CN-122009786-A - Multi-plate centering system and plate centering method

CN122009786ACN 122009786 ACN122009786 ACN 122009786ACN-122009786-A

Abstract

The invention provides a multi-plate centering system and a plate centering method, which relate to the field of plate centering, and the adopted scheme comprises a bottom frame, wherein three adjusting units are arranged on the bottom frame in a straight line, and each adjusting unit comprises a supporting seat, a first adjusting unit and a second adjusting unit, wherein the supporting seat is arranged on the bottom frame; the X-direction adjusting assembly comprises an X-direction adjusting plate, a rotating assembly, a Y-direction adjusting assembly and a conveying assembly, wherein the X-direction adjusting plate is movably arranged on a corresponding rotating seat along a logistics direction, the rotating assembly comprises a rotating seat which is arranged on the corresponding X-direction adjusting plate and can rotate in a horizontal plane, the Y-direction adjusting assembly comprises a Y-direction adjusting plate which is movably arranged on the corresponding rotating seat along a Y direction, and the conveying assembly is arranged on the corresponding Y-direction adjusting plate. The invention can perform centering adjustment on three plates simultaneously.

Inventors

ZHAO BING
ZHANG PENG
WANG CHUANYING
WANG XIANGYU
CHEN FUJIAN
Yang longcheng
GAO XIUHUA

Assignees

济南二机床集团有限公司

Dates

Publication Date: 20260512
Application Date: 20260414

Claims (10)

1. The multi-plate centering system comprises a bottom frame (1), and is characterized in that three adjusting units (2) are arranged on the bottom frame (1) in a line, and the adjusting units (2) comprise: the supporting seat (3), the said supporting seat (3) is set up on the said chassis (1); The X-direction adjusting assembly comprises an X-direction adjusting plate (6), and the X-direction adjusting plate (6) is movably arranged on the corresponding supporting seat (3) along the logistics direction; The rotating assembly comprises a rotating seat (10), the rotating seat (10) is arranged on the corresponding X-direction adjusting plate (6), and the rotating seat (10) can rotate in a horizontal plane; A Y-direction adjustment assembly comprising a Y-direction adjustment plate (15), said Y-direction adjustment plate (15) being movably arranged on the respective swivel mount (10) in the Y-direction; -a conveyor assembly (14), said conveyor assembly (14) being arranged on a respective said Y-direction adjustment plate (15).
2. The multi-plate centering system of claim 1, wherein the X-direction adjustment assembly and the Y-direction adjustment assembly each further comprise a drive motor, to which a respective lead screw is connected, the lead screw being connected to the respective X-direction adjustment plate (6) or Y-direction adjustment plate (15) by a lead screw nut.
3. The multi-plate centering system according to claim 2, characterized in that the rotating assembly further comprises a rotating motor (8), the rotating motor (8) is vertically arranged on the X-direction adjusting plate (6), the rotating motor (8) is connected with a rotating disc (9), the rotating disc (9) is connected with the rotating seat (10), a plurality of supporting balls (7) are further arranged on the X-direction adjusting plate (6), and the supporting balls (7) can generate rolling friction with the rotating seat (10).
4. A multi-plate centering system as claimed in claim 3, characterized in that the conveying assembly (14) comprises a mounting frame, the mounting frame is arranged on the Y-direction adjusting plate (15), at least three conveying belts (12) are arranged on the mounting frame, supporting wheels (13) are arranged between two adjacent conveying belts (12) on the mounting frame, the supporting wheels (13) can generate rolling friction with a plate to be conveyed, and an absorbing part is further arranged on the mounting frame, and can enable the plate to be conveyed to generate elastic deformation and be clung to the conveying belts (12).
5. The multi-panel centering system of claim 4, wherein said attraction member is an electromagnet.
6. A sheet centering method, characterized in that a multi-sheet centering system according to any one of claims 4-5 is employed, comprising the steps of: s01, collecting image information of the plates to be conveyed on a multi-plate centering system through a vision system, and identifying the number of the plates, the outline size of each plate, the current pose of each plate and the coverage relation between each plate and each adjusting unit (2); s02, judging the current working condition by combining the preset working condition types, and determining the adjusting units (2) participating in adjustment and the role division of the corresponding adjusting units (2) according to the judging result; S03, controlling corresponding rotation adjustment and/or translation adjustment of the adjustment unit (2); s04, in the adjustment process, monitoring the actual pose of the plate to be conveyed in real time through a vision system, comparing the actual pose with a target pose, and correcting the motion deviation until the plate reaches the target pose; S05, conveying the plates to be conveyed by the corresponding adjusting units (2).
7. The sheet centering method as claimed in claim 6, wherein in S02, the preset operating conditions and the corresponding role division include: the working condition of a sheet to be conveyed only covers a single Zhang Xiao sheet of the adjusting unit (2), and at the moment, the only covered adjusting unit (2) independently participates in centering adjustment and independent conveying; When the sheet to be conveyed covers the adjacent two adjusting units (2), only the two covered adjusting units (2) cooperatively participate in centering adjustment and cooperative conveying, when the sheet to be conveyed covers the three adjusting units (2), only the middle covered adjusting unit (2) independently participates in centering adjustment, and the two adjusting units (2) on two sides are used for cooperatively conveying the adjusted sheet; The two plates to be conveyed respectively cover the working conditions that the left and right sides of the adjusting units (2) are not provided with the plates in the middle of the adjusting units (2), and at the moment, only the left and right sides of the adjusting units (2) independently participate in centering adjustment and independent conveying of the corresponding plates; One small plate to be conveyed covers one side of the adjusting units (2) and the other large plate to be conveyed covers working conditions of the two adjusting units (2) on the other side at the same time, the adjusting units (2) on one side independently participate in centering adjustment and independent conveying of the small plate, and the adjusting units (2) on the other two sides cooperatively participate in centering adjustment and cooperative conveying of the large plate; the three plates to be conveyed respectively cover the working conditions of the left, middle and right adjusting units (2), and the three adjusting units (2) respectively and independently participate in centering adjustment and independent conveying of the corresponding plates.
8. The sheet centering method as claimed in claim 7, wherein said S03 comprises the steps of: when any adjusting unit (2) independently participates in centering adjustment, the adjusting unit (2) adopts a three-degree-of-freedom coupling control method to perform plate material position adjustment, and the three-degree-of-freedom coupling control method comprises the following steps: S031, obtaining a target pose of a plate to be conveyed, wherein the target pose comprises a target X-direction position, a target Y-direction position and a target angle of a center position of the plate; S032, collecting the current pose of the plate to be conveyed through a vision system, wherein the current pose comprises the current X-direction position, the current Y-direction position and the current angle of the central position of the plate to be conveyed; S033, planning a motion track of the plate according to the difference value between the target pose and the current pose, enabling the center of the plate to move to a target position along a straight line at a uniform speed, enabling the angle of the plate to change to the target angle at a uniform speed, and synchronously starting and ending the motion of the center of the plate and the change of the angle of the plate; S034, calculating motion parameters to be executed by the adjusting unit (2) according to a planned plate motion track, wherein the motion parameters comprise X-direction displacement, Y-direction displacement and rotation angle, and the X-direction displacement and the Y-direction displacement are formed by overlapping additional displacement caused by translational motion of the center of the plate and rotation of the plate; And S035, synchronously executing X-direction translation, Y-direction translation and rotation movement by the adjusting unit (2), and driving the plate to be conveyed to move along the planned movement track.
9. The sheet centering method as claimed in claim 7, wherein said S03 comprises the steps of: when two adjusting units (2) cooperatively participate in centering adjustment, the method comprises the following steps: S031, the two adjusting units (2) execute the same translational motion to drive the plate to be conveyed to move, so that the center of the plate to be conveyed coincides with the center position between the two adjusting units (2), and the angle of the plate is kept unchanged in the process; s032, detecting the deviation between the current angle of the plate material to be conveyed and the target angle through a vision system; S033, enabling the conveying belts (12) of the two adjusting units (2) to rotate at different speeds, wherein the speeds of the conveying belts (12) at the two sides are set to be equal in size and opposite in direction, and enabling the plate to be conveyed to rotate around the center of the plate; S034, monitoring the angle change of the plate in real time through a vision system, and stopping the rotation of the conveying belt (12) when the current angle of the plate to be conveyed reaches a target angle; in S05, the two coordinated adjusting units (2) convey the adjusted plate material at the same conveying speed.
10. A method of centring a sheet material as claimed in claim 9, characterised in that in said S031 the centre position between two of said adjustment units (2) is the centre point of the centre of rotation line of both of said adjustment units (2).

Description

Multi-plate centering system and plate centering method Technical Field The invention relates to the field of plate centering, in particular to a multi-plate centering system and a plate centering method. Background In the manufacturing industries of automobiles, household appliances and the like, the high-speed stamping production line of sheet metal parts is increasingly widely applied, the sheet metal stamping efficiency of the stamping production line is improved, and a die adopts one die and two materials (namely, one set of dies simultaneously stamp two sheet metals at a time) or double die and two materials (namely, two sets of dies simultaneously stamp two sheet metals at a time). In order to ensure that the sheet is accurately placed in the die of the stamping equipment, centering adjustment of the sheet position must be performed. In the prior art, the Chinese patent application with the publication number of CN 115041602A provides a laser line scanning sheet centering belt conveyor, which comprises a bottom bracket, an integral rotating unit, a translation unit, an independent rotating unit, a sheet conveying unit A and a sheet conveying unit B, wherein a slewing bearing a in the bottom bracket is connected with a slewing bearing a in the integral rotating unit through a screw, a translation frame in the translation unit is connected with a sliding block of a guide rail pair in the integral rotating unit through a bolt, a slewing bearing B in the independent rotating unit is connected with a slewing bearing B in the translation unit through a bolt, and a mounting bracket in the sheet conveying unit A and a mounting bracket in the sheet conveying unit B are connected with the independent rotating frame in the independent rotating unit through bolts. However, when the technical scheme is adopted, as only two groups of symmetrical plate conveying units and the matched adjusting mechanism are arranged, no additional adjusting units are available when the double-unit structure faces three plate working conditions, the three plates cannot be respectively and accurately corrected in translation and rotation, and the universality and the suitability of the production line are seriously insufficient. Disclosure of Invention In order to solve the technical problem that the centering system in the prior art cannot perform centering adjustment on three plates, the invention provides a multi-plate centering system and a plate centering method, which can perform centering adjustment on three plates simultaneously. In a first aspect, the invention provides a multi-plate centering system for solving the technical problems, which comprises a bottom frame, wherein three adjusting units are arranged on the bottom frame in a straight line, the adjusting units comprise supporting seats, X-direction adjusting assemblies and conveying assemblies, the supporting seats are arranged on the bottom frame in a straight line, the X-direction adjusting assemblies comprise X-direction adjusting plates which can be arranged on the corresponding supporting seats in a moving mode along a logistics direction, the rotating assemblies comprise rotating seats which are arranged on the corresponding X-direction adjusting plates, the rotating seats can rotate in a horizontal plane, the Y-direction adjusting assemblies comprise Y-direction adjusting plates which can be arranged on the corresponding rotating seats in a moving mode along a Y direction, and the conveying assemblies are arranged on the corresponding Y-direction adjusting plates. According to the invention, three independent adjusting units are arranged on the underframe in a straight line, and each adjusting unit is integrated with the X-direction adjusting component, the rotating component, the Y-direction adjusting component and the conveying component, so that the system can independently and accurately perform translational and rotational centering correction on three plates at the same time, the bottleneck that the number of adjusting units is insufficient when the working condition of the three plates is handled in the prior art is effectively overcome, the universality and the suitability of the system in a complex plate processing production line are obviously improved, the efficient and flexible coverage from double plates to multiple plate (especially three plates) working conditions is realized, and the overall layout flexibility and the operation efficiency of the production line are enhanced. Further, the X-direction adjusting assembly and the Y-direction adjusting assembly further comprise driving motors, the driving motors are connected with corresponding lead screws, and the lead screws are connected with the corresponding X-direction adjusting plates or the corresponding Y-direction adjusting plates through lead screw nuts. Further, the rotating assembly further comprises a rotating motor, the rotating motor is vertically arranged on the X-direction adjustin