CN103575238B - A kind of bender angle detection device - Google Patents
A kind of bender angle detection device Download PDFInfo
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- CN103575238B CN103575238B CN201310471260.2A CN201310471260A CN103575238B CN 103575238 B CN103575238 B CN 103575238B CN 201310471260 A CN201310471260 A CN 201310471260A CN 103575238 B CN103575238 B CN 103575238B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/006—Bending sheet metal along straight lines, e.g. to form simple curves combined with measuring of bends
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
一种折弯机用角度检测装置，包括四个同步带轮固定座固定在机身两端，连接轴穿过机身两端不同侧的同步带轮内孔插入滚动轴承内，伺服电机与一个同步带轮连接，同侧两个同步带轮上安装一条同步带，导轨通过螺栓连接固定在机身上，导轨上安装有滑块，滑块与同步带相啮合，滑块上连接测量头支架,左、右相机和光条投射器组成测量头并固定在测量头支架上，机身每一侧的左、右相机、光条投射器、测量头支架、滑块、导轨、同步带、2个同步带轮，组成一组测量装置，机身两侧的测量装置相对于折弯件对称布置，检测方法是通过重建光条三维信息，计算折弯角，本发明采用非接触测量，用以实现折弯机折弯过程角度的实时检测，快速、精确。
An angle detection device for a bending machine, comprising four timing pulley fixing seats fixed at both ends of the machine body, the connecting shaft is inserted into the rolling bearing through the inner holes of the timing pulleys on different sides of the machine body, and the servo motor is synchronized with a Pulley connection, a synchronous belt is installed on the two synchronous pulleys on the same side, the guide rail is fixed on the body through bolt connection, a slider is installed on the guide rail, the slider meshes with the timing belt, and the measuring head bracket is connected to the slider. The left and right cameras and light bar projectors make up the measuring head and are fixed on the measuring head bracket. Left and right cameras, light bar projectors, measuring head brackets, sliders, guide rails, timing belts, 2 synchronous Pulleys form a set of measuring devices. The measuring devices on both sides of the fuselage are symmetrically arranged relative to the bending parts. The detection method is to calculate the bending angle by reconstructing the three-dimensional information of the light strip. The invention adopts non-contact measurement to realize the bending angle. The real-time detection of the bending process angle of the bending machine is fast and accurate.
Description
技术领域technical field
本发明涉及板材折弯件的角度检测技术领域，尤其涉及一种折弯机用角度检测装置。The invention relates to the technical field of angle detection of plate bending parts, in particular to an angle detection device for a bending machine.
背景技术Background technique
折弯机是板料塑性加工过程中重要的成形设备，由于板材折弯时存在复杂的回弹问题，对板材折弯角度的精确控制一直是衡量折弯机性能的重要指标。折弯机折弯角度的控制主要采取半闭环方式，即调整上模的压入量来控制折弯角度，而板材成形的角度与模具开口、板材厚度、材料回弹、上模压下量有关，数控系统只能控制上模压下量，对环外的因素造成的误差无能为力。The bending machine is an important forming equipment in the plastic processing of the sheet metal. Due to the complex springback problem when the sheet is bent, the precise control of the bending angle of the sheet has always been an important indicator to measure the performance of the bending machine. The control of the bending angle of the bending machine mainly adopts a semi-closed loop method, that is, adjusting the pressing amount of the upper die to control the bending angle, while the angle of sheet forming is related to the opening of the die, the thickness of the sheet, the springback of the material, and the amount of pressing of the upper die. The numerical control system can only control the pressing amount of the upper die, and is powerless to the errors caused by factors outside the ring.
针对以上问题，目前已有多种折弯机角度测量方法，大体可以分为接触式和非接触式测量两种，接触式测量采用机械装置，使用单点式测量方法，结构较为复杂，测量精度依赖于机械结构的精度；非接触测量一般使用激光测距仪，检测测量头与工件表面距离，根据相关算法计算折弯角度。这些方法都是单点式测量，测量精度取决于测量点工件表面质量，容易产生误差，对于工件某一截面角度测量一般需要测量多个位置进行平均值估算，检测过程效率低下。此外这些方法都是基于上下冲模是精确对齐的假设，即采用单侧检测角度的两倍近似作为折弯角度。而在实际生产中，上下冲模是很难精确对齐的，这就带来了测量误差。In response to the above problems, there are currently a variety of angle measurement methods for bending machines, which can be roughly divided into two types: contact measurement and non-contact measurement. Contact measurement uses mechanical devices and single-point measurement methods. The structure is relatively complex and the measurement accuracy is low. Depends on the accuracy of the mechanical structure; non-contact measurement generally uses a laser rangefinder to detect the distance between the measuring head and the surface of the workpiece, and calculate the bending angle according to the relevant algorithm. These methods are all single-point measurements, and the measurement accuracy depends on the surface quality of the workpiece at the measurement point, which is prone to errors. For the measurement of a certain cross-sectional angle of the workpiece, it is generally necessary to measure multiple positions for average estimation, and the detection process is inefficient. In addition, these methods are all based on the assumption that the upper and lower dies are precisely aligned, that is, the bending angle is approximately twice the angle detected on one side. In actual production, it is difficult to align the upper and lower dies precisely, which leads to measurement errors.
因此开发一种快速、精确、非接触式的测量装置具有十分重要的现实意义。Therefore, it is of great practical significance to develop a fast, accurate and non-contact measuring device.
发明内容Contents of the invention
为了克服上述现有技术的缺点，本发明的目的在于提供一种折弯机用角度检测装置，采用非接触测量，用以实现折弯机折弯过程角度的实时检测。In order to overcome the above-mentioned shortcomings of the prior art, the object of the present invention is to provide an angle detection device for a bending machine, which uses non-contact measurement to realize real-time detection of the angle during the bending process of the bending machine.
为实现上述目的，本发明采用以下技术方案：To achieve the above object, the present invention adopts the following technical solutions:
一种折弯机用角度检测装置，包括四个同步带轮固定座2，四个同步带轮固定座2固定在机身1两端，并前后对称，每个同步带轮固定座2上设有轴承孔，用于安装滚动轴承17，连接轴3穿过机身1两端不同侧的同步带轮5内孔插入滚动轴承17内，通过轴肩和同步带轮5轴向自由度固定，连接轴3与同步带轮5之间通过键连接，伺服电机4与四个同步带轮5中的一个通过键连接，同侧两个同步带轮5上安装一条同步带15，并绷紧，导轨14通过螺栓连接固定在机身1上，并确保导轨14处在同步带15内部，导轨14上安装有滑块13，滑块13上部加工有条形齿轮与同步带15相啮合，滑块13上通过螺钉连接测量头支架12,左相机9、右相机10和光条投射器11组成测量头，测量头均通过螺钉连接固定在测量头支架12上，左相机9、右相机10相对于光条投射器11对称安置，机身1每一侧的左相机9、右相机10、光条投射器11、测量头支架12、滑块13、导轨14、同步带15、2个同步带轮5，组成一组测量装置，机身1两侧的测量装置相对于折弯件7对称布置，每一组测量装置检测折弯件7外表面与下模6外表面的夹角。An angle detection device for a bending machine, comprising four timing belt pulley fixing seats 2, the four timing pulley fixing seats 2 are fixed at both ends of a fuselage 1, and are symmetrical front and back, and each timing pulley fixing seat 2 is provided with There are bearing holes for installing the rolling bearing 17. The connecting shaft 3 passes through the inner holes of the synchronous pulley 5 on different sides of the fuselage 1 and is inserted into the rolling bearing 17, and is fixed by the shaft shoulder and the 5 axial degrees of freedom of the synchronous pulley. 3 is connected with the synchronous pulley 5 through a key, and the servo motor 4 is connected with one of the four synchronous pulleys 5 through a key. A synchronous belt 15 is installed on the two synchronous pulleys 5 on the same side and is tightened. The guide rail 14 It is fixed on the fuselage 1 through bolt connection, and ensure that the guide rail 14 is inside the synchronous belt 15. The slider 13 is installed on the guide rail 14. The upper part of the slider 13 is processed with a bar gear to mesh with the synchronous belt 15. On the slider 13 The measuring head support 12 is connected by screws, the left camera 9, the right camera 10 and the light bar projector 11 form the measuring head, and the measuring heads are all fixed on the measuring head support 12 by screw connection, and the left camera 9 and the right camera 10 are projected relative to the light bar. Device 11 is arranged symmetrically, left camera 9, right camera 10, light bar projector 11, measuring head bracket 12, slide block 13, guide rail 14, timing belt 15, two timing pulleys 5 on each side of fuselage 1, constitute A set of measuring devices. The measuring devices on both sides of the fuselage 1 are arranged symmetrically with respect to the bending piece 7 . Each set of measuring devices detects the angle between the outer surface of the bending piece 7 and the outer surface of the lower mold 6 .
所述的滑块13上安装有位移传感器，实时检测滑块13在导轨14上的位置信息。A displacement sensor is installed on the slider 13 to detect the position information of the slider 13 on the guide rail 14 in real time.
所述的光条投射器11安装时保证折弯件7两侧的同组投射光条16在同一平面内。When the light bar projector 11 is installed, it is ensured that the same group of projected light bars 16 on both sides of the bending member 7 are in the same plane.
所述的伺服电机4的尾部朝向机身1内侧。The tail portion of the servo motor 4 faces the inside of the fuselage 1 .
所述的左相机9和右相机10两者光轴夹角在0-90°之间变化。The angle between the optical axes of the left camera 9 and the right camera 10 varies between 0° and 90°.
所述的光条投射器11所投射的光条宽度小于1mm。The width of the light bar projected by the light bar projector 11 is less than 1 mm.
本发明的优点：本发明采用非接触测量，用以实现折弯机折弯过程角度的实时检测，快速、精确。The advantages of the present invention: the present invention adopts non-contact measurement to realize the real-time detection of the bending process angle of the bending machine, which is fast and accurate.
附图说明Description of drawings
图1是折弯机角度检测装置斜视图。Figure 1 is a perspective view of the bending machine angle detection device.
图2是光条投射图。Figure 2 is a light bar projection diagram.
图3是折弯机角度检测装置俯视图。Fig. 3 is a top view of the bending machine angle detection device.
图4是折弯机角度检测装置右视图。Fig. 4 is a right view of the angle detection device of the bending machine.
图5是同步带轮固定座细节图。Fig. 5 is a detailed view of the fixed seat of the synchronous pulley.
图6是折弯机折角度测量方法示意图。Fig. 6 is a schematic diagram of a method for measuring the bending angle of a bending machine.
具体实施方式detailed description
下面结合附图对本发明做进一步详细说明。The present invention will be described in further detail below in conjunction with the accompanying drawings.
参照图1、图2、图3、图4和图5，一种折弯机用角度检测装置，包括四个同步带轮固定座2，四个同步带轮固定座2固定在机身1两端，并前后对称，每个同步带轮固定座2上设有轴承孔，用于安装滚动轴承17，连接轴3穿过机身1两端不同侧的同步带轮5内孔插入滚动轴承17内，通过轴肩和同步带轮5轴向自由度固定，连接轴3与同步带轮5之间通过键连接，伺服电机4与四个同步带轮5中的一个通过键连接，同侧两个同步带轮5上安装一条同步带15，并绷紧，导轨14通过螺栓连接固定在机身1上，并确保导轨14处在同步带15内部，导轨14上安装有滑块13，滑块13上部加工有条形齿轮与同步带15相啮合，滑块13上通过螺钉连接测量头支架12,左相机9、右相机10和光条投射器11组成测量头，测量头均通过螺钉连接固定在测量头支架12上，左相机9、右相机10相对于光条投射器11对称安置，机身1每一侧的左相机9、右相机10、光条投射器11、测量头支架12、滑块13、导轨14、同步带15、2个同步带轮5，组成一组测量装置，机身1两侧的测量装置相对于折弯件7对称布置，每一组测量装置检测折弯件7外表面与下模6外表面的夹角。Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, an angle detection device for a bending machine includes four timing pulley fixing seats 2, and the four timing pulley fixing seats 2 are fixed on two sides of the machine body 1. Each synchronous pulley fixed seat 2 is provided with a bearing hole for installing a rolling bearing 17, and the connecting shaft 3 passes through the inner holes of the synchronous pulley 5 on different sides of the fuselage 1 and inserts it into the rolling bearing 17. The shaft shoulder and the synchronous pulley 5 are fixed by the axial degree of freedom, the connecting shaft 3 and the synchronous pulley 5 are connected by a key, the servo motor 4 is connected to one of the four synchronous pulleys 5 by a key, and the two on the same side are synchronous A synchronous belt 15 is installed on the pulley 5 and tightened. The guide rail 14 is fixed on the fuselage 1 by bolts, and it is ensured that the guide rail 14 is inside the synchronous belt 15. A slide block 13 is installed on the guide rail 14, and the upper part of the slide block 13 A bar gear is processed to mesh with the timing belt 15. The slider 13 is connected to the measuring head bracket 12 by screws. The left camera 9, the right camera 10 and the light bar projector 11 form the measuring head. The measuring heads are all fixed on the measuring head by screws. On the bracket 12, the left camera 9 and the right camera 10 are arranged symmetrically with respect to the light bar projector 11, the left camera 9, the right camera 10, the light bar projector 11, the measuring head bracket 12, and the slider 13 on each side of the fuselage 1 , guide rail 14, synchronous belt 15, and 2 synchronous pulleys 5 form a group of measuring devices. The measuring devices on both sides of the fuselage 1 are symmetrically arranged relative to the bending part 7, and each group of measuring devices detects the outer surface of the bending part 7 The angle with the outer surface of the lower mold 6.
所述的滑块13上安装有位移传感器，实时检测滑块13在导轨14上的位置信息。A displacement sensor is installed on the slider 13 to detect the position information of the slider 13 on the guide rail 14 in real time.
所述的光条投射器11安装时保证折弯件7两侧的同组投射光条16在同一平面内。When the light bar projector 11 is installed, it is ensured that the same group of projected light bars 16 on both sides of the bending member 7 are in the same plane.
所述的伺服电机4的尾部朝向机身1内侧。The tail portion of the servo motor 4 faces the inside of the fuselage 1 .
所述的左相机9和右相机10两者光轴夹角在0-90°之间变化。The angle between the optical axes of the left camera 9 and the right camera 10 varies between 0° and 90°.
所述的光条投射器11所投射的光条宽度小于1mm。The width of the light bar projected by the light bar projector 11 is less than 1 mm.
本发明检测装置的工作原理为：The operating principle of the detection device of the present invention is:
在同步带15的作用力下，滑块13可以沿着导轨14做直线运动，滑块13上安装有位移传感器实时检测滑块13位置，两组测量装置共用一台伺服电机4，确保滑块13运动同步。进行角度测量时，光条投射器11投射一组线条，如图2所示，分布在折弯件7两侧的测量头同时工作，即光条投射器11同时开、关，左右相机9、10同步采集图像，所投射光条16可以根据测量要求调整光条数量和间距，但必须保证两侧投射光条16均在同一截面内，测量头每移动一个位置，检测一组角度值，并根据滑块13上位移传感器记录的位置信息，将检测角度进行定位。Under the force of the synchronous belt 15, the slider 13 can move linearly along the guide rail 14. A displacement sensor is installed on the slider 13 to detect the position of the slider 13 in real time. The two sets of measuring devices share a servo motor 4 to ensure that the slider 13 motion syncs. When performing angle measurement, the light strip projector 11 projects a group of lines, as shown in Figure 2, the measuring heads distributed on both sides of the bending part 7 work at the same time, that is, the light strip projector 11 is turned on and off at the same time, and the left and right cameras 9, 10 Collect images synchronously, the projected light strips 16 can adjust the number and spacing of the light strips according to the measurement requirements, but it must be ensured that the projected light strips 16 on both sides are in the same section, and each time the measuring head moves a position, a set of angle values is detected, and According to the position information recorded by the displacement sensor on the slider 13, the detection angle is positioned.
角度检测过程如如下：The angle detection process is as follows:
单个截面角度检测：伺服电机4通过连接轴3带动同步带轮5转动，同步带轮5通过同步带15带动滑块13在导轨14上滑动，伺服电机4精确控制滑块移动位置，使其停靠在需要角度检测的位置，折弯机两侧的光条投射器11同步投射一条光条在折弯件7和下模6外表面上，折弯机两侧相机9、10，采集折弯件7和下模6外表面光条信息，进行角度检测。Single section angle detection: servo motor 4 drives synchronous pulley 5 to rotate through connecting shaft 3, synchronous pulley 5 drives slider 13 to slide on guide rail 14 through synchronous belt 15, and servo motor 4 precisely controls the moving position of slider to make it stop At the position where angle detection is required, the light bar projectors 11 on both sides of the bending machine synchronously project a light bar on the outer surface of the bending part 7 and the lower mold 6, and the cameras 9 and 10 on both sides of the bending machine collect the bending parts 7 and the light strip information on the outer surface of the lower mold 6 for angle detection.
多个截面角度检测：伺服电机4通过连接轴3带动同步带轮5转动，同步带轮5通过同步带15带动滑块13在导轨14上滑动，伺服电机4精确控制滑块移动位置，使其停靠在需要角度检测的位置，折弯机两侧的光条投射器11投射多组光条，相机9、10采集光条，检测光条处角度，实现多个截面角度检测。Multi-section angle detection: servo motor 4 drives synchronous pulley 5 to rotate through connecting shaft 3, synchronous pulley 5 drives slider 13 to slide on guide rail 14 through synchronous belt 15, servo motor 4 precisely controls the moving position of slider, so that Stop at the position where angle detection is required, the light strip projectors 11 on both sides of the bending machine project multiple groups of light strips, the cameras 9 and 10 collect the light strips, detect the angle of the light strips, and realize multiple section angle detection.
全长角度检测：伺服电机4通过连接轴3带动同步带轮5转动，同步带轮5通过同步带15带动滑块13在导轨14上滑动，伺服电机4精确控制滑块移动位置，使其停靠在需要角度检测的位置，折弯机两侧的光条投射器11投射多组光条，相机9、10采集光条，检测光条处角度，实现多个截面角度检测。伺服电机4带动测量头移动至下一个位置，对相机视区内多个截面进行角度检测，根据滑块13记录的位置信息，将各个位置角度进行全长拼接，实现全长检测。Full-length angle detection: servo motor 4 drives synchronous pulley 5 to rotate through connecting shaft 3, synchronous pulley 5 drives slider 13 to slide on guide rail 14 through synchronous belt 15, and servo motor 4 accurately controls the moving position of the slider to make it stop At the position where angle detection is required, the light strip projectors 11 on both sides of the bending machine project multiple sets of light strips, and the cameras 9 and 10 collect the light strips to detect the angles at the light strips to achieve multiple cross-sectional angle detection. The servo motor 4 drives the measuring head to move to the next position, and performs angle detection on multiple sections in the viewing area of the camera. According to the position information recorded by the slider 13, the full-length splicing of each position angle is carried out to realize the full-length detection.
参照图6，所述检测装置的检测方法，相同的两个测量头A1、A2安装在折弯件两侧，并能够沿折弯件长度方向同步移动，测量头A1、A2向折弯件和下模投射两窄光条，两窄光条在同一平面内，测量头A1、A2同时采集折弯件与下模外表面光条信息，根据双目成像原理重建光条三维信息，利用空间直线夹角关系分别计算折弯件与下模夹角α1、α2，折弯件角度由公式α=360°-α1-α2求得，α即为折弯件的折弯角度。Referring to Fig. 6, the detection method of the detection device, the same two measuring heads A1, A2 are installed on both sides of the bending piece, and can move synchronously along the length direction of the bending piece, the measuring heads A1, A2 move towards the bending piece and The lower mold projects two narrow light strips, and the two narrow light strips are in the same plane. The measuring heads A1 and A2 simultaneously collect the information of the light strips on the outer surface of the bending part and the lower mold, and reconstruct the three-dimensional information of the light strips according to the principle of binocular imaging. Angle relationship Calculate the angles α 1 and α 2 between the bending part and the lower die respectively. The angle of the bending part is obtained by the formula α=360°-α 1 -α 2 , and α is the bending angle of the bending part.
以上所述仅为本发明的一种实施方式，不是全部或唯一的实施方式，本领域普通技术人员通过阅读本发明说明书而对本发明技术方案采取的任何等效的变换，均为本发明的权利要求所涵盖。The above is only one embodiment of the present invention, not all or the only embodiment. Any equivalent transformation of the technical solution of the present invention adopted by those of ordinary skill in the art by reading the description of the present invention is the right of the present invention. covered by the requirements.
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| AT515944B1 (en) | 2014-10-16 | 2016-01-15 | Trumpf Maschinen Austria Gmbh | Bending angle measuring method |
| RS57736B1 (en) * | 2014-12-12 | 2018-12-31 | Turanjanin Uros | Application of 3d camera in the process of bending profiles on machines for bending with three and four roller |
| CN107436126A (en) * | 2016-05-27 | 2017-12-05 | 江苏精电气科技有限公司 | Power distribution cabinet flanging flat plate testing apparatus |
| CN110686622A (en) * | 2019-10-08 | 2020-01-14 | 华南理工大学 | Method for measuring train wheel attack angle |
| CN112718942B (en) * | 2020-12-08 | 2023-05-12 | 江苏弘东工业自动化有限公司 | Bending angle correction method for bending machine |
| CN112845694B (en) * | 2021-01-21 | 2021-08-31 | 湖北理工学院 | Bending angle measurement compensation system and compensation method for bending machine |
| EP4063783A1 (en) * | 2021-03-25 | 2022-09-28 | Bystronic Laser AG | Method and device for bend angle determination on a bending machine |
| CN113714341A (en) * | 2021-08-19 | 2021-11-30 | 苏州彤苒智能科技有限公司 | Intelligent detection angle compensation control system |
| CN115921605A (en) * | 2022-12-06 | 2023-04-07 | 扬州市职业大学(扬州开放大学) | A method and device for real-time measurement of bending angle based on 3D vision technology |
| CN119187278B (en) * | 2024-11-26 | 2025-07-15 | 靖江市奥祥交通设备制造有限公司 | Angle detection device for bending machine |
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