning of the stamping line may deviate from the ideal position during transportation, and it is necessary to identify the deviation and then perform alignment.

[0003] In the prior art, Chinese invention patent application CN115041602A discloses a laser line scanning sheet metal centering belt conveyor, including a bottom support, an overall rotating unit, a translation unit, an independent rotating unit, a sheet metal conveying unit A, and a sheet metal conveying unit B. The slewing bearing a in the bottom support is connected to the slewing bearing seat a in the overall rotating unit by screws. The translation frame in the translation unit is connected to the slider of the guide rail pair in the overall rotating unit by bolts. The slewing bearing seat b in the independent rotating unit is connected to the slewing bearing b in the translation unit by bolts. The mounting brackets in sheet metal conveying units A and B are connected to the independent rotating frame in the independent rotating unit by bolts. With this technical solution, the two sheet metal conveying units can achieve synchronous conveying and adjustment through the overall rotating unit and the translation unit to achieve centering adjustment of a sheet metal. The two sheet metal conveying units can also be independently conveyed and adjusted to achieve adjustment of two sheets metal.

[0004] However, the above technical solution involves layered configurations of an overall rotating unit, a translation unit, and independent rotating units. Each layer has corresponding drive components and transmission parts, resulting in a large mass and a complex overall structure, leading to higher manufacturing costs and failure rates, as well as a cumbersome control process. Summary of the Invention

[0005] To address the technical problem of overly complex structures in existing devices for centering the first sheet of material on a stamping line, this invention provides a centering unit, centering system, and centering method for centering the first sheet of material on a stamping line. The structure is relatively simple, the overall volume and mass are small, and the control process is relatively simple.

[0006] In a first aspect, the present invention provides a stamping line head plate centering unit to solve the above-mentioned technical problems, including a base, a support frame on the base, a stationary platform on the support frame, and three adjustment components on the stationary platform. Each adjustment component includes a movable seat, which is linearly movable on the stationary platform. The three movable seats form a triangular structure in their directions of movement. The movable seats are rotatably connected to the connecting ends of connecting rods. The adjustment ends of the three connecting rods are rotatably connected to the same moving platform. The moving platform is arranged parallel to the stationary platform, and a conveying component is provided on the moving platform.

[0007] This invention achieves the rotation of the moving platform and the position adjustment along the length and width of the sheet by setting three sets of adjustment components that can form a triangle on the static platform and through the coordinated operation of the three moving seats. Compared with the prior art, it eliminates the need to set up multiple platforms and multiple sets of adjustment components to make adjustments in the corresponding dimensions. As a result, the overall volume and weight are smaller, the structure is simpler with fewer parts, and the control is simple, accurate and efficient.

[0008] Furthermore, the adjustment assembly also includes guide rails, three of which are arranged on the stationary platform and form a triangular structure in a straight line, and the movable seat is movably arranged on the guide rails.

[0009] Furthermore, the adjustment assembly also includes two support seats and a lead screw. The two support seats are respectively disposed at both ends of the guide rail. The lead screw passes through the two support seats and has a drive motor at one end. The movable seat is disposed on the lead screw.

[0010] This invention uses a lead screw and a motor to drive the moving seat, resulting in high control precision and accurate centering adjustment.

[0011] Furthermore, the static platform is provided with multiple bullseye wheels, the upper ends of which abut against the moving platform.

[0012] This invention enhances the load-bearing capacity of the moving platform by setting multiple bullseye wheels, avoiding the complex and variable load on the adjusting end caused by adjusting only the adjusting end, which affects the service life.

[0013] Furthermore, the support frame includes a support sub-frame one and a support sub-frame two that are hinged together. The support sub-frame one and the support sub-frame two are arranged in an X-shaped structure. The lower end of the support sub-frame one is rotatably connected to the base, and the lower end of the support sub-frame two is movably connected to the base. The support sub-frame two is also connected to the piston rod of the lifting cylinder, and the lifting cylinder is mounted on the base.

[0014] This invention improves the accuracy of sheet material conveying by making the support frame liftable, which allows the position of the static platform to be adjusted according to the thickness and structure of the sheet material.

[0015] Secondly, the present invention also provides a stamping line first sheet alignment system, including a vision camera and a controller electrically connected, and the aforementioned stamping line first sheet alignment unit. The vision camera is mounted on a bracket and is disposed opposite to the moving platform. The controller is electrically connected to the drive motor and the lifting cylinder.

[0016] Furthermore, the stamping line has two first-plate alignment units, which are arranged along the direction perpendicular to the sheet material conveying, and two vision cameras are correspondingly provided.

[0017] This invention, by setting up two stamping line first plate centering units, can meet the requirements of single-plate and double-plate feeding of stamping lines, thereby increasing the applicability of the system and improving its flexibility of use.

[0018] Thirdly, the present invention also provides a method for aligning the first sheet of material on a stamping line, using the above-mentioned system for aligning the first sheet of material on a stamping line, comprising the following steps:

[0019] S01: Collect image information of the sheet material to be loaded and transmit the image information to the controller;

[0020] S02: The controller determines whether it is a single-board or double-board loading based on the image information. If it is a single-board loading, the coordinate system for single-board loading is called; if it is a double-board loading, the coordinate system for double-board loading is called.

[0021] S03: In the corresponding coordinate system, the controller calculates the moving distance of each moving seat based on the deviation between the actual coordinates and the ideal coordinate position of the material to be loaded.

[0022] S04: The moving seat moves a specified distance to achieve the centering adjustment of the plate to be loaded;

[0023] S05: After the conveying is completed, the three moving seats return to their initial positions and wait for the next feeding.

[0024] This invention establishes different coordinate systems for single-plate and double-plate loading, enabling independent and coordinated adjustment of the two moving platforms. This satisfies the centering adjustment needs of both single-plate and double-plate loading, expands the applicability of this centering method, and enhances its flexibility.

[0025] Furthermore, in S02, the coordinate system for single-plate loading includes a cooperative static coordinate system and a cooperative dynamic coordinate system. The origin of the cooperative static coordinate system is the midpoint of the line connecting the centers of the triangles formed by the three adjustment components on the two static platforms. The X-axis of the cooperative static coordinate system is the straight line along the moving direction of the moving seat of one of the adjustment components. The Y-axis of the cooperative static coordinate system is the straight line perpendicular to the moving direction of the moving seat. The Z-axis of the cooperative static coordinate system is the straight line perpendicular to the static platform. The origin of the cooperative dynamic coordinate system is the midpoint of the line connecting the centroids of the triangles formed by the three adjustment ends on the two dynamic platforms. The X-axis of the cooperative dynamic coordinate system is the line connecting the centers of the triangles formed by the other two adjustment components. The straight line connecting the adjusting ends of the connecting rods of the component is perpendicular to the Z-axis of the coordinated motion coordinate system. The coordinate system for double-plate loading includes two independent static coordinate systems and two independent moving coordinate systems. The origins of the two independent static coordinate systems are the centers of the triangles formed by the three adjusting components of the corresponding static platforms. The X, Y, and Z axes of the two independent static coordinate systems are parallel to the corresponding coordinate axes of the coordinated static coordinate system. The origins of the two independent moving coordinate systems are the centers of the triangles formed by the three adjusting ends of the moving platforms. The X, Y, and Z axes of the two independent moving coordinate systems are parallel to the corresponding coordinate axes of the coordinated motion coordinate system.

[0026] Furthermore, during the loading of the double-plate assembly, step S03 performs the following steps:

[0027] S031: Collect image information of each sheet material through a vision camera, scan the specific position and posture of each sheet material, and convert the position information of each sheet material into digital coordinates in the vision camera coordinate system;

[0028] S032: Communicate via TCP / IP to transmit information to the controller;

[0029] S033: The controller performs end-effector trajectory planning based on the feedback signals and the pose transformation between the visual camera coordinate system and the independent static coordinate system. Based on the planned end-effector pose point table, the controller calculates the distance that each moving seat of the stamping line's first sheet metal centering unit needs to move through the single-machine kinematics inverse solution.

[0030] When a single board is being loaded, step S03 performs the following steps:

[0031] S031: Acquire image information of the sheet metal through a vision camera, scan the specific position and orientation of the sheet metal, and convert the position information of the sheet metal into digital coordinates in the vision camera coordinate system;

[0032] S032: Communicate via TCP / IP to transmit information to the controller;

[0033] S033: The controller performs trajectory planning based on the feedback signals and the pose transformation between the visual camera coordinate system and the cooperative static coordinate system. Based on the planned end pose point table, it calculates the distance that each moving seat needs to move through the inverse kinematics solution of the dual machines.

[0034] As can be seen from the above technical solutions, the present invention has the following advantages:

[0035] This invention provides a centering unit, system, and method for the first sheet metal of a stamping line. By setting three sets of adjustment components that can form a triangle on a stationary platform, and through the coordinated operation of three moving seats, the rotation of the moving platform and the positional adjustment along the length and width of the sheet metal are achieved. Compared with existing technologies, it eliminates the need for multiple platforms and sets of adjustment components for adjustments in each dimension. Consequently, the overall size and weight are smaller, the structure is simpler with fewer components, and the control is simple, accurate, and efficient. The movement of the moving seats is driven by a lead screw and motor, resulting in high control precision and accurate centering adjustment. The addition of multiple bullseye wheels enhances the load-bearing capacity of the moving platform. The system's load-bearing capacity is enhanced to avoid the complex and variable loads on the adjusting end caused by relying solely on adjustment, which could affect its service life. By making the support frame liftable, the position of the static platform can be adjusted according to the thickness and structure of the sheet metal, improving the accuracy of sheet metal conveying. By setting up two sheet metal centering units at the beginning of the stamping line, the system can meet the requirements of single-sheet and double-sheet feeding, increasing its applicability and flexibility. By establishing different coordinate systems for single-sheet and double-sheet feeding, the independent and coordinated adjustment of the two moving platforms can be achieved, meeting the centering adjustment needs of single-sheet and double-sheet feeding, further increasing the applicability and flexibility of this centering method. Attached Figure Description

[0036] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 is a structural schematic diagram of a specific embodiment of the present invention.

[0038] Figure 2 is a schematic diagram of the assembly structure of the adjustment component, the moving platform and the static platform in a specific embodiment of the present invention.

[0039] Figure 3 is a schematic diagram of the assembly structure of the adjustment component and the static platform in a specific embodiment of the present invention.

[0040] Figure 4 is a schematic diagram of the adjustment component in a specific embodiment of the present invention.

[0041] Figure 5 is a structural schematic diagram of a second specific embodiment of the present invention.

[0042] In the diagram, 1. Static platform; 2. Moving platform; 3. Bullseye wheel; 4. Drive motor; 5. Vision camera; 6. Support frame; 601. Support sub-frame one; 602. Support sub-frame two; 7. Bracket; 8. Conveying assembly; 10. Base; 11. Lifting cylinder; 12. Connecting rod; 122. Connecting end; 121. Adjusting end; 13. Lead screw; 14. Moving seat; 15. Guide rail; 16. Support seat. Detailed Implementation

[0043] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the specific embodiments. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this patent, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this patent.

[0044] Specific Implementation Method 1

[0045] As shown in Figures 1 to 3, this specific embodiment provides a stamping line head plate centering unit, including a base 10, a support frame 6, a moving platform 2, an adjustment assembly, and a stationary platform 1. The support frame 6 is provided on the base 10, and the stationary platform 1 is provided on the support frame 6. Three adjustment assemblies are provided on the stationary platform 1. The adjustment assembly includes a movable seat 14, which is linearly movable on the stationary platform 1. The moving directions of the three movable seats 14 form a triangular structure. The movable seat 14 is rotatably connected to the connecting end 122 of the connecting rod 12 through a second rotating shaft. The adjustment ends 121 of the three connecting rods 12 are all rotatably connected to the same moving platform 2 through rotating shafts. The moving platform 2 is arranged parallel to the stationary platform 1, and a conveying assembly 8 is provided on the moving platform 2.

[0046] This specific embodiment sets three sets of adjustment components that can form a triangle on the static platform 1. The three moving seats 14 cooperate to realize the rotation of the moving platform 2 and the position adjustment along the length and width of the sheet. Compared with the prior art, there is no need to set up multiple platforms and multiple sets of adjustment components to make adjustments in the corresponding dimensions. As a result, the overall volume and weight are smaller, the structure is simple and there are fewer parts, and the control is simple, accurate and efficient.

[0047] As shown in Figure 4, in this specific embodiment, the adjustment component also includes guide rails 15. Three guide rails 15 are set on the static platform 1 and their straight lines form a triangular structure. The movable seat 14 is movably set on the guide rails 15. The adjustment component also includes two support seats 16 and a lead screw 13. The two support seats 16 are respectively set at both ends of the guide rails 15. The lead screw 13 passes through the two support seats 16 and has a drive motor 4 at one end. The movable seat 14 is set on the lead screw 13. The movable seat 14 is driven to move by the lead screw 13 and the motor, which has high control precision and high accuracy in centering adjustment.

[0048] As shown in Figure 3, the moving platform 2 bears the load of the transmission assembly and the sheet metal, and a connecting rod 12 is rotatably provided on the lower part of the moving platform 2. In order to enhance the support of the moving platform 2 and avoid the connecting rod 12 providing both the force to drive the moving platform 2 to move and bearing the vertical load, in this specific embodiment, a plurality of bullseye wheels 3 are provided on the stationary platform 1. The upper end of the bullseye wheels 3 abuts against the moving platform 2. In this specific embodiment, the bullseye wheels 3 are arranged in pairs around the stationary platform 1 and at the center.

[0049] As shown in Figure 1, since different sheet materials have different thicknesses and heights, in order to improve the applicability and flexibility of this unit, in this specific embodiment, the support frame 6 includes a hinged support sub-frame 601 and a support sub-frame 602. The support sub-frame 601 and the support sub-frame 602 are arranged in an X-shaped structure. The lower end of the support sub-frame 601 is rotatably connected to the receiving groove on the base 10 through a rotating shaft. The lower end of the support sub-frame 602 is movably connected to the receiving groove of the base 10 through a slide rail. The support sub-frame 602 is also rotatably connected to the piston rod of the lifting cylinder 11 through a pin. The lifting cylinder 11 is set in the receiving groove of the base 10.

[0050] In this specific embodiment, the connecting end 122 of the connecting rod 12 is rotatably connected to the movable seat 14 through a rotating shaft and a bearing, the adjusting end 121 of the connecting rod 12 is rotatably connected to the support plate through a rotating shaft and a bearing, and the support plate is connected to the moving platform 2 by bolts.

[0051] Specific Implementation Method Two

[0052] As shown in Figure 5, this specific embodiment provides a stamping line first sheet alignment system, including a vision camera 5 and a controller that are electrically connected, and also includes a stamping line first sheet alignment unit of the first embodiment. The vision camera 5 is mounted on the bracket 7 and is positioned opposite to the moving platform 2. The controller is electrically connected to the drive motor 4 and the lifting cylinder 11.

[0053] In the existing technology, the stamping production line is for single-plate loading and double-plate loading. In order to ensure that the system can meet the centering adjustment needs of single-plate and double-plate loading, there are two centering units for the first plate of the stamping line. The two centering units for the first plate of the stamping line are arranged along the direction perpendicular to the plate conveying, and two vision cameras 5 are set accordingly.

[0054] In this specific embodiment, the controller includes a storage module and a calculation module. The storage module stores the calculation methods for the moving distance of single-board and double-board loading, and the calculation module is used to perform calculations according to the selected calculation program.

[0055] Specific Implementation Method 3

[0056] This specific embodiment provides a method for aligning the first sheet of material on a stamping line, using the first sheet of material alignment system of embodiment two, including the following steps:

[0057] S01: Acquire image information of the sheet material to be loaded using a vision camera and transmit the image information to the controller;

[0058] S02: The controller determines whether it is a single-board or double-board loading based on the image information. If it is a single-board loading, the coordinate system for single-board loading is called; if it is a double-board loading, the coordinate system for double-board loading is called.

[0059] S03: In the corresponding coordinate system, the controller calculates the moving distance of each moving seat based on the deviation between the actual coordinates and the ideal coordinate position of the material to be loaded.

[0060] S04: The moving seat moves a specified distance to achieve the centering adjustment of the plate to be loaded;

[0061] S05: After the conveying is completed, the three moving seats return to their initial positions and wait for the next feeding.

[0062] This specific implementation establishes different coordinate systems for single-plate and double-plate loading, enabling independent and coordinated adjustment of the two moving platforms. This meets the centering adjustment needs of both single-plate and double-plate loading, expands the applicability of this centering method, and enhances its flexibility.

[0063] In S02, the coordinate system for single-plate loading includes a cooperative static coordinate system and a cooperative dynamic coordinate system. The origin of the cooperative static coordinate system is the midpoint of the line connecting the centers of the triangles formed by the three adjustment components (three guide rails) on the two static platforms. The X-axis of the cooperative static coordinate system is the straight line along the moving direction of one of the adjustment components' moving seats. The Y-axis of the cooperative static coordinate system is the straight line perpendicular to the moving direction of that moving seat. The Z-axis of the cooperative static coordinate system is the straight line perpendicular to the static platform. The origin of the cooperative dynamic coordinate system is the midpoint of the line connecting the centroids of the triangles formed by the three adjustment ends on the two dynamic platforms. The X-axis of the cooperative dynamic coordinate system is the line connecting the centers of the triangles formed by the other two adjustment components' moving seats. The straight line connecting the adjusting ends of the connecting rods of the component is perpendicular to the Z-axis of the coordinated motion coordinate system. The coordinate system for double-plate loading includes two independent static coordinate systems and two independent moving coordinate systems. The origins of the two independent static coordinate systems are the centers of the triangles formed by the three adjusting components of the corresponding static platforms. The X, Y, and Z axes of the two independent static coordinate systems are parallel to the corresponding coordinate axes of the coordinated static coordinate system. The origins of the two independent moving coordinate systems are the centers of the triangles formed by the three adjusting ends of the moving platforms. The X, Y, and Z axes of the two independent moving coordinate systems are parallel to the corresponding coordinate axes of the coordinated motion coordinate system.

[0064] In step S03, when the double plates are being loaded, step S03 performs the following steps:

[0065] S031: Collect image information of each sheet material through a vision camera, scan the specific position and posture of each sheet material, and convert the position information of each sheet material into digital coordinates in the vision camera coordinate system;

[0066] S032: Communicate via TCP / IP to transmit information to the controller;

[0067] S033: The controller performs end-effector trajectory planning based on the feedback signals and the pose transformation between the visual camera coordinate system and the independent static coordinate system. Based on the planned end-effector pose point table, the controller calculates the distance that each moving seat of the stamping line's first sheet metal centering unit needs to move through the single-machine kinematics inverse solution.

[0068] When a single board is being loaded, step S03 performs the following steps:

[0069] S031: Acquire image information of the sheet metal through a vision camera, scan the specific position and orientation of the sheet metal, and convert the position information of the sheet metal into digital coordinates in the vision camera coordinate system;

[0070] S032: Communicate via TCP / IP to transmit information to the controller;

[0071] S033: The controller performs trajectory planning based on the feedback signals and the pose transformation between the visual camera coordinate system and the cooperative static coordinate system. Based on the planned end pose point table, it calculates the distance that each moving seat needs to move through the inverse kinematics solution of the dual machines.

[0072] Specifically, the inverse kinematics solution for the dual-machine loading of a single sheet is as follows:

[0073] The coordinate system for single-sheet material feeding includes a cooperative static coordinate system and a cooperative dynamic coordinate system. The cooperative static coordinate system O B -X B Y B Z B The origin of the coordinate system is the midpoint of the line connecting the centroids of the triangle formed by the three adjustment components on the two static platforms. The X-axis of the coordinated static coordinate system is the straight line along the moving direction of one of the adjustment components' moving seats. The Y-axis of the coordinated static coordinate system is the straight line perpendicular to the moving direction of that moving seat. The Z-axis of the coordinated static coordinate system is the straight line perpendicular to the static platform. The coordinated moving coordinate system O... A -X A Y A Z A The origin is the midpoint of the line connecting the centroids of the triangles formed by the three adjustment ends on the two moving platforms. The X-axis of the coordinated motion coordinate system is the straight line connecting the connecting rod adjustment ends of the other two adjustment components, and the Z-axis of the coordinated motion coordinate system is the straight line perpendicular to the moving platform.

[0074] The centers of the three adjustment components of the static platform are in the cooperative static coordinate system O. B -X B Y B Z B Below the origin O of the cooperative static coordinate system B The distance vector is:

[0075] P j =[0 Y Pj 0] T (j = 1, 2);

[0076] In the formula, j is the centering unit of the first sheet metal of the j-th stamping line, Y Pj The origin of the static coordinate system of the j-th stamping line's first sheet metal centering unit (the centroid of the triangle formed by the three adjustment components on the static platform) is in the cooperative static coordinate system O. B -X B Y B Z B Below the origin O of the cooperative static coordinate system B Y B Distance.

[0077] O of the coordinated coordinate system A In the costatic coordinate system O B -X B YB Z B Below the origin O of the cooperative static coordinate system B The offset vector is:

[0078] t = [Δx Δy Δz] T ,

[0079] In the formula, Δx is the origin O of the cooperative coordinate system. A In the costatic coordinate system O B -X B Y B Z B Below the origin O of the cooperative static coordinate system B X B Offset, Δy is the origin O of the cooperative coordinate system. A In the costatic coordinate system O B -X B Y B Z B Below the origin O of the cooperative static coordinate system B Y B Offset, Δz is the origin O of the cooperative coordinate system. A In the costatic coordinate system O B -X B Y B Z B Below the origin O of the cooperative static coordinate system B Z B Offset amount.

[0080] Coordinate system O A -X A Y A Z A Relative to the cooperative static coordinate system O B -X B Y B Z B The twist only Z A If the axis is twisted, then the cooperative coordinate system O A -X A Y A Z A Relative to the cooperative static coordinate system O B -X B Y B Z B The rotation matrix is:

[0081] In the formula,

[0082] Using the centroid of the triangle formed by the three adjustment ends of the moving platform as the origin, establish the automatic coordinate systems of the two units according to the right-hand triangle rule. Under each automatic coordinate system, the position vector of adjustment end 121 relative to the origin of that automatic coordinate system is:

[0083] R i ′=[X i Y i 0] T (i = 1, 2, 3, 4, 5, 6),

[0084] In the formula, i = 1, 2, 3 correspond to the three adjustment components of the first stamping line's first sheet metal alignment unit, i = 4, 5, 6 correspond to the three adjustment components of the second stamping line's first sheet metal alignment unit, X i Let X be the adjustment end of the i-th adjustment component relative to the origin of each automatic coordinate system. A Distance, Y i Let Y be the distance between the adjustment end of the i-th adjustment component and the origin of each automatic coordinate system. A Distance.

[0085] The adjustment end is in the cooperative static coordinate system O B -X B Y B Z B Below the origin O of the cooperative static coordinate system B The position vector is:

[0086] In the formula, if i = 1, 2, 3, then j = 1; if i = 4, 5, 6, then j = 2.

[0087] Using the centroid of the triangle formed by the three adjustment ends of the static platform as the origin, establish the static coordinate systems of the two units according to the right-hand triangle rule. The position vector of the starting point of each adjustment component relative to the origin of its respective independent static coordinate system is:

[0088] Q i =[X qi Y qi 0] T (i = 1, 2, 3, 4, 5, 6),

[0089] In the formula, X qi Let X be the starting point of the i-th adjustment component (the starting point of the corresponding lead screw) relative to the origin of its respective independent static coordinate system. B Distance, Y qi Let Y be the starting point of the i-th adjustment component relative to the origin of its respective independent static coordinate system. B Distance.

[0090] The movement distance vector of each adjustment component's moving seat is:

[0091] l i =[X li Y li 0] T (i = 1, 2, 3, 4, 5, 6),

[0092] In the formula, X li Let the center of the moving seat of the i-th adjustment component be in the generalized independent static coordinate system O. B -X B Y B Z B X relative to the starting point of the i-th adjustment component B Distance, Y li Let the center of the moving seat of the i-th adjustment component be in the generalized independent static coordinate system O. B -X B Y B Z B Y relative to the starting point of the i-th adjustment component B Distance.

[0093] The coordinates of the vertical height of each adjustment component's moving base are:

[0094] h = [0 0 Δz] T ,

[0095] The connection ends of each adjustment component are in the cooperative static coordinate system O B -X B Y B Z B The position vector of the lower end relative to the axis of the adjusting end is:

[0096] l zi =[X zi Y zi 0] T (i = 1, 2, 3, 4, 5, 6),

[0097] In the formula, X zi For each adjustment component connection end in the cooperative static coordinate system O B -X B Y B Z B X relative to the axis of the adjusting end shaft B Distance, Y zi For each adjustment component connection end in the cooperative static coordinate system O B -X B Y B Z B Y relative to the axis of the adjusting end shaft B Distance.

[0098] Then we can obtain the following closed-loop vector equation:

[0099] P j +Q i +l i +h+l zi =R i (j=1,2)(i=1,2,3,4,5,6),

[0100] In the formula, if i = 1, 2, 3, then j = 1; if i = 4, 5, 6, then j = 2.

[0101] l zi Numerically, it can be derived geometrically, denoted as |l zi | is the length of the pivot, in (cX) i -sY i +Δx,sX i +cY i With +Δy) as the center and the length of the rotating shaft as the radius, and the adjustment component as a straight line equation, the point where the intersection of the circle and the straight line equation is closest to the point at the previous moment of the moving platform's movement is the coordinate of the second rotating shaft on the adjustment end.

[0102] remember

[0103] In the formula R xi R yi and R zi The centers of the circles are respectively in the cooperative static coordinate system O B -X B Y B Z B Below the origin O of the cooperative static coordinate system B X B Y B and Z B Distance.

[0104] The equations of the circle and the line are:

[0105] In the formula, m i and n i All are coefficients of the linear equation

[0106] Solving the system of two linear equations, we get:

[0107] or

[0108] In the formula,

[0109] x1 and y1 are the first set of solutions to the system of equations, and x2 and y2 are the second set of solutions to the system of equations.

[0110] Assuming (x1, y1) is the point closest to the intersection of the circle and the line equations at the previous moment of the moving platform's movement, then each connection end in the cooperative static coordinate system O... B -X B Y B Z B The position vector of the lower end relative to the axis of the adjusting end is:

[0111] l zi =[R xi -x1 R yi -y1 0] T (i = 1, 2, 3, 4, 5, 6),

[0112] Substitute P j +Q i +l i +h i +l zi =R i (j=1,2)(i=1,2,3,4,5,6),

[0113] The motion distance vectors of each moving seat can be obtained:

[0114] Therefore, the distance each moving seat moves is:

[0115] Specifically, the inverse kinematics solution for a single machine loading double plates is as follows:

[0116] The coordinate system for double-plate loading includes two independent static coordinate systems and two independent moving coordinate systems. Taking the first plate centering unit of a stamping line as an example, the independent static coordinate system O DB -X DB Y DB Z DB The origin is the centroid of the triangle formed by the three adjustment components of the corresponding static platform. The X, Y, and Z axes of the independent static coordinate system are parallel to the corresponding coordinate axes of the cooperative static coordinate system. The independent moving coordinate system O... DA -X DA Y DA Z DA The origin is the centroid of the triangle formed by the three adjustment ends of the moving platform. The X-axis, Y-axis, and Z-axis of the independent moving coordinate system are parallel to the corresponding coordinate axes of the cooperative moving coordinate system.

[0117] Origin of independent moving coordinate system DA In the independent static coordinate system O DB -X DB Y DB Z DB Below the origin O of the independent static coordinate system DB The offset vector is: t D=[Δx Δy Δz] T ,

[0118] In the formula, Δx is the origin O of the independent moving coordinate system. DA In the independent static coordinate system O DB -X DB Y DB Z DB Below the origin O of the independent static coordinate system DB X DB Offset, Δy is the origin O of the independent moving coordinate system. DA In the independent static coordinate system O DB -X DB Y DB Z DB Below the origin O of the independent static coordinate system DB Y DB Offset, Δz is the origin O of the independent moving coordinate system. DA In the independent static coordinate system O DB -X DB Y DB Z DB Below the origin O of the independent static coordinate system DB Z DB Offset amount.

[0119] Independent moving coordinate system O DA -X DA Y DA Z DA Relative to the independent static coordinate system O DB -X DB Y DB Z DB The twist only Z DA If the axis is twisted, then the independent moving coordinate system O DA -X DA Y DA Z DA Relative to the independent static coordinate system O DB -X DB Y DB Z DB The rotation matrix is:

[0120] In the formula, (θ is Z) DA (shaft torsion angle).

[0121] In the independent moving coordinate system O DA -X DA Y DA Z DA Below, the adjustment end is relative to the origin O of the independent moving coordinate system. DA The position vector is: R′ Di =[XDi Y Di 0] T (i = 1, 2, 3, 4, 5, 6),

[0122] In the formula, i = 1, 2, 3 correspond to the adjustment components of the first stamping line's first sheet metal alignment unit, i = 4, 5, 6 correspond to the adjustment components of the second stamping line's first sheet metal alignment unit, X Di The adjustment end of the i-th adjustment component is in the independent moving coordinate system O DA -X DA Y DA Z DA Below the origin O of the independent moving coordinate system DA X DA Distance, Y Di For the i-th adjustment component, the adjustment end is in the independent moving coordinate system O DA -X DA Y DA Z DA Below the origin O of the independent moving coordinate system DA Y DA Distance.

[0123] The adjustment end is in the independent static coordinate system O DB -X DB Y DB Z DB Below the origin O of the independent static coordinate system DB The position vector is:

[0124] Each adjustment component starts at an independent static coordinate system O. DB -X DB Y DB Z DB Below the origin O of the independent static coordinate system DB The position vector is:

[0125] Q Di =[X Dqi Y Dqi 0] T (i = 1, 2, 3, 4, 5, 6),

[0126] In the formula, X Dqi Let the starting point of the i-th adjustment component be in the independent static coordinate system O. DB -X DB Y DB Z DB Below the origin O of the independent static coordinate system DB X DB Distance, Y Dqi Let the starting point of the i-th adjustment component be in the independent static coordinate system O. DB -XDB Y DB Z DB Below the origin O of the independent static coordinate system DB Y DB Distance.

[0127] The movement distance vector of each adjustment component's moving seat is:

[0128] l Di =[X Dli Y Dli 0] T (i = 1, 2, 3, 4, 5, 6),

[0129] In the formula, X Dli For the i-th adjustment component, the center of the moving seat is in the independent static coordinate system O. DB -X DB Y DB Z DB X relative to the starting point of the i-th adjustment component DB Distance, Y Dli For the i-th adjustment component, the center of the moving seat is in the independent static coordinate system O. DB -X DB Y DB Z DB Y relative to the starting point of the i-th adjustment component DB Distance.

[0130] The coordinates of the vertical height of each adjustment component's moving base are: h D =[0 0 Δz] T ,

[0131] The connection ends of each adjustment component are in the independent static coordinate system O DB -X DB Y DB Z DB The position vector relative to the axis of the adjusting end shaft is: l Dzi =[X Dzi Y Dzi 0] T (i = 1, 2, 3, 4, 5, 6),

[0132] In the formula, X Dzi For each adjustment component connection end in the independent static coordinate system O DB -X DB Y DB Z DB X relative to the axis of the adjusting end shaft DB Distance, Y Dzi For each adjustment component connection end in the independent static coordinate system O DB -X DB Y DB ZDB Y relative to the axis of the adjusting end shaft DB Distance.

[0133] Then we can obtain the following closed-loop vector equation: Q Di +l Di +h D +l Dzi =R Di (i = 1, 2, 3, 4, 5, 6),

[0134] l Dzi Numerically, it can be derived geometrically, denoted as |l Dzi | is the length of the pivot, in (cX) Di -sY Di +Δx,sX Di +cY Di With +Δy) as the center and the length of the rotating shaft as the radius, the adjustment component is a straight line equation. The point where the intersection of the circle and the straight line equation is closest to the point at the previous moment of the moving platform's movement is the coordinate of the second rotating shaft.

[0135] remember

[0136] In the formula R Dxi R Dyi and R Dzi The centers of the circles are in the independent static coordinate system O. DB -X DB Y DB Z DB Below the origin O of the independent static coordinate system DB X DB Y DB and Z DB Distance.

[0137] The equations of the circle and the line are:

[0138] In the formula, m Di and n Di All are coefficients of the linear equation

[0139] Solving the system of two linear equations, we get:

[0140] or

[0141] In the formula, x1 and y1 are the first set of solutions to the system of equations, and x2 and y2 are the second set of solutions to the system of equations.

[0142] Assuming (x1, y1) is the point closest to the intersection of the circle and the line equations at the previous moment of the moving platform's movement, then the connection ends of each adjustment component are in the independent static coordinate system O.DB -X DB Y DB Z DB The position vector of the lower end relative to the axis of the adjusting end is l Dzi =[R Dxi -x1 R Dyi -y1 0] T (i = 1, 2, 3, 4, 5, 6), substitute into Q Di +l Di +h Di +l Dzi =R Di (i = 1, 2, 3, 4, 5, 6) can be used to solve for the motion distance vector of each adjustment component's moving seat:

[0143] Therefore, the distance that each adjustment component moves is:

[0144] Specifically, the transformation between the sheet metal pose in an independent static coordinate system or a cooperative static coordinate system and the sheet metal pose in the vision camera coordinate system is as follows:

[0145] The homogeneous pose matrix of the sheet metal in the vision camera coordinate system is:

[0146] In the formula, Δx s Δy s and θ S These represent the X-axis offset, Y-axis offset, and Z-axis deviation of the sheet metal relative to the standard pose in the visual camera coordinate system.

[0147] The transformation matrix between the independent static coordinate system or the cooperative static coordinate system and the visual camera coordinate system is: The homogeneous pose matrix of the sheet metal in the independent static coordinate system or the cooperative static coordinate system is:

[0148] In the formula, Δx, Δy, and θ represent the X-axis offset, Y-axis offset, and Z-axis deviation angle of the sheet metal relative to the standard pose in an independent static coordinate system or a cooperative static coordinate system.

[0149] As can be seen from the above specific embodiments, the present invention has the following beneficial effects:

[0150] 1. By setting three sets of adjustment components that can form a triangle on the static platform, and through the coordinated cooperation of the three moving seats, the rotation of the moving platform and the position adjustment along the length and width of the sheet can be realized. Compared with the existing technology, there is no need to set up multiple platforms and multiple sets of adjustment components to make adjustments in the corresponding dimensions. As a result, the overall volume and weight are smaller, the structure is simpler and there are fewer parts, and the control is simple, accurate and efficient.

[0151] 2. The moving seat is driven by a lead screw and motor, resulting in high control precision and accurate centering adjustment;

[0152] 3. By setting multiple bullseye wheels, the load-bearing capacity of the moving platform is enhanced, avoiding the complex and variable load on the adjusting end caused by adjusting only the adjusting end, which affects the service life;

[0153] 4. By making the support frame adjustable, the position of the static platform can be adjusted according to the thickness and structure of the sheet material, thereby improving the accuracy of sheet material conveying;

[0154] 5. By setting up two stamping line first plate centering units, the requirements for single-plate and double-plate feeding of the stamping line can be met, increasing the applicability of the system and improving its flexibility of use;

[0155] 6. By establishing different coordinate systems for single-plate and double-plate loading, the independent and coordinated adjustment of the two moving platforms can be achieved, meeting the centering adjustment needs of single-plate and double-plate loading, increasing the applicability of this centering method and improving its flexibility.

[0156] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A stamping line headstock blank centering unit comprising a base (10) provided with a support frame (6) characterized in that, The support frame (6) is provided with a stationary platform (1), and the stationary platform (1) is provided with three adjustment components. The adjustment components include a movable seat (14), which is linearly movable on the stationary platform (1). The moving directions of the three movable seats (14) form a triangular structure. The movable seat (14) is rotatably connected to the connecting end (122) of the connecting rod (12). The adjustment ends (121) of the three connecting rods (12) are rotatably connected to the same moving platform (2). The moving platform (2) is arranged parallel to the stationary platform (1), and the moving platform (2) is provided with a conveying component (8).

2. The press line header strip centering unit of claim 1 wherein, The adjustment assembly also includes guide rails (15), three of which are arranged on the stationary platform (1) and form a triangular structure in a straight line, and the movable seat (14) is movably arranged on the guide rails (15).

3. The punch press line header blank centering unit of claim 2 wherein, The adjustment assembly also includes two support seats (16) and a lead screw (13). The two support seats (16) are respectively disposed at both ends of the guide rail (15). The lead screw (13) passes through the two support seats (16) and is provided with a drive motor (4) at one end. The moving seat (14) is disposed on the lead screw (13).

4. The punch press line header blank centering unit of claim 3 wherein, The static platform (1) is provided with a plurality of bullseye wheels (3), the upper end of the bullseye wheels (3) abutting against the moving platform (2).

5. The press line header strip centering unit of claim 4 wherein, The support frame (6) includes a support subframe one (601) and a support subframe two (602) that are hinged together. The support subframe one (601) and the support subframe two (602) are arranged in an X-shaped structure. The lower end of the support subframe one (601) is rotatably connected to the base (10), and the lower end of the support subframe two (602) is movably connected to the base (10). The support subframe two (602) is also connected to the piston rod of the lifting cylinder (11), which is mounted on the base (10).

6. A punch line headstock blank centering system comprising a vision camera (5) and a controller electrically connected, characterized in that, It also includes the stamping line head plate centering unit as described in claim 5, wherein the vision camera (5) is mounted on the bracket (7) and is positioned opposite to the moving platform (2), the controller is electrically connected to the drive motor (4) and the lifting cylinder (11), the controller includes a storage module and a calculation module, the storage module stores the calculation method for the moving distance of the moving seat (14) corresponding to single plate loading and double plate loading, and the calculation module is used to calculate the moving distance of the moving seat (14).

7. The header blank centering system for a punch press line as defined in claim 6 wherein, The stamping line has two first plate alignment units, which are arranged along the direction perpendicular to the plate conveying. The vision camera (5) has two corresponding units.

8. A method of centering a strip head blank in a press line, characterized by, The stamping line head sheet alignment system as described in claim 7 includes the following steps: S01: Collect image information of the sheet material to be loaded and transmit the image information to the controller; S02: The controller determines whether it is a single-board or double-board loading based on the image information. If it is a single-board loading, the coordinate system for single-board loading is called; if it is a double-board loading, the coordinate system for double-board loading is called. S03: Within the corresponding coordinate system, the controller calculates the moving distance of each moving seat based on the deviation between the actual coordinates and the ideal coordinate position of the material to be loaded. S04: The moving seat moves a specified distance to achieve the centering adjustment of the plate to be loaded; S05: After the conveying is completed, the three moving seats return to their initial positions and wait for the next feeding.

9. The method of centering a header strip of a punch press line of claim 8 wherein, In S02, the coordinate system for single-plate loading includes a cooperative static coordinate system and a cooperative dynamic coordinate system. The origin of the cooperative static coordinate system is the midpoint of the line connecting the centroids of the triangle formed by the three adjustment components on the two static platforms. The X-axis of the cooperative static coordinate system is the straight line along the moving direction of the moving seat of one of the adjustment components. The Y-axis of the cooperative static coordinate system is the straight line perpendicular to the moving direction of the moving seat. The Z-axis of the cooperative static coordinate system is the straight line perpendicular to the static platform. The origin of the cooperative dynamic coordinate system is the midpoint of the line connecting the centroids of the triangle formed by the three adjustment ends on the two dynamic platforms. The X-axis of the cooperative dynamic coordinate system is the line connecting the centroids of the other two adjustment components. The straight line connecting the rod adjustment ends is perpendicular to the Z-axis of the coordinated motion coordinate system. The coordinate system for double-plate loading includes two independent static coordinate systems and two independent moving coordinate systems. The origins of the two independent static coordinate systems are the centroids of the triangles formed by the three adjustment components of the corresponding static platforms. The X, Y, and Z axes of the two independent static coordinate systems are parallel to the corresponding coordinate axes of the coordinated static coordinate system. The origins of the two independent moving coordinate systems are the centroids of the triangles formed by the three adjustment ends of the moving platforms. The X, Y, and Z axes of the two independent moving coordinate systems are parallel to the corresponding coordinate axes of the coordinated motion coordinate system.

10. The method of centering a header strip of a press line of claim 9, wherein, When loading double plates, step S03 performs the following steps: S031: Collect image information of each sheet material through a vision camera, scan the specific position and posture of each sheet material, and convert the position information of each sheet material into digital coordinates in the vision camera coordinate system; S032: Communicate via TCP / IP to transmit information to the controller; S033: The controller performs end-effector trajectory planning based on the feedback signals and the pose transformation between the visual camera coordinate system and the independent static coordinate system. Based on the planned end-effector pose point table, the controller calculates the distance that each moving seat of the stamping line's first sheet metal centering unit needs to move through the single-machine kinematics inverse solution. When a single board is being loaded, step S03 performs the following steps: S031: Acquire image information of the sheet metal through a vision camera, scan the specific position and orientation of the sheet metal, and convert the position information of the sheet metal into digital coordinates in the vision camera coordinate system; S032: Communicate via TCP / IP to transmit information to the controller; S033: The controller performs trajectory planning based on the feedback signals and the pose transformation between the visual camera coordinate system and the cooperative static coordinate system. Based on the planned end pose point table, it calculates the distance that each moving seat needs to move through the inverse kinematics solution of the dual machines.

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