CN113390362B - High-precision self-adaptive platform for laser linear scanning - Google Patents
High-precision self-adaptive platform for laser linear scanning Download PDFInfo
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- CN113390362B CN113390362B CN202110580702.1A CN202110580702A CN113390362B CN 113390362 B CN113390362 B CN 113390362B CN 202110580702 A CN202110580702 A CN 202110580702A CN 113390362 B CN113390362 B CN 113390362B
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Abstract
The invention provides a high-precision self-adaptive platform for laser linear scanning, wherein universal wheels are arranged on the bottom surface of a bottom platform, and a lifting mechanism is vertically arranged on the top surface of the bottom platform; the balance beam is vertically fixed at the top end of the lifting mechanism and is parallel to the ground; one end of the balance beam is provided with a circular shaft which extends coaxially and outwards, and the circular shaft is parallel to the ground; the laser head linkage mechanism is fixedly sleeved outside the round shaft, and the laser line scanning head is fixedly arranged on the bottom surface of the laser head linkage mechanism; the laser head linkage structure is provided with 4 servo piezoelectric motors which are uniformly distributed at four corners above the laser line scanning head; the laser scanning head angle adjusting device comprises a servo piezoelectric motor, a connecting rod of the servo piezoelectric motor is connected with the servo piezoelectric motor, and the servo piezoelectric motor is connected with the laser scanning head. The invention can adjust the laser line scanning head above the running steel belt in a non-manual way.
Description
Technical Field
The invention belongs to the technical field of steel strip detection and measurement, and particularly relates to a high-precision self-adaptive platform for laser linear scanning.
Background
Due to the continuous development and progress of domestic science and technology in recent years, the requirements of high-precision control and high-precision detection capability are continuously improved, and particularly the continuous online contour detection capability of some plates with extremely high requirements on plate shapes is improved.
There are two difficult problems to deal with in the practical application of continuous on-line contour detection of sheet materials. Firstly, the laser linear scanning equipment has very high requirement on the levelness of a laser head, and the levelness is usually adjusted by manually matching with a horizontal air gauge, but the control requirement on the actual operation steel strip shape detection cannot be basically met; secondly, continuous production lines do not allow for leveling operations above the running strip in order to match the production situation. In the application process of the prior art, a mode of adjusting the horizontal state outside a continuous line and then pushing the steel strip to the upper part for testing is adopted, so that the final horizontal states are completely different. Since the actual horizontal state of the laser head is different due to the different ground states on both sides of the steel strip, the laser head must be readjusted after being introduced above the steel strip. Meanwhile, field experiments prove that the state obtained by observing the horizontal air gauge cannot guarantee the relative position state between the laser head and the surface of the plate to be measured.
Disclosure of Invention
The invention aims to solve the defects of the background technology, and provides a high-precision self-adaptive platform for laser linear scanning, which can not only guarantee the requirement of truly adjusting the position of a laser head, but also can perform non-manual automatic adjustment above a running steel belt.
The technical scheme adopted by the invention is as follows: a high accuracy self-adaptation platform for laser linear scanning which characterized in that: the laser scanning device comprises a bottom platform, a lifting mechanism, a balance beam, a laser head linkage mechanism and a laser line scanning head; wherein the bottom surface of the bottom platform is provided with universal wheels, and the lifting mechanism is vertically arranged on the top surface of the bottom platform; the balance beam is vertically fixed at the top end of the lifting mechanism and is parallel to the ground; one end of the balance beam is provided with a circular shaft which extends coaxially and outwards, and the circular shaft is parallel to the ground; the laser head linkage mechanism is fixedly sleeved outside the round shaft, and the laser line scanning head is fixedly arranged on the bottom surface of the laser head linkage mechanism; the laser head linkage structure is provided with 4 servo piezoelectric motors which are uniformly distributed at four corners above the laser line scanning head; the laser scanning head angle adjusting device comprises a servo piezoelectric motor, a connecting rod of the servo piezoelectric motor is connected with the servo piezoelectric motor, and the servo piezoelectric motor is connected with the laser scanning head.
In the technical scheme, the bottom platform is provided with a positioning bolt, and the positioning bolt vertically penetrates through the bottom platform and is in threaded fit with the bottom platform; the nut of the positioning bolt is positioned above the bottom platform, and the end part of the positioning bolt is positioned below the bottom platform.
In the technical scheme, the lifting mechanism is integrated with an electric control cabinet and a hydraulic system, and the height of the lifting mechanism is adjusted through the hydraulic system; the automatic regulating system is arranged in the electric control cabinet.
In the technical scheme, the bottom platform is provided with a load iron block.
In the technical scheme, the inclined iron is fixedly arranged between the balance beam and the top of the lifting mechanism.
In the technical scheme, the laser head linkage mechanism comprises a lock catch, a mounting platform, a support flat plate, servo piezoelectric motors and a fixed connecting rod, wherein the servo piezoelectric motors are uniformly distributed and arranged at four corners of the mounting platform; the body of the servo piezoelectric motor is fixedly arranged on the upper surface of the mounting platform, and a connecting rod of the servo piezoelectric motor penetrates through the mounting platform to vertically extend downwards and is in contact with the upper surface of the support flat plate; the lock catch is arranged at the center of the upper surface of the mounting platform and is sleeved on the outer side of the round shaft and fixed with the round shaft through a bolt; the bottom end of the fixed connecting rod is arranged in the center of the support flat plate and is fixed through threads; the fixed connecting rod is also provided with a fixed bolt which is matched with the thread of the fixed bolt, and the fixed bolt is arranged on the upper surface of the support flat plate; the top end of the fixed connecting rod is provided with a ball structure; the fixed connecting rod is movably clamped at the center of the bottom surface of the mounting platform through a spherical structure; the support flat plate is fixed on the top surface of the laser line scanning head through bolts.
In the technical scheme, the balance beam further comprises a protection wire groove, wherein the protection wire groove is fixedly arranged on the surface of the balance beam and extends along the axis of the balance beam; the servo piezoelectric motor and the laser line scanning head are electrically connected with the automatic adjusting system through an optical cable, and the optical cable is arranged in the protective wire slot; the optical cable is connected into the electric control cabinet through the protection wire slot.
In the above technical solution, the 4 servo piezoelectric motors are respectively a motor a, a motor B, a motor C and a motor D, wherein the motor a and the motor B are located in a longitudinal direction of the laser line scanning head, and the motor a and the motor C are located in a transverse direction of the laser line scanning head; the motor B and the motor C are respectively positioned at the same side of the motor A; the current stroke of a connecting rod of a motor A is a, the current stroke of a connecting rod of a motor B is B, the current stroke of a connecting rod of a motor C is C, and the current stroke of a connecting rod of a motor D is D, wherein a, B, C and D are natural numbers and the unit is mm;
the control method of the automatic adjusting system comprises the following steps:
s1: calculating an initial standard parameter F0 according to a first scanning result of the laser line scanning head, and then sending a driving instruction to increase the stroke of one unit of the connecting rod of the motor A and the connecting rod of the motor B respectively; then calculating an adjusted standard parameter F, and comparing the adjusted standard parameter F with an initial standard parameter F0;
s2: starting longitudinal direction self-adaptive adjustment: if the standard parameter F is increased, continuously sending a driving instruction to respectively increase the stroke of one unit of the connecting rod of the motor A and the connecting rod of the motor B; if the standard parameter F is reduced, sending a driving instruction to increase the stroke of one unit of the connecting rod of the motor C and the motor D; when the connecting rod stroke of any motor reaches the limit, sending a driving command to reduce the connecting rod stroke of the motor reaching the limit by one unit;
s3: repeating the step S2 repeatedly until the strokes of the two motor connecting rods positioned in the longitudinal direction reach the limit or the marking parameter F is more than 80%, and judging that the self-adaptive adjustment of the longitudinal direction is finished;
s4: when the longitudinal self-adaptive adjustment is finished and the marking parameter F is less than or equal to 80%, sending a driving instruction to respectively reduce the stroke of one unit of the connecting rod of the motor A and the connecting rod of the motor C;
s5: repeating the step S2 and the step S3 again, and comparing the calculation results of the current marking parameter F and the previous marking parameter F if the marking parameter is still less than or equal to 80% after the longitudinal self-adaptive adjustment is finished;
if the value of the marking parameter F is relatively reduced, sending a driving instruction to respectively reduce the stroke of one unit of the connecting rod of the motor B and the connecting rod of the motor C; if the value of the marking parameter F is relatively increased, continuously sending a driving instruction to respectively reduce the stroke of one unit of the connecting rod of the motor A and the connecting rod of the motor C;
s6, repeating the step S2 repeatedly until the marking parameter F is larger than 80%.
In the above technical solution, the calculation formula of the standard parameter is as follows:
wherein when λ n When the percentage is less than or equal to 5 percent, the qualified coefficient eta is counted n =1; let as lambda n When the coefficient is more than 5 percent, the qualified coefficient eta is measured n =0, where n is the set of 1,2,3 … n; n is the serial number of the actual measuring point position; lambda [ alpha ] n The percentage of the difference between the actual measurement value and the target value of the nth measurement point is;
λ n ＝△y n /y n ×100％,△y n ＝p n -y n (ii) a Wherein p is n Scanning the measured actual result for the nth measuring point line; y is n Scanning the measured target result for the nth measuring point line;
the calculation result of the standard parameter F when n takes 1 is taken as the initial standard parameter F0.
The invention provides a test method based on a high-precision self-adaptive platform for laser linear scanning, which is characterized by comprising the following steps of:
pushing the bottom platform to enable the laser line scanning head to be located at the upper end of the plate to be detected, and ensuring that the line scanning laser light of the laser line scanning head is basically vertical to the running direction of the steel belt through visual observation;
the distance between the laser line scanning head and the surface of the steel belt is controlled by adjusting the lifting mechanism;
adjusting the positioning bolt to enable the universal wheel to be separated from the ground, and then adjusting the bottom platform to be horizontal through an external horizontal ruler and the positioning bolt;
starting an automatic adjusting system to complete the adjustment of the laser line scanning head;
and continuously measuring, finishing laser scanning test work, and performing panoramic state representation on the surface profile of the plate to be tested.
The invention has the beneficial effects that: the laser head of the linear scanner can be effectively arranged right above the running steel plate by manually pushing the bottom platform and visually observing, and meanwhile, the laser line scanning head is continuously adjusted by the automatic adjusting system, so that the laser line scanning head can be always kept in a horizontal state required by the laser head even when a production line runs. The automatic adjusting system directly controls four horizontal control degrees of the laser head through four linked micro direct current servo piezoelectric motors, avoids controlling the horizontal degree in a manual operation mode, improves the safety and effectively ensures the accuracy of the detection result of the laser line scanning head. The control method adopted by the automatic adjusting system generates the corresponding control instruction according to the feedback of the line scanning result, can effectively adjust the real required adaptability state of the laser head, and provides more accurate operation conditions for the effective operation of the laser head.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a schematic view of the laser head linkage of the present invention;
FIG. 4 is a top view of the laser head linkage of the present invention;
FIG. 5 is a single point diagram at the instant of line scanning;
FIG. 6 is an actual point diagram of the A-D control of the motors of the present invention;
FIG. 7 is a flow chart of an adaptive tuning control method of the present invention;
fig. 8 is a comparison of the scanning results before and after the self-adaptive adjustment of the same steel plate, wherein the left side is before the adjustment and the right side is after the adjustment.
Wherein, 1- -the lifting mechanism; 2, an electric control cabinet; 3-a balance beam; 4-round shaft; 5-laser line scanning head; 6-bottom platform; 7-a positioning bolt; 8-universal wheels; 9-an inclined iron; 10-weight bearing iron block; 11-servo piezoelectric motor, 11-a-motor A, 11-B-motor B, 11-C-motor C, 11-D-motor D; 12-a fixed link; 13-locking; 14-a spherical structure; 15-a scaffold plate; 16-a cable connection port; 17-the emitting end of the laser line scanning head; 18-observation end of laser line scanning head, 19-protective wire groove and 20-installation platform.
Detailed Description
The invention will be further described in detail with reference to the drawings and specific embodiments, which are not intended to limit the invention, for the clear understanding of the invention.
As shown in fig. 1 and 2, the invention provides a high-precision adaptive platform for laser linear scanning, which comprises a bottom platform 6, a lifting mechanism 1, a balance beam 3, a laser head linkage mechanism and a laser line scanning head 5; wherein the bottom surface of the bottom platform 6 is provided with universal wheels 8, and the lifting mechanism 1 is vertically arranged on the top surface of the bottom platform 6; the balance beam 3 is vertically fixed at the top end of the lifting mechanism 1 and is parallel to the ground; one end of the balance beam 3 is provided with a circular shaft 4 which extends coaxially and outwards, and the circular shaft 4 is parallel to the ground. The round shaft 4 is sleeved and penetrated in the balance beam 3. The balance beam 3 provides effective support for the circular shaft 4, and the part of the circular shaft 4 exposed out of the balance beam 3 can be effectively kept in a parallel state with the ground. The laser head linkage mechanism is fixedly sleeved outside the round shaft 4, and the laser line scanning head 5 is fixedly arranged on the bottom surface of the laser head linkage mechanism; the laser head linkage structure is provided with 4 servo piezoelectric motors 11 which are uniformly distributed at four corners above the laser line scanning head 5; the laser scanning device further comprises an automatic adjusting system, the automatic adjusting system obtains the measurement data of the laser line scanning head 5 and sends a driving instruction to the servo piezoelectric motor 11 according to the measurement data, and the servo piezoelectric motor 11 controls the telescopic adjustment of the connecting rod of the servo piezoelectric motor to adjust the angle of the laser line scanning head 5 according to the driving instruction. When the device is used, an operator can push the whole device to a designated position through the universal wheels 8, and the laser line scanning head 5 is ensured to be positioned right above a steel belt to be detected. The laser line scanning heads 5 comprise a plurality of laser line scanning heads which are uniformly distributed along the circular shaft 4, and the plurality of laser line scanning heads 5 cover the detection area of the steel belt to be detected together.
In the technical scheme, the bottom platform 6 is provided with a positioning bolt 7, and the positioning bolt 7 vertically penetrates through the bottom platform 6 and is in threaded fit with the bottom platform 6; the nuts of the positioning bolts 7 are located above the bottom platform 6, and the ends of the positioning bolts 7 are located below the bottom platform 6. Confirm bottom platform 6 to have been promoted to the assigned position when operating personnel, can twist positioning bolt 7 for bottom platform 6 climbs along positioning bolt 7 upwards, breaks away from the bottom surface until universal wheel 8, makes universal wheel 8 can not drive bottom platform 6 and slides, guarantees the overall stability of laser scanning process. The positioning bolts 7 at least comprise 2 positioning bolts which are uniformly distributed, and can effectively support the bottom platform 6 and keep balance. And a load iron block 10 is arranged on the bottom platform 6. After bottom platform 6 realized the location, operating personnel will bear a burden iron plate 10 and place on bottom platform 6, further guarantee that bottom platform 6 does not take place to remove, strengthen the overall stability of equipment. And an inclined iron 9 is fixedly arranged between the balance beam 3 and the top of the lifting mechanism 1, so that the connection stability between the balance beam 3 and the lifting mechanism 1 is effectively ensured. The fixing point of the balance beam 3 and the lifting mechanism 1 is arranged at the central point of the balance beam 3.
In the technical scheme, the lifting mechanism 1 is integrated with the electric control cabinet 2 and the hydraulic system, and the height of the lifting mechanism 1 is adjusted through the hydraulic system; the automatic regulating system is arranged in the electric control cabinet 2. The protective wire casing 19 is fixedly arranged on the surface of the balance beam 3 and extends along the axis of the balance beam 3; the servo piezoelectric motor 11 and the laser line scanning head 5 are electrically connected with an automatic adjusting system through an optical cable, and the optical cable is arranged in the protective wire slot 19; the optical cable is connected to the electric control cabinet 2 through the protective wire slot 19. The control systems of the invention are all integrated on the device body, and the arrangement of the protective wire slot 19 and the electric control cabinet 2 optimizes the circuit arrangement, thereby ensuring the safety and the operation convenience of the device in the using process.
As shown in fig. 3 and 4, the laser head linkage mechanism includes a latch 13, a mounting platform 20, a support plate 15, a servo piezoelectric motor 11 and a fixed link 12, wherein the servo piezoelectric motor 11 includes four corners uniformly distributed and arranged on the mounting platform 20; the body of the servo piezoelectric motor 11 is fixedly arranged on the upper surface of the mounting platform 20, and a connecting rod of the servo piezoelectric motor 11 penetrates through the mounting platform 20 to vertically extend downwards and contact with the upper surface of the support flat plate 15; the lock catch 13 is arranged at the center of the upper surface of the mounting platform 20, and the lock catch 13 is sleeved on the outer side of the circular shaft 4 and fixed with the circular shaft 4 through a bolt; the bottom end of the fixed connecting rod 12 is arranged in the center of the support flat plate 15 and is fixed through threads; the fixed connecting rod 12 is also provided with a fixed bolt and is in threaded fit with the fixed bolt, and the fixed bolt is arranged on the upper surface of the support flat plate 15; the top end of the fixed connecting rod 12 is provided with a sphere structure 14; the fixed connecting rod 12 is movably clamped at the center of the bottom surface of the mounting platform 20 through the sphere structure 14; the support plate 15 is fixed to the top surface of the laser line scanning head 5 by bolts. The emitting end 17 and the observing end 18 of the laser line scanning head 5 are both arranged on the bottom surface of the laser line scanning head 5, and the emitting surface or the receiving surface of the emitting end faces the steel belt to be measured. The laser head linkage mechanism realizes the fixation of the laser head linkage machine on the round shaft 4 through the matching of the round shaft 4 and the lock catch 13. The laser line scanning head 5 is fixedly connected with the support flat plate 15 through a bolt, and the laser line scanning head 5 is fixed on the circular shaft 4. The servo piezoelectric motors 11 are uniformly distributed at four corners above the laser line scanning head 5, so that the laser line scanning head 5 can be finely adjusted in the longitudinal direction and the transverse direction. Because the sphere structure 14 is movably clamped in the bottom surface of the mounting platform 20, the fixed connecting rod 12 and the support platform have a certain moving space when the connecting rod of the servo piezoelectric motor 11 extends and retracts, so that the fine adjustment of the laser line scanning head 5 is realized.
As shown in fig. 6, the 4 servo piezoelectric motors 11 are respectively a motor a, a motor B, a motor C and a motor D, wherein the motors a and B are located in the longitudinal direction of the laser line scanning head 5, and the motors a and C are located in the transverse direction of the laser line scanning head 5; the motor B and the motor C are respectively positioned at the same side of the motor A; the current stroke of the connecting rod of the motor A is a, the current stroke of the connecting rod of the motor B is B, the current stroke of the connecting rod of the motor C is C, and the current stroke of the connecting rod of the motor D is D, wherein a, B, C and D are natural numbers and have the unit of mm, the +1 represents that the stroke of the motor is increased by one unit, the-1 represents that the stroke of the motor is decreased by one unit, and the 1 represents that the length of the electric stroke is 0.05mm, and the stroke is controlled by a PLC in the electric control cabinet 2.
As shown in fig. 7, the control method of the automatic adjustment system includes the steps of:
s1: calculating an initial standard parameter F0 according to a first scanning result of the laser line scanning head 5, and then sending a driving instruction to increase the strokes of one unit of the connecting rods of the motor A and the motor B, namely a +1 and B +1 respectively; then calculating an adjusted standard parameter F, and comparing the adjusted standard parameter F with an initial standard parameter F0;
s2: opening the longitudinal direction for self-adaptive adjustment: if the standard parameter F is increased, continuously sending a driving instruction to respectively increase the strokes of one unit of the front end motors, namely the motor A and the motor B connecting rod, namely a +1, B +1; if the standard parameter F is reduced, a driving instruction is sent to increase the stroke of one unit of the connecting rod of the rear end motor, namely the motor C and the motor D, namely C +1, D +1; when the connecting rod stroke of any motor reaches the limit, sending a driving command to reduce the connecting rod stroke of the motor reaching the limit by one unit;
s3: repeating the step S2 repeatedly until the strokes of the two motor connecting rods positioned in the longitudinal direction reach the limit or the marking parameter F is more than 80%, and judging that the self-adaptive adjustment of the longitudinal direction is finished;
s4: when the longitudinal self-adaptive adjustment is finished and the marking parameter F is less than or equal to 80%, sending a driving instruction to respectively reduce the strokes of one unit of the connecting rods of the motor A and the motor C, namely a-1 and C-1;
s5: repeating the S2 and the S3 again, and comparing the calculation results of the current marking parameter F and the previous marking parameter F if the marking parameter is still less than or equal to 80 percent after the longitudinal self-adaptive adjustment is finished;
if the value of the marking parameter F is relatively reduced, a driving command is sent to reduce the stroke of one unit of the connecting rod of the motor B and the connecting rod of the motor C, namely B-1 and C-1; if the value of the marking parameter F is relatively increased, continuously sending a driving instruction to respectively reduce the stroke of one unit of the connecting rod of the motor A and the connecting rod of the motor C, namely a-1 and C-1;
s6, repeating the step S2 repeatedly until the marking parameter F is larger than 80%.
FIG. 8 is a comparison of the scanning results before and after the self-adaptive adjustment of the same steel plate, wherein the left side is before the adjustment and the right side is after the adjustment
Due to the influence of various external factors, such as the horizontal state of the steel plate and the carrier roller at the tested position, the detection angle of the laser head, the relative placement position between the horizontal platform and the ground and the like, the possibility that the optimal effect can be directly obtained after the platform is pushed above the steel plate is very low. The actual steel plate line scan result is generally as shown in fig. 5 as an arc OA, and the optimal target state of the actual line scan is the line OA, and the final correction is often extremely difficult to achieve using the actual laser line scan result such as the arc OA.
Therefore, the invention constructs a control algorithm and realizes the adaptive automatic adjustment of the laser head through four lifting motors:
1) Let the starting point and the end point of the scan data of the single line be the points O and a respectively, and the target straight line function of these two points be y = kx, where k is the slope of the target straight line function determined by the two points O and a, for example, when x = x 1 When y is 1 ＝kx 1 (ii) a Where the target line function y is the equation for the target curve, where k is the slope of the line equation.
2) Assuming that the function in which the arc OA of the actual measurement result is located is p = f (x), the fluctuation of the arc OA actually acquired is large, but is necessarily a function, for example, when x = x 1 At time, p 1 ＝f(x 1 ) And p is 1 In practice, at x = x 1 Measuring an actual result on a point with a position serial number of 1 by time line scanning;
3) Let Δ y 1 ＝p 1 -y 1 The difference Δ y between actual and target; is provided with
I.e. the percentage of the difference between the actual and target at the point with position number 1 is lambda 1 ；
4) Let x be x corresponding to O point 1 Where x corresponding to A is x n Wherein n is the number of actual measurement points between the point O and the point A;
let us when lambda n When the concentration is less than or equal to 5 percent, the eta is counted n =1; let us when lambda n When greater than 5%, measure eta n =0, where n is the set of 1,2,3 … n; n is the serial number of the actual measuring point; lambda n ＝△y n /y n ×100％,△y n ＝p n -y n (ii) a Wherein when λ n When the percentage is less than or equal to 5 percent, the qualified coefficient eta is counted n =1; let us when lambda n When the coefficient is more than 5 percent, the qualified coefficient eta is measured n =0, where n is the set of 1,2,3 … n; n is the serial number of the actual measuring point; lambda n The percentage of the difference between the actual measurement value of the nth measurement point and the target value is; p is a radical of formula n Scanning the measured actual result for the nth measuring point line; y is n Scanning the measured target result for the n-th measuring point line, i.e. y n ＝kx n ；
5) The calculation formula of the core mark parameter F is as follows:
the calculation result of the standard parameter F when n takes 1 is taken as the initial standard parameter F0.
The actual external operation process of the invention is as follows:
1) Firstly, according to the figure 3, a high-precision laser line scanning head 5, namely the laser line scanning head 5, is connected and fixed together with a bolt through a support flat plate 15, then the laser head linkage mechanism is integrally sleeved into the steerable circular shaft 4 through a lock catch 13 at the upper end, and an optical cable is connected into the electric control cabinet 2 through a protection wire slot 19.
2) The balance beam 3 and the round shaft 4 hung with the laser head linkage mechanism are pushed into the upper end of the plate to be detected through the universal wheel 8, and the line scanning laser light is basically perpendicular to the running direction of the steel belt through visual observation.
3) Firstly, the positioning fixing bolt is lifted to enable the universal wheel 8 to be separated from the ground, then the bottom platform is adjusted to be horizontal through the external leveling rod and the adjusting positioning bolt 7, and the situation that the basic horizontal error is too large to exceed the adjustable range of the automatic leveling system is avoided.
4) And starting an automatic adjusting system to finish the adaptive adjustment of the laser head.
5) And after the adaptability is adjusted, continuously measuring the laser head to complete laser scanning test work, and performing panoramic state representation on the plate profile by using the acquired data as an actual result of laser line scanning measurement.
Those not described in detail in this specification are within the skill of the art.
Claims (8)
1. A high accuracy self-adaptation platform for laser linear scanning which characterized in that: the laser scanning device comprises a bottom platform, a lifting mechanism, a balance beam, a laser head linkage mechanism and a laser line scanning head; wherein the bottom surface of the bottom platform is provided with universal wheels, and the lifting mechanism is vertically arranged on the top surface of the bottom platform; the balance beam is vertically fixed at the top end of the lifting mechanism and is parallel to the ground; one end of the balance beam is provided with a circular shaft which extends coaxially and outwards, and the circular shaft is parallel to the ground; the laser head linkage mechanism is fixedly sleeved outside the round shaft, and the laser line scanning head is fixedly arranged on the bottom surface of the laser head linkage mechanism; the laser head linkage structure is provided with 4 servo piezoelectric motors which are uniformly distributed at four corners above the laser line scanning head; the laser scanning device also comprises an automatic adjusting system, wherein the automatic adjusting system acquires the measurement data of the laser scanning head and sends a driving instruction to the servo piezoelectric motor according to the measurement data, and the servo piezoelectric motor controls the expansion and contraction of a connecting rod of the servo piezoelectric motor to adjust the angle of the laser scanning head according to the driving instruction;
the 4 servo piezoelectric motors are respectively a motor A, a motor B, a motor C and a motor D, wherein the motor A and the motor B are positioned in the longitudinal direction of the laser line scanning head, and the motor A and the motor C are positioned in the transverse direction of the laser line scanning head; the motor B and the motor C are respectively positioned at the same side of the motor A;
the control method of the automatic adjusting system comprises the following steps:
s1: calculating an initial standard parameter F0 according to a first scanning result of the laser line scanning head, and then sending a driving instruction to increase the stroke of one unit of the connecting rod of the motor A and the connecting rod of the motor B respectively; then calculating an adjusted standard parameter F, and comparing the adjusted standard parameter F with an initial standard parameter F0;
s2: opening the longitudinal direction for self-adaptive adjustment: if the standard parameter F is increased, continuing to send a driving instruction to respectively increase the stroke of one unit of the connecting rod of the motor A and the connecting rod of the motor B, and if the standard parameter F is decreased, sending a driving instruction to increase the stroke of one unit of the connecting rod of the motor C and the connecting rod of the motor D; when the connecting rod stroke of any motor reaches the limit, sending a driving command to reduce the connecting rod stroke of the motor reaching the limit by one unit;
s3: repeating the step S2 repeatedly until the strokes of the two motor connecting rods positioned in the longitudinal direction reach the limit or the marking parameter F is more than 80%, and judging that the self-adaptive adjustment of the longitudinal direction is finished;
s4: when the longitudinal self-adaptive adjustment is finished and the marking parameter F is less than or equal to 80%, sending a driving instruction to respectively reduce the stroke of one unit of the connecting rod of the motor A and the connecting rod of the motor C;
s5: repeating the step S2 and the step S3 again, and comparing the calculation results of the current marking parameter F and the previous marking parameter F if the marking parameter is still less than or equal to 80% after the longitudinal self-adaptive adjustment is finished;
if the value of the marking parameter F is relatively reduced, sending a driving instruction to respectively reduce the stroke of one unit of the connecting rod of the motor B and the connecting rod of the motor C; if the value of the marking parameter F is relatively increased, continuously sending a driving instruction to respectively reduce the stroke of one unit of the connecting rod of the motor A and the connecting rod of the motor C;
s6, repeating the step S2 repeatedly until the marking parameter F is more than 80%;
the calculation formula of the standard parameters is as follows:
wherein, when lambda n When the percentage is less than or equal to 5 percent, the qualified coefficient eta is counted n =1; let as lambda n When the coefficient is more than 5 percent, the qualified coefficient eta is measured n =0, where n is the set of 1,2,3 … n; n is the serial number of the actual measuring point; lambda [ alpha ] n The percentage of the difference between the actual measurement value and the target value of the nth measurement point is;
λ n ＝△y n /y n ×100％,△y n ＝p n -y n (ii) a Wherein p is n Scanning the measured actual result for the nth measuring point line; y is n Scanning the measured target result for the nth measuring point line;
when n is 1, the calculation result of the standard parameter F is used as an initial standard parameter F0.
2. A high precision adaptive platform for laser linear scanning according to claim 1, characterized by: the bottom platform is provided with a positioning bolt, and the positioning bolt vertically penetrates through the bottom platform and is in threaded fit with the bottom platform; the nut of the positioning bolt is positioned above the bottom platform, and the end part of the positioning bolt is positioned below the bottom platform.
3. A high precision adaptive platform for laser linear scanning according to claim 1, characterized by: an electric control cabinet and a hydraulic system are integrated on the lifting mechanism, and the height of the lifting mechanism is adjusted through the hydraulic system; the automatic regulating system is arranged in the electric control cabinet.
4. A high precision adaptive platform for laser linear scanning according to claim 1, characterized by: and a load iron block is arranged on the bottom platform.
5. A high precision adaptive platform for laser linear scanning according to claim 1, characterized by: and an oblique iron is fixedly arranged between the balance beam and the top of the lifting mechanism.
6. A high precision adaptive platform for laser linear scanning according to claim 1, characterized by: the laser head linkage mechanism comprises a lock catch, a mounting platform, a support flat plate, servo piezoelectric motors and a fixed connecting rod, wherein the servo piezoelectric motors are uniformly distributed and arranged at four corners of the mounting platform; the body of the servo piezoelectric motor is fixedly arranged on the upper surface of the mounting platform, and a connecting rod of the servo piezoelectric motor penetrates through the mounting platform to vertically extend downwards and is in contact with the upper surface of the support flat plate; the lock catch is arranged at the center of the upper surface of the mounting platform and is sleeved on the outer side of the round shaft and fixed with the round shaft through a bolt; the bottom end of the fixed connecting rod is arranged in the center of the support flat plate and is fixed through threads; the fixed connecting rod is also provided with a fixed bolt which is matched with the thread of the fixed bolt, and the fixed bolt is arranged on the upper surface of the support flat plate; the top end of the fixed connecting rod is provided with a ball structure; the fixed connecting rod is movably clamped at the center of the bottom surface of the mounting platform through a spherical structure; the support flat plate is fixed on the top surface of the laser line scanning head through bolts.
7. A high precision adaptive platform for laser linear scanning according to claim 2, characterized by: the protection wire slot is fixedly arranged on the surface of the balance beam and extends along the axis of the balance beam; the servo piezoelectric motor and the laser line scanning head are electrically connected with the automatic adjusting system through an optical cable, and the optical cable is arranged in the protective wire slot; the optical cable is connected into the electric control cabinet through the protection wire slot.
8. The method for testing the high-precision adaptive platform for laser linear scanning according to claim 1 is characterized by comprising the following steps:
pushing the bottom platform to enable the laser line scanning head to be located at the upper end of the plate to be detected, and ensuring that the line scanning laser light of the laser line scanning head is basically vertical to the running direction of the steel belt through visual observation;
the distance between the laser line scanning head and the surface of the steel belt is controlled by adjusting the lifting mechanism;
adjusting the positioning bolt to enable the universal wheel to be separated from the ground, and then adjusting the bottom platform to be horizontal through an external horizontal ruler and the positioning bolt;
starting an automatic adjusting system to complete the adjustment of the laser line scanning head;
and continuously measuring, finishing laser scanning test work, and performing panoramic state representation on the surface profile of the plate to be tested.
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